Diaphragm linear speed determination method of winding machine, storage medium and equipment

Abstract

The embodiment of the invention discloses a diaphragm linear speed determination method of a winding machine, a storage medium and equipment, and the method comprises the steps: obtaining a first diaphragm linear speed when a rotating tower of the winding machine is overturned, an angular speed of a first drive motor of a winding needle on the rotating tower, and a battery cell radius of a battery cell on the winding needle; then determining a second diaphragm linear velocity when the winding needle is ended according to the angular velocity and the radius of the battery cell, and finally determining a third diaphragm linear velocity of the winding machine according to the first diaphragm linear velocity and the second diaphragm linear velocity; according to the winding machine, when winding needle ending and turret overturning are carried out at the same time, the diaphragm linear speed of the winding machine is influenced by the diaphragm linear speed when the winding needle ending and the diaphragm linear speed when the turret overturning are carried out; the diaphragm linear speed of the winding machine is determined according to the diaphragm linear speed when the turret turns over and the diaphragm linear speed when the winding needle ends, so that the accuracy of the obtained diaphragm linear speed of the winding machine is improved, and the situation that the diaphragm shakes violently can be effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of battery core manufacturing, and in particular to a method for determining the linear speed of a diaphragm of a winding machine, a storage medium and a device. Background Art

[0002] The winder is a key equipment in the production of battery cells, and the turret of the winder is one of the core mechanisms of the winder. During the turning process of the turret, the diaphragm unwinding shaft of the winder unwinds the diaphragm, and the diaphragm is pulled by the winding needle on the turret through the diaphragm roller and the pole piece of the winder to form a battery cell, and finally complete the finishing work of the battery cell.

[0003] In the prior art, the diaphragm is prone to jitter during the flipping process. A common solution is to use mathematical methods such as space vectors, cosine theorem and differential equations, and combine them with feedforward control to construct an accurate mathematical model of the turret flipping process. Through this mathematical model, the diaphragm linear speed of the winder is calculated and the diaphragm unwinding shaft is controlled according to the diaphragm linear speed. However, this method is only applicable to the situation where the winding needle is completed first and then the turret is flipped, and is not applicable to the situation where the winding needle is completed and the turret is flipped at the same time. If the diaphragm linear speed is calculated using this method when the winding needle is completed and the turret is flipped at the same time, the accuracy of the obtained diaphragm linear speed is poor, which will cause severe diaphragm jitter. Summary of the invention

[0004] Based on this, it is necessary to propose a method, storage medium and device for determining the diaphragm linear speed of a winding machine to address the above problems, so as to improve the accuracy of the diaphragm linear speed of the winding machine and effectively avoid severe vibration of the diaphragm.

[0005] To achieve the above object, the present invention provides a method for determining the linear speed of a diaphragm of a winding machine in a first aspect, the method comprising:

[0006] Obtaining a first diaphragm linear velocity when the turret of the winding machine is turned over, an angular velocity of a first driving motor of a winding needle on the turret, and a cell radius of a cell on the winding needle;

[0007] Determine the second diaphragm linear velocity when the winding needle is finished according to the angular velocity and the battery core radius;

[0008] A third diaphragm linear speed of the winder is determined according to the first diaphragm linear speed and the second diaphragm linear speed.

[0009] Optionally, obtaining the first diaphragm linear velocity when the turret of the winder is turned over includes:

[0010] Obtaining a flip angle of the turret, a first distance between the center of the turret and a first contact point, and a second distance between the center of the turret and a second contact point, wherein the first contact point is a tangent point between the winding needle and the diaphragm, and the second contact point is a tangent point between the diaphragm roller of the winder and the diaphragm;

[0011] determining a third distance function between the first contact point and the second contact point according to the flip angle, the first distance, and the second distance;

[0012] The third distance function is subjected to time derivative processing to obtain the first diaphragm linear velocity.

[0013] Optionally, obtaining the flip angle of the turret flipping includes:

[0014] Acquire an initial rotation angle of the turret and a real-time rotation angle of a second drive motor of the turret;

[0015] The flip angle is determined according to the initial rotation angle and the real-time rotation angle.

