Printing platform deck operation control method, printing device and storage medium

Abstract

The invention provides a printing platform deck operation control method, a printing device and a storage medium, and the method comprises the steps: controlling a printing platform deck to move from a feeding station to a printing station according to a preset first speed after a target battery piece is received; after the target battery piece is printed, the printing carrying table is controlled to move from the printing station to the discharging station according to a preset second speed; after the target battery piece leaves the discharging station, the printing platform deck is controlled to return to the feeding station from the discharging station according to a preset third speed; wherein the third speed is smaller than at least one of the first speed and the second speed. According to the method, different running speeds are set in different running stages, so that the overall production takt time can be shortened, the production efficiency can be improved, the energy consumption and friction loss can be reduced, and the heat productivity can be reduced.

Description

Technical Field

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

[0002] In the production and processing of battery cells, efficient and accurate transportation of battery cells is an important link to ensure production quality and efficiency. Usually, the battery cells start from the feeding station, go through a series of processing steps, and finally arrive at the printing station for key pattern or electrode printing, and then move to the unloading station for collection or further processing. After completing this series of operations, the transportation system also needs to return the empty transportation tools (such as conveyor belts, transfer mechanisms, etc.) to the feeding station to prepare for the next round of battery cell transportation.

[0003] However, in this complex transportation process, the heating problem of the motor has become one of the key factors restricting production efficiency and equipment stability. Specifically, when the battery cells are transported from the feeding station to the printing station, the motor driving the transportation vehicle needs to output appropriate power to ensure the accurate alignment of the battery cells. Similarly, when moving from the printing station to the unloading station, the motor also needs to maintain stable transportation.

[0004] Long-term high-load operation and frequent start-stop operations of the motor will not only cause the motor temperature to rise, but may also cause a series of problems, such as motor insulation aging, grease deterioration, bearing wear, etc., which will seriously affect the service life and performance of the motor. At the same time, the high temperature of the motor may also have an adverse effect on the surrounding electronic components and mechanical parts, such as accelerated aging, reduced reliability, etc., which will further affect the stability and efficiency of the entire battery production line. Summary of the invention

[0005] One of the purposes of the present invention is to provide a printing stage operation control method to solve the technical problem in the prior art that the production efficiency and motor energy consumption of the battery cell cannot be taken into account during the printing process.

[0006] One of the objects of the present invention is to provide a printing device.

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

[0008] In order to achieve one of the above-mentioned objects of the invention, the present invention provides a printing stage operation control method, comprising: after receiving the target battery cell, controlling the printing stage to move from the loading station to the printing station at a preset first speed; after the target battery cell is printed, controlling the printing stage to move from the printing station to the unloading station at a preset second speed; after the target battery cell leaves the unloading station, controlling the printing stage to return from the unloading station to the loading station at a preset third speed; wherein the third speed is less than at least one of the first speed and the second speed.

[0009] As a further improvement of an embodiment of the present invention, the method also includes: after receiving the target battery cell, controlling the printing stage to move from the loading station to the printing station according to a preset first acceleration; after the target battery cell is printed, controlling the printing stage to move from the printing station to the unloading station according to a preset second acceleration; after the target battery cell leaves the unloading station, controlling the printing stage to return from the unloading station to the loading station according to a preset third acceleration; wherein the third acceleration is less than at least one of the first acceleration and the second acceleration.

[0010] As a further improvement of one embodiment of the present invention, the printing platform includes a first printing platform and a second printing platform; the control method also includes: controlling the first printing platform to move from the loading station to the printing station at a preset fourth speed; controlling the second printing platform to move from the printing station to the unloading station at a preset fifth speed; wherein the fourth speed is less than or equal to the fifth speed.

[0011] As a further improvement of one embodiment of the present invention, the method also includes: before the printing platform receives the target battery cell, controlling the transfer component to grab the target battery cell, and when the distance between the transfer component and the printing platform reaches a preset value, closing the negative pressure component in the transfer component, and starting the negative pressure component that provides negative pressure adsorption force to the printing platform, so that the target battery cell is adsorbed and fixed on the printing platform.

[0012] As a further improvement of an embodiment of the present invention, before the target cell sheet is printed, the method further includes: adjusting the configuration parameters of the camera and / or the position information of the screen based on a visual calibration method, photographing the target cell sheet using the adjusted camera, and determining whether the photographed image meets preset conditions; if so, controlling the print head to perform a printing operation on the target cell sheet on the printing stage; if not, adjusting the position of the target cell sheet on the printing stage.