[0016] Optionally, obtaining a first distance between the center of the turret and the first contact point, and a second distance between the center of the turret and the second contact point includes:

[0017] Obtaining a first center position of the center of the turret, a second center position of the center of the winding needle, and a tangent point position of the tangent point between the diaphragm roller and the diaphragm;

[0018] determining a fourth distance between the center of the turret and the center of the winding needle according to the first center position and the second center position;

[0019] Determine the first distance according to the fourth distance and the battery core radius;

[0020] The second distance is determined according to the first circle center position and the tangent point position.

[0021] Optionally, the method further comprises:

[0022] The third driving motor of the diaphragm unwinding shaft is driven according to the third diaphragm linear speed, so that the third driving motor controls the unwinding of the diaphragm unwinding shaft.

[0023] Optionally, the method further comprises:

[0024] Obtaining the turning time of the turret and the closing distance of the winding needle when the winding needle is closed;

[0025] According to the flipping time, the tailing distance and preset constraints, a target speed planning model for the first diaphragm linear speed and the second diaphragm linear speed is constructed;

[0026] Taking reducing the flipping time and increasing the tailing distance as the optimization goal, under the condition of satisfying the preset constraint conditions, the first diaphragm linear speed and the second diaphragm linear speed in the target speed planning model are adjusted multiple times and solved to obtain the first diaphragm linear speed and the second diaphragm linear speed corresponding to the optimization goal;

[0027] The second drive motor of the turret is driven by controlling the first diaphragm linear speed corresponding to the optimization target so that the second drive motor controls the flipping of the turret, and at the same time, the first drive motor is driven by controlling the second diaphragm linear speed so that the first drive motor controls the winding needle to end.

[0028] Optionally, the target speed planning model includes a first objective function, a second objective function and the preset constraint condition;

[0029] The expression of the first objective function is: minf1(V T );

[0030] The expression of the second objective function is: maxf2(V C );

[0031] The expression of the preset constraint condition is:

[0032] Wherein, f1 is the flip time, V T is the first diaphragm linear velocity, f2 is the tailing distance, V C is the second diaphragm linear velocity, is the first diaphragm linear velocity V T and the second diaphragm linear velocity V C The third diaphragm linear velocity V S Taking the derivative with respect to time t, V T,max is the first diaphragm linear velocity threshold, V C,max is the second diaphragm linear velocity threshold.

[0033] Optionally, the optimization goal is to reduce the flipping time and increase the tailing distance, and under the condition of satisfying the preset constraints, the first diaphragm linear velocity and the second diaphragm linear velocity in the target velocity planning model are adjusted multiple times and solved to obtain the first diaphragm linear velocity and the second diaphragm linear velocity corresponding to the optimization goal, including:

[0034] Taking reducing the flipping time and increasing the tailing distance as the optimization goal, under the condition of satisfying the preset constraint conditions, the first diaphragm linear speed and the second diaphragm linear speed in the target speed planning model are adjusted multiple times and solved using an intelligent optimization algorithm to obtain multiple initial optimization goals corresponding to the multiple adjustments;

[0035] Among multiple initial optimization targets, the initial optimization target with the smallest global fitness value in the solution process is used as the optimization target to obtain the first diaphragm linear velocity and the second diaphragm linear velocity corresponding to the optimization target.

[0036] To achieve the above object, the present invention provides, in a second aspect, a device for determining the linear speed of a diaphragm of a winding machine, the device comprising:

[0037] An acquisition module, used to acquire a first diaphragm linear velocity when the turret of the winding machine is turned over, an angular velocity of a first driving motor of a winding needle on the turret, and a cell radius of a cell on the winding needle;

[0038] A first determination module is used to determine the second diaphragm linear velocity when the winding needle is finished according to the angular velocity and the battery core radius;

[0039] The second determination module is used to determine a third diaphragm linear speed of the winding machine according to the first diaphragm linear speed and the second diaphragm linear speed.

[0040] To achieve the above-mentioned object, the present invention provides in a third aspect a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the method as described in any one of the first aspects.

[0041] To achieve the above-mentioned purpose, the present invention provides a computer device in a fourth aspect, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method as described in any one of the first aspects.

[0042] The embodiment of the present invention has the following beneficial effects: the above method obtains the first diaphragm linear speed when the turret of the winding machine is flipped, the angular speed of the first drive motor of the winding needle on the turret, and the cell radius of the battery cell on the winding needle, and then determines the second diaphragm linear speed when the winding needle is finished according to the angular speed and the cell radius, and finally determines the third diaphragm linear speed of the winding machine according to the first diaphragm linear speed and the second diaphragm linear speed; the present application takes into account that when the winding needle is finished and the turret is flipped at the same time, the diaphragm will be stretched at a high speed when the turret starts to flip, and will rebound quickly when the flip is about to end. At this time, the diaphragm linear speed of the winding machine is affected by the diaphragm linear speed when the winding needle is finished and the diaphragm linear speed when the turret is flipped. Therefore, the present application adopts the diaphragm linear speed when the turret is flipped and the diaphragm linear speed when the winding needle is finished to determine the diaphragm linear speed of the winding machine, so as to improve the accuracy of the diaphragm linear speed of the winding machine, which can effectively avoid the situation where the diaphragm shakes violently. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] in:

[0045] Figure 1 It is a schematic diagram of a method for determining the linear speed of a diaphragm of a winding machine in an embodiment of the present application;

[0046] Figure 2 This is a schematic diagram of the turret flipping and needle winding finishing in the embodiment of the present application;

[0047] Figure 3 Another schematic diagram of the turret flipping and the winding needle finishing in the embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of a device for determining the linear speed of a diaphragm of a winding machine in an embodiment of the present application;

[0049] Figure 5 1 is a diagram of the internal structure of a computer device in some embodiments. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] The winder is a key equipment in the production of battery cells, and the turret of the winder is one of the core mechanisms of the winder. During the turning process of the turret, the diaphragm unwinding shaft of the winder unwinds the diaphragm, and the diaphragm is pulled by the winding needle on the turret through the diaphragm roller and the pole piece of the winder to form a battery cell, and finally complete the finishing work of the battery cell.

[0052] In the prior art, the diaphragm is prone to jitter during the flipping process. A common solution is to use mathematical methods such as space vectors, cosine theorem and differential equations, and combine them with feedforward control to construct an accurate mathematical model of the turret flipping process. Through this mathematical model, the diaphragm linear speed of the winder is calculated and the diaphragm unwinding shaft is controlled according to the diaphragm linear speed. However, this method is only applicable to the situation where the winding needle is completed first and then the turret is flipped, and is not applicable to the situation where the winding needle is completed and the turret is flipped at the same time. If the diaphragm linear speed is calculated using this method when the winding needle is completed and the turret is flipped at the same time, the accuracy of the obtained diaphragm linear speed is poor, which will cause severe diaphragm jitter.

[0053] It should be noted that the vibration of the diaphragm will cause poor alignment between the diaphragm and the electrode, thus affecting the quality of the battery cell.

[0054] In response to the above problems, the present application proposes a method, storage medium and device for determining the diaphragm linear speed of a winding machine to improve the accuracy of the diaphragm linear speed of the winding machine, which can effectively avoid severe vibration of the diaphragm. The specific implementation principle will be described in detail in the following embodiments.

[0055] In a first aspect, the present application provides a method for determining a diaphragm linear speed of a winding machine.

[0056] See also Figure 1 , is a schematic diagram of a method for determining the linear speed of a diaphragm of a winding machine in an embodiment of the present application, the method comprising:

[0057] Step 110: Obtain the first diaphragm linear velocity when the turret of the winding machine is turned over, the angular velocity of the first driving motor of the winding needle on the turret, and the cell radius of the battery cell on the winding needle.

[0058] It should be noted that since the cell radius of the battery cell when the winding needle is finished is equivalent to a fixed value, in some embodiments, the operator can use some relevant equipment to measure it in advance when the winding needle is finished; of course, in other embodiments, it is also possible to install additional monitoring equipment near the winding needle to measure the cell radius of the battery cell on the winding needle in real time through the monitoring equipment.

[0059] As for the method of obtaining the first diaphragm linear velocity, in some embodiments, the method of determining the diaphragm linear velocity of the winding machine in the prior art can be used to obtain it, that is, mathematical methods such as space vectors, cosine theorem and differential equations are used, and combined with feedforward control, an accurate mathematical model of the turret flipping process is constructed, and the first diaphragm linear velocity is solved through this mathematical model.