[0013] As a further improvement of an embodiment of the present invention, the printing stage includes a screen. Before the target battery cell is photographed based on the visual calibration method, the method also includes: according to the image information of the calibration plate photographed by several cameras, using a three-dimensional visual calibration method to determine the calibration information of all cameras in the same camera coordinate system, and adjusting the target configuration parameters of each camera according to the calibration information; controlling the printing stage to move along the X-axis according to a first preset number of times, and / or controlling the screen to perform a first action along the Y-axis according to a second preset number of times, and / or along the T-axis according to a third preset number of times; controlling the camera to photograph the screen after performing the first action according to the target configuration parameters, and determining the calibration transformation information according to the photographed image information and the actual position information of the screen, the calibration transformation information is used to determine the mapping relationship between the camera coordinate system and the XYT coordinate system where the screen is located; according to the calibration transformation information and the image information of the calibration plate set on the printing stage, adjusting at least one of the position information and angle information of the printing stage.

[0014] As a further improvement of an embodiment of the present invention, the calibration conversion file is determined based on the captured image information and the actual position information of the network disk, including: obtaining physical coordinate information of several marking points in the screen in the XYT coordinate system; determining the pixel coordinate information of the several marking points based on the image information of the captured screen; and determining the calibration conversion information based on the difference between the physical coordinate information and the corresponding pixel coordinate information.

[0015] As a further improvement of an embodiment of the present invention, before the target battery cell is received, the method also includes: when the transfer component moves to the printing stage or the distance between the transfer component and the printing stage reaches a preset value, starting the negative pressure component in the printing stage; judging whether the actual pressure value of the negative pressure component satisfies the preset vacuum degree; if so, determining that the printing stage has successfully adsorbed and fixed the target battery cell; if not, generating a prompt message to prompt the user that the current target battery cell is abnormal.

[0016] In order to achieve one of the above-mentioned invention purposes, the present invention also provides a printing device for executing the printing stage operation control method as described in any of the above-mentioned technical solutions, the printing device includes a printing stage, and the printing device also includes: a first control module, used to control the printing stage to move from the loading station to the printing station at a preset first speed after receiving the target battery cell; used to control the printing stage to move from the printing station to the unloading station at a preset second speed after the target battery cell is printed; a second control module, used to control the printing stage to return from the unloading station to the loading station at a preset third speed after the target battery cell leaves the unloading station; wherein the third speed is less than at least one of the first speed and the second speed.

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

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

[0019] The present invention adopts a printing stage operation control method. After receiving the target battery cell, the printing stage quickly moves from the loading station to the printing station at a preset first speed. This higher movement speed ensures that the battery cell can quickly enter the printing area, thereby reducing the overall production cycle time and improving production efficiency. After completing the printing operation, the printing stage moves from the printing station to the unloading station at a preset second speed to ensure that the battery cell can be smoothly and accurately transferred to the next processing link. When the target battery cell leaves the unloading station, the printing stage returns to the loading station at a slower third speed, which can reduce the energy consumption and friction loss of the motor, thereby reducing the heat generated by the motor and extending the service life of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0021] Figure 2 It is a schematic diagram of the steps of a printing platform operation control method in another embodiment of the present invention.

[0022] Figure 3 It is a schematic diagram of steps before step S1 in one embodiment of the present invention.

[0023] Figure 4 It is a flowchart of a visual calibration method in one embodiment of the present invention.

[0024] Figure 5 It is a schematic diagram of step P21 in a specific embodiment of an embodiment of the present invention.

[0025] Figure 6 It is a schematic diagram of the process of adjusting the position information of the actuator by visual photography in one embodiment of the present invention.

[0026] Figure 7 It is a schematic diagram of the structure of a printing device in one embodiment of the present invention. DETAILED DESCRIPTION

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

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

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

[0030] The printing stage operation control method can be applied to a printing device.

[0031] In one embodiment, the printing device can be configured as described below, and the corresponding technical solution settings are referenced in the generation method provided by the present invention. Of course, the printing device applied by the printing stage operation control method provided by the present invention is not limited to this configuration structure.

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

[0033] Step S1, after receiving the target battery cell, controlling the printing stage to move from the loading station to the printing station at a preset first speed;

[0034] Step S2, after the target battery cell is printed, the printing stage is controlled to move from the printing station to the unloading station at a preset second speed;

[0035] Step S3, after the target battery cell leaves the unloading station, controlling the printing stage to return from the unloading station to the loading station at a preset third speed;

[0036] The third speed is smaller than at least one of the first speed and the second speed.

[0037] In this way, after receiving the target battery cell, the printing stage quickly moves from the loading station to the printing station at a preset first speed. This higher moving speed ensures that the battery cell can quickly enter the printing area, thereby reducing the overall production cycle time and improving production efficiency. After completing the printing operation, the printing stage moves from the printing station to the unloading station at a preset second speed to ensure that the battery cell can be smoothly and accurately transferred to the next processing link. When the target battery cell leaves the unloading station, the printing stage returns to the loading station at a slower third speed, which can reduce the energy consumption and friction loss of the motor, thereby reducing the heat generated by the motor and extending the service life of the motor.