[0060] Step 120: Determine the linear velocity of the second diaphragm when the winding needle is finished according to the angular velocity and the radius of the battery cell.

[0061] In some embodiments, the product of the angular velocity and the radius of the battery cell may be used as the second diaphragm linear velocity when the winding needle is finished.

[0062] Step 130: Determine a third diaphragm linear speed of the winding machine according to the first diaphragm linear speed and the second diaphragm linear speed.

[0063] In some embodiments, the superposition value between the first diaphragm linear speed and the second diaphragm linear speed can be used as the third diaphragm linear speed of the winding machine; wherein, the superposition value can be a difference value or a sum value, and can be set according to actual needs; for example, when the flipping direction when the turret flips and the finishing direction when the winding needle is finished are in opposite directions, the superposition value is the difference; when the flipping direction when the turret flips and the finishing direction when the winding needle is finished are in the same direction, the superposition value is the sum value.

[0064] Of course, in other embodiments, the superposition value may also be a product, a quotient, a combination of some constant terms and constant coefficients, and the like.

[0065] In the embodiment of the present application, by taking into account that when the winding needle is finished and the turret is flipped at the same time, the diaphragm will be stretched at a high speed when the turret starts to flip, and will rebound quickly when the flip is about to end. At this time, the diaphragm linear speed of the winder is affected by the diaphragm linear speed when the winding needle is finished and the diaphragm linear speed when the turret is flipped. Therefore, the present application adopts the diaphragm linear speed when the turret is flipped and the diaphragm linear speed when the winding needle is finished to determine the diaphragm linear speed of the winder, so as to improve the accuracy of the diaphragm linear speed of the winding machine, which can effectively avoid severe diaphragm shaking.

[0066] Furthermore, since the present application is aimed at the situation where the diaphragm finishing and the turret flipping are carried out simultaneously, compared with the situation where the winding needle finishing is completed first and then the turret flipping is performed, the method of the present application can also effectively reduce the production cycle time and improve the battery cell production efficiency.

[0067] In addition, with regard to the situation where the diaphragm is tailing off and the turret is flipped at the same time, the present application has previously considered installing an encoder at the diaphragm roller to determine the diaphragm linear speed of the winder through the encoder. However, the use of an encoder will be affected by various factors during the actual operation, causing the diaphragm linear speed of the winder provided by the encoder to fluctuate, resulting in poor accuracy of the obtained diaphragm linear speed, and still cause diaphragm jitter problems. Therefore, the method of the present application can also effectively avoid the fluctuation of the diaphragm linear speed of the winder provided by the encoder due to various factors during the actual operation, resulting in poor accuracy of the obtained diaphragm linear speed, thereby causing diaphragm jitter problems.

[0068] In a feasible implementation, step 110 in the above embodiment, obtaining the first diaphragm linear velocity when the turret of the winding machine is flipped, includes: obtaining the flipping angle of the turret, the first distance between the center of the turret and the first contact point, and the second distance between the center of the turret and the second contact point, wherein the first contact point is the tangent point between the winding needle and the diaphragm, and the second contact point is the tangent point between the diaphragm roller of the winding machine and the diaphragm; determining the third distance function between the first contact point and the second contact point according to the flipping angle, the first distance and the second distance; performing time derivative processing on the third distance function to obtain the first diaphragm linear velocity.

[0069] In order to better understand the above embodiments, the present application will be described in conjunction with the accompanying drawings. Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the turret flipping and needle winding finishing in the embodiment of the present application. Figure 3 This is another schematic diagram of the turret flipping and needle winding finishing in the embodiment of the present application.

[0070] Figure 2 and Figure 3 O is the center of the turret, E is the center of the winding needle station 1, and F is the center of the winding needle station 2. Based on the center of the turret as the origin, an XY coordinate system is established. The tangent point between the diaphragm roller and the diaphragm is A0 (x0, y0), and the distance between A0 and O is the second distance. The tangent point between the winding needle and the diaphragm is A1 (x1, y1), and the distance between A1 and O is the first distance. is the flipping angle; wherein, the flipping angle will gradually increase as the turret's needle winding station 1 flips toward the needle winding station 2.

[0071] Regarding the third distance function determination method, in some embodiments, the third distance (ie, Figure 2 and Figure 3The distance between A0 and A1 shown in the figure), and the flip angle gradually increases as the turret turns from winding needle station 1 to winding needle station 2. Therefore, the flip angle can be introduced to change with time, so that the third distance also changes with time to obtain the third distance function.

[0072] In an embodiment of the present application, by accurately determining the change in the distance between the first contact point and the second contact point, and then calculating the change in the linear velocity of the first diaphragm when the turret is flipped, the speed change of the diaphragm at different positions can be more accurately reflected, avoiding errors caused by changes in actual conditions.

[0073] In addition, by accurately calculating and processing parameters under complex working conditions, the control accuracy of the diaphragm line speed can be effectively improved, reducing problems in the production process, thereby improving the efficiency and quality of battery cell production.

[0074] In a feasible implementation, obtaining the flip angle of the turret in the above embodiment includes: obtaining the initial rotation angle of the turret and the real-time rotation angle of the second drive motor of the turret; and determining the flip angle based on the initial rotation angle and the real-time rotation angle.

[0075] The initial rotation angle of the turret is a fixed value and can be set in advance by the operator.

[0076] In some embodiments, the initial rotation angle can be set to 90 degrees; of course, in other embodiments, the turret can be turned over to the needle winding station 2 without the needle winding station 1 turning over to the needle winding station 2. Figure 3 Shown As the initial rotation angle, the turret's needle winding station 1 is turned to the needle winding station 2. The gradually increasing portion of the angle is the real-time rotation angle of the second drive motor of the turret.

[0077] As for the method of obtaining the real-time rotation angle, in some embodiments, it can be directly obtained through the second driving motor.

[0078] In the embodiment of the present application, the flip angle is determined by the initial rotation angle and the real-time rotation angle of the turret, so that the actual flip angle of the turret during the flipping process can be calculated more accurately, thereby improving the measurement accuracy and real-time performance of the flip angle.

[0079] In a feasible implementation, obtaining the first distance between the center of the turret and the first contact point, and the second distance between the center of the turret and the second contact point in the above embodiment includes: obtaining the first center position of the center of the turret, the second center position of the center of the winding needle, and the tangent point position of the diaphragm roller and the diaphragm; determining the fourth distance between the center of the turret and the center of the winding needle according to the first center position and the second center position; determining the first distance according to the fourth distance and the radius of the battery cell; determining the second distance according to the first center position and the tangent point position.

[0080] In order to facilitate understanding of the above embodiments, Figure 2 and Figure 3 The example shown is used for illustration, wherein the fourth distance is the distance between E and O, and the cell radius is the distance between E and A1.

[0081] In an embodiment of the present application, by accurately calculating the center position of the turret, the center position of the winding needle and the tangent point position, it can be ensured that the calculated first distance and second distance are more accurate. This precise calculation helps to more accurately determine the contact point position between the winding needle and the diaphragm and the change in distance between it and the diaphragm roller, thereby more accurately reflecting the speed change of the diaphragm at different positions, so as to further ensure the stability of the diaphragm during the flipping process, thereby improving the stability and production efficiency of the entire production line.

[0082] In a feasible implementation, the method in the above embodiment further includes: controlling the driving of the third drive motor of the diaphragm unwinding shaft according to the third diaphragm linear speed, so that the third drive motor controls the unwinding of the diaphragm unwinding shaft.

[0083] In the embodiment of the present application, the third diaphragm linear speed obtained by the present application can accurately control the unwinding speed of the diaphragm unwinding shaft, and can avoid the diaphragm jitter caused by unstable unwinding speed.

[0084] In a feasible implementation, the method in the above embodiment also includes: obtaining the flipping time of the turret and the tailing distance when the winding needle is finished; constructing a target speed planning model for the first diaphragm linear speed and the second diaphragm linear speed according to the flipping time, the tailing distance and the preset constraints; taking reducing the flipping time and increasing the tailing distance as the optimization goals, while satisfying the preset constraints, adjusting the first diaphragm linear speed and the second diaphragm linear speed in the target speed planning model multiple times and solving them to obtain the first diaphragm linear speed and the second diaphragm linear speed corresponding to the optimization goal; controlling the second drive motor of the turret according to the first diaphragm linear speed corresponding to the optimization goal, so that the second drive motor controls the flipping of the turret, and at the same time controlling the first drive motor according to the second diaphragm linear speed, so that the first drive motor controls the winding needle to finish.