[0038] In step S1, the printing stage is a platform or mechanism for carrying and moving the target cell. It is used to move the target cell from the loading station to the printing station at a preset speed, and to move the printed target cell to the unloading station after the printing station completes the printing, and finally returns to the loading station. The printing stage may include a driving mechanism, a positioning mechanism, and a control module to ensure that the cell can be accurately and quickly moved to the specified position.

[0039] In one embodiment, the printing stage is moved at a preset speed based on a motor control, and the motor may be a linear motor, which directly converts electrical energy into linear mechanical energy.

[0040] The printing station is the area where the cell is printed. At the printing station, the cell can receive printing operations such as coating, spraying, screen printing, etc. to form the required circuit, pattern or protective layer. The printing station can be equipped with corresponding printing equipment (such as a printing head) and a corresponding control system to ensure printing quality and efficiency.

[0041] The loading station is where the cell starts its processing flow. At the loading station, the target cell is placed on the printing stage, ready to be moved to the printing station for printing. The unloading station is where the cell completes its processing flow and is ready to leave.

[0042] It should be noted that the first speed, the second speed and the third speed in steps S1 to S3 are all average speeds, which means that during the entire movement of the printing stage, its moving speed is set to a relatively stable value or at least within an acceptable fluctuation range. This can reduce the complexity of the control logic, reduce vibration and errors caused by speed changes, and ensure printing quality and positioning accuracy.

[0043] In one embodiment, the third speed may be a constant speed (ie, a uniform speed movement). This means that during the entire process from the unloading station back to the loading station, the speed of the printing stage will be maintained at this preset constant speed.

[0044] In addition, during the control process of step S1 and step S2, the printing stage carries the target battery cell, and controls the printing stage to move at a higher first speed and / or second speed, so that the movement from the loading station to the printing station and then from the printing station to the unloading station can be completed in a shorter time, shortening the entire production cycle and improving production efficiency. When there is no load (step S3), the printing stage is controlled to move at a uniform speed at a lower third speed, which can reduce the energy consumption of the motor, reduce production costs, and also extend the service life of the equipment.

[0045] Based on this, by increasing the operating speed when there is load and reducing the operating speed when there is no load, the motor heating can be reduced as much as possible while ensuring production efficiency, reducing energy consumption and damage to the motor.

[0046] In a specific embodiment, the first speed is equal to the second speed, the first speed and the second speed are 3000 mm / s-3500 mm / s, and the third speed is 2500 mm / s-3000 mm / s.

[0047] In one embodiment, the printing stage includes a first printing stage and a second printing stage. The control method further includes the following steps.

[0048] Step S1', controlling the first printing stage to move from the loading station to the printing station at a preset fourth speed;

[0049] Step S2', controlling the second printing stage to move from the printing station to the unloading station at a preset fifth speed;

[0050] Wherein, the fourth speed is less than or equal to the fifth speed.

[0051] In this way, by setting different moving speeds for different moving stages, the moving times of the first printing platform and the second printing platform on the production line are staggered, reducing the chance of them meeting at the same time and place, thereby reducing the risk of collision.

[0052] It should be noted that the first printing platform and the second printing platform are adjacent in physical space or there is a potential risk of collision. By setting the fourth speed to be less than or equal to the fifth speed, it can be ensured that when the first printing platform moves to the printing station, the second printing platform has left the area at a faster speed (fifth speed), or at least will not occupy the same space as the first printing platform at the same time.

[0053] In a specific embodiment, the first printing stage and the second printing stage are controlled to perform alternating cyclic reflow operations.

[0054] Specifically, the first printing platform and the second printing platform may be adjacent in physical space, but they are independent in operation process, and each is responsible for a part of the production task. When the first printing platform is controlled to perform the first operation, the second printing platform performs the second operation, wherein the first operation includes loading operation, printing operation or unloading operation, and the second operation includes loading operation, printing operation or unloading operation and the return operation of the unloading station returning to the loading station. After completing a production cycle, each platform will return to the starting point or the previous station to start the next production cycle. This return action is cyclic, which means that the platform will continue to move on the production line to perform production tasks. This alternating method ensures the continuity and efficiency of the production line.

[0055] In a specific embodiment, the fourth speed and the fifth speed are 3000 mm / s-3500 mm / s.

[0056] like Figure 2 As shown, in another implementation manner, the control method may further include the following steps.

[0057] Step S1', after receiving the target battery cell, controlling the printing stage to move from the loading station to the printing station according to a preset first acceleration;

[0058] Step S2', after the target cell is printed, the printing stage is controlled to move from the printing station to the unloading station according to a preset second acceleration;

[0059] Step S3': after the target battery cell leaves the unloading station, the printing stage is controlled to return from the unloading station to the loading station according to a preset third acceleration.

[0060] The third acceleration is smaller than at least one of the first acceleration and the second acceleration.