[0085] The preset constraint conditions limit the adjustable range of the first diaphragm linear velocity and the second diaphragm linear velocity, and can be set by the operator based on a large amount of experience and actual objective conditions.

[0086] It should be noted that the turning time refers to the process time of the turret turning over from one needle winding station to the next needle winding station; the ending distance refers to the third distance in the third distance function.

[0087] In the embodiments of the present application, by optimizing the flipping time and the finishing distance, it helps to reduce the time during the turret flipping process (i.e., reduce the production cycle time) and improve the stability of the winding needle finishing, so that the production line can operate more efficiently while ensuring the reliability and stability of the battery cell production.

[0088] In addition, through precise control of speed planning, the control of the drive motor can be reversely optimized, that is, from the source, by precisely controlling the first diaphragm linear speed when the turret is flipped and the second diaphragm linear speed when the needle is finished, further optimization can be achieved, so that the acceleration and deceleration control of the drive motor is precise and reasonable, so as to further solve the problem of diaphragm jitter.

[0089] It can be understood that the diaphragm jitter is not only related to the obtained diaphragm linear speed of the winding machine, but also related to the acceleration and deceleration control of the drive motors of the turret and the winding needle. Therefore, the problem of diaphragm jitter can be further solved by precisely controlling the acceleration and deceleration of the drive motor from the source.

[0090] In a feasible implementation, the target speed planning model in the above embodiment includes a first objective function, a second objective function and preset constraints;

[0091] The expression of the first objective function is: minf1(V T );

[0092] The expression of the second objective function is: maxf2(V C );

[0093] The expression of the preset constraint condition is:

[0094] Among them, f1 is the flip time, V T is the first diaphragm linear velocity, f2 is the end distance, V C is the second diaphragm linear velocity, is the first diaphragm linear velocity V T and the second diaphragm linear velocity V C The third diaphragm linear velocity V S Taking the derivative with respect to time t, V T,max is the first diaphragm linear velocity threshold, V C,maxis the second diaphragm linear velocity threshold.

[0095] In the embodiments of the present application, a rigorous expression of the target speed planning model is provided from a mathematical perspective, and the accuracy of the solution process can be ensured from the rigor of mathematical logic. The above-mentioned calculation formula is preferably shown to provide reference, understanding and solution for technical personnel.

[0096] In addition, through the target speed planning model, the control can be further optimized from the source to solve the problem of diaphragm jitter.

[0097] In a feasible implementation, the above-mentioned embodiment takes reducing the flipping time and increasing the tail distance as the optimization goal, and while satisfying the preset constraints, adjusts the first diaphragm linear speed and the second diaphragm linear speed in the target speed planning model multiple times and solves them to obtain the first diaphragm linear speed and the second diaphragm linear speed corresponding to the optimization goal, including: taking reducing the flipping time and increasing the tail distance as the optimization goal, and while satisfying the preset constraints, adjusts the first diaphragm linear speed and the second diaphragm linear speed in the target speed planning model multiple times and uses an intelligent optimization algorithm to solve them to obtain multiple initial optimization goals corresponding to the multiple adjustments; among the multiple initial optimization goals, the initial optimization goal with the smallest global fitness value during the solution process is used as the optimization goal to obtain the first diaphragm linear speed and the second diaphragm linear speed corresponding to the optimization goal.

[0098] It should be noted that after each adjustment of the first diaphragm linear speed and the second diaphragm linear speed in the target speed planning model, a flipping time and a tail distance can be solved. At this time, the flipping time and the tail distance obtained after each adjustment can be used as the initial optimization target.

[0099] In some embodiments, the intelligent optimization algorithm may preferably adopt a genetic algorithm; of course, in other embodiments, other optimization algorithms may also be adopted, such as a particle swarm optimization algorithm.

[0100] In the embodiment of the present application, the intelligent optimization algorithm can effectively search for the global optimal solution, rather than just hovering around the local optimal solution, so as to obtain a more ideal turning time and finishing distance, thereby effectively shortening the entire production cycle time, thereby significantly improving the overall efficiency of the production line.

[0101] In addition, by introducing an intelligent optimization algorithm to optimize the target speed planning, the accuracy of determining the diaphragm linear speed can be significantly improved, effectively avoiding the situation where the diaphragm shakes violently.

[0102] In a second aspect, the present application provides a device for determining the linear speed of a diaphragm of a winding machine.

[0103] See also Figure 4 , is a schematic diagram of a device for determining the linear speed of a diaphragm of a winding machine in an embodiment of the present application, the device 410 comprises:

[0104] An acquisition module 411 is used to acquire a first diaphragm linear velocity of a turret of a winding machine, an angular velocity of a first driving motor of a winding needle on the turret, and a cell radius of a cell on the winding needle;

[0105] A first determination module 412 is used to determine the linear velocity of the second diaphragm when the winding needle is finished according to the angular velocity and the radius of the battery cell;

[0106] The second determination module 413 is used to determine the third diaphragm linear speed of the winding machine according to the first diaphragm linear speed and the second diaphragm linear speed.

[0107] In the embodiment of the present application, the related contents of the acquisition module 411, the first determination module 412 and the second determination module 413 can be found in Figure 1 The contents in the illustrated embodiment will not be described in detail here.

[0108] It should be noted that the device 410 of the present application also includes some other modules. It can be understood that the method of the present application and the device 410 have a one-to-one correspondence. Therefore, some other modules of the device 410 of the present application are the contents corresponding to the method of the present application in the above-mentioned embodiment.

[0109] In the embodiment of the present application, by taking into account that when the winding needle is finished and the turret is flipped at the same time, the diaphragm will be stretched at a high speed when the turret starts to flip, and will rebound quickly when the flip is about to end. At this time, the diaphragm linear speed of the winder is affected by the diaphragm linear speed when the winding needle is finished and the diaphragm linear speed when the turret is flipped. Therefore, the present application adopts the diaphragm linear speed when the turret is flipped and the diaphragm linear speed when the winding needle is finished to determine the diaphragm linear speed of the winder, so as to improve the accuracy of the diaphragm linear speed of the winding machine, which can effectively avoid severe diaphragm shaking.

[0110] Furthermore, since the present application is aimed at the situation where the diaphragm finishing and the turret flipping are carried out simultaneously, compared with the situation where the winding needle finishing is completed first and then the turret flipping is performed, the method of the present application can also effectively reduce the production cycle time and improve the battery cell production efficiency.

[0111] In addition, with regard to the situation where the diaphragm is tailing off and the turret is flipped at the same time, the present application has previously considered installing an encoder at the diaphragm roller to determine the diaphragm linear speed of the winder through the encoder. However, the use of an encoder will be affected by various factors during the actual operation, causing the diaphragm linear speed of the winder provided by the encoder to fluctuate, resulting in poor accuracy of the obtained diaphragm linear speed, and still cause diaphragm jitter problems. Therefore, the method of the present application can also effectively avoid the fluctuation of the diaphragm linear speed of the winder provided by the encoder due to various factors during the actual operation, resulting in poor accuracy of the obtained diaphragm linear speed, thereby causing diaphragm jitter problems.

[0112] In a third aspect, the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes a method for determining the linear speed of a diaphragm of a winding machine in the above method embodiment.

[0113] In a fourth aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes a method for determining a diaphragm linear speed of a winding machine in the above method embodiment.

[0114] Figure 5 The internal structure diagram of a computer device in some embodiments is shown. The computer device may be a terminal, a server, or a gateway. Figure 5 As shown, the computer device includes a processor, a memory and a network interface connected through a system bus.

[0115] The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement each step in the above method embodiment. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can implement each step in the above method embodiment. Those skilled in the art can understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0116] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0117] Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synch li nk) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0118] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0119] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for determining the linear speed of a diaphragm of a winding machine, characterized in that: The method comprises: Obtaining a first diaphragm linear velocity when the turret of the winding machine is turned over, an angular velocity of a first driving motor of a winding needle on the turret, and a cell radius of a cell on the winding needle; Determine the second diaphragm linear velocity when the winding needle is finished according to the angular velocity and the battery core radius; A third diaphragm linear speed of the winder is determined according to the first diaphragm linear speed and the second diaphragm linear speed.

2. The method according to claim 1, characterized in that: The method of obtaining the first diaphragm linear velocity when the turret of the winding machine is turned over comprises: Obtaining a flip angle of the turret, a first distance between the center of the turret and a first contact point, and a second distance between the center of the turret and a second contact point, wherein the first contact point is a tangent point between the winding needle and the diaphragm, and the second contact point is a tangent point between the diaphragm roller of the winder and the diaphragm; determining a third distance function between the first contact point and the second contact point according to the flip angle, the first distance, and the second distance; The third distance function is subjected to a time derivative process to obtain the first diaphragm linear velocity.

3. The method according to claim 2, characterized in that The obtaining of the flip angle of the turret flipping includes: Acquire an initial rotation angle of the turret and a real-time rotation angle of a second drive motor of the turret; The flip angle is determined according to the initial rotation angle and the real-time rotation angle.

4. The method according to claim 2, characterized in that: Acquiring a first distance between the center of the turret and the first contact point, and a second distance between the center of the turret and the second contact point, comprising: Obtaining a first center position of the center of the turret, a second center position of the center of the winding needle, and a tangent point position of the tangent point between the diaphragm roller and the diaphragm; determining a fourth distance between the center of the turret and the center of the winding needle according to the first center position and the second center position; Determine the first distance according to the fourth distance and the battery core radius; The second distance is determined according to the first circle center position and the tangent point position.

5. The method according to claim 2, characterized in that: The method further comprises: The third driving motor of the diaphragm unwinding shaft is driven according to the third diaphragm linear speed, so that the third driving motor controls the unwinding of the diaphragm unwinding shaft.

6. The method according to claim 1, characterized in that The method further comprises: Obtaining the turning time of the turret and the closing distance of the winding needle at the closing time; According to the flipping time, the tailing distance and preset constraints, a target speed planning model of the first diaphragm linear speed and the second diaphragm linear speed is constructed; Taking reducing the flipping time and increasing the tailing distance as the optimization goal, under the condition of satisfying the preset constraint conditions, the first diaphragm linear speed and the second diaphragm linear speed in the target speed planning model are adjusted multiple times and solved to obtain the first diaphragm linear speed and the second diaphragm linear speed corresponding to the optimization goal; The second drive motor of the turret is driven by controlling the first diaphragm linear speed corresponding to the optimization target so that the second drive motor controls the flipping of the turret, and at the same time, the first drive motor is driven by controlling the second diaphragm linear speed so that the first drive motor controls the winding needle to end.

7. The method according to claim 6, characterized in that The target speed planning model includes a first objective function, a second objective function and the preset constraint conditions; The expression of the first objective function is: minf1(V T ); The expression of the second objective function is: maxf2(V C ); The expression of the preset constraint condition is: Wherein, f1 is the flip time, V T is the first diaphragm linear velocity, f2 is the tailing distance, V C is the second diaphragm linear velocity, is the first diaphragm linear velocity V T and the second diaphragm linear velocity V C The third diaphragm linear velocity V S Taking the derivative with respect to time t, V T,max is the first diaphragm linear velocity threshold, V C,max is the second diaphragm linear velocity threshold.

8. The method according to claim 6, characterized in that The optimization goal is to reduce the flipping time and increase the tailing distance. Under the condition of satisfying the preset constraints, the first diaphragm linear speed and the second diaphragm linear speed in the target speed planning model are adjusted multiple times and solved to obtain the first diaphragm linear speed and the second diaphragm linear speed corresponding to the optimization goal, including: Taking reducing the flipping time and increasing the tailing distance as the optimization goal, under the condition of satisfying the preset constraint conditions, the first diaphragm linear speed and the second diaphragm linear speed in the target speed planning model are adjusted multiple times and solved using an intelligent optimization algorithm to obtain multiple initial optimization goals corresponding to the multiple adjustments; Among multiple initial optimization targets, the initial optimization target with the smallest global fitness value in the solution process is used as the optimization target to obtain the first diaphragm linear velocity and the second diaphragm linear velocity corresponding to the optimization target.

9. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 8.

10. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 8.

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