[0061] In a specific embodiment, the first acceleration is equal to the second acceleration, and the first acceleration and the second acceleration are 3400 mm / s 2 , the third acceleration is 2800mm / s 2 .

[0062] In order to place the target battery cell stably and accurately on the printing stage, the transfer component and the printing stage are controlled to close and open the negative pressure component at the appropriate position or time.

[0063] In one embodiment, before the printing stage receives the target battery cell, the transfer assembly is controlled to grab the target battery cell, and when the distance between the transfer assembly and the printing stage reaches a preset value, the negative pressure assembly in the transfer assembly is turned off, and the negative pressure assembly that provides negative pressure adsorption force to the printing stage is started, so that the target battery cell is adsorbed and fixed on the printing stage.

[0064] In this way, when the distance between the transfer component and the printing stage reaches a preset value, the negative pressure component of the transfer component is turned off, so that when the target battery cell contacts the printing stage, the negative pressure of the transfer component has gradually decreased to the point of being turned off, which can avoid the impact and vibration caused by the sudden release of suction and protect the battery cell from loss. In addition, the negative pressure component of the printing stage is activated at the same time to ensure that the target battery cell is immediately and stably adsorbed when it contacts the printing stage, achieving seamless transfer.

[0065] Negative pressure components are devices or systems that generate negative pressure, which enables the transfer component to suck the target material. Negative pressure, also known as vacuum or suction, refers to the state where the gas pressure at a certain location is lower than the atmospheric pressure. Negative pressure can be achieved by creating an area below atmospheric pressure, so that the atmospheric pressure will push the target material toward the suction cup component, thereby fixing it.

[0066] The transfer assembly is a device or tool used in an automated production line to absorb and move materials (such as battery cells) through negative pressure or vacuum. The transfer assembly can be composed of a suction cup assembly that can generate negative pressure and a mechanical structure that can move the suction cup assembly.

[0067] like Figure 3 As shown, in one embodiment, before receiving the target battery cell in step S1, the method further includes the following steps.

[0068] Step P11, when the transfer assembly moves to the printing stage or the distance between the transfer assembly and the printing stage reaches a preset value, the negative pressure assembly in the printing stage is activated;

[0069] Step P12, determining whether the actual pressure value of the negative pressure component meets the preset vacuum degree;

[0070] If yes, the process jumps to step P13A to determine that the printing stage successfully absorbs and fixes the target battery cell;

[0071] If not, the process jumps to step P13B to generate a prompt message for prompting the user that the current target battery cell is abnormal.

[0072] In this way, by monitoring the actual pressure value in the transfer component and comparing it with the preset vacuum level, it is possible to accurately determine whether the adsorption is successful. If the adsorption fails, it may be due to problems with the battery cell itself or other interference factors in the adsorption process. The system therefore generates a prompt message so that the user can check and solve the problem in time. This automated monitoring and judgment mechanism improves the accuracy and reliability of material handling and reduces the need for manual intervention.

[0073] During the process of the transfer component adsorbing the target battery cell, the actual pressure value reflects the pressure state inside the transfer component (or between the adsorption surface and the target battery cell). The actual pressure value can be detected by a pressure sensor. The preset vacuum degree is a pre-set pressure threshold used to determine whether the transfer component successfully adsorbs the target battery cell.

[0074] In one embodiment, the preset vacuum degree is -0.35 bar.

[0075] In one embodiment, the target battery cell abnormality includes a target battery cell being broken.

[0076] Before the target cell is printed (i.e., between step S1 and step S2), the position of the target cell needs to be corrected, and the correction can ensure that the relative position between the cell and the printing template or printing head is accurate. This helps to reduce problems such as misalignment and ghosting during the printing process and improve the clarity and consistency of the printed pattern.

[0077] In one embodiment, before the target pool sheet is printed in step S2, the method further includes the following steps.

[0078] Step P21, adjusting the configuration parameters of the camera and / or the position information of the screen based on the visual calibration method, and photographing the target battery cell with the adjusted camera;

[0079] Step P22, determining whether the captured image meets a preset condition;

[0080] If yes, jump to step P23A to control the print head to perform printing operation on the target cell on the printing stage;

[0081] If not, jump to step P23B to adjust the position of the target battery cell on the printing stage.

[0082] In this way, the target cell is accurately photographed through the visual calibration method, and it is determined whether the obtained image meets the preset printing conditions, which effectively improves the printing accuracy and efficiency and reduces printing errors caused by poor image quality.

[0083] The preset conditions in step P22 may include at least one of whether the captured image matches the standard image and whether there are cracks in the captured image. For example, if the captured image only captures a portion of the image and is not a complete battery cell, it is determined that the preset conditions are not met; or if multiple segmentation lines (cracks) appear in the captured image, it is determined that the preset conditions are not met.

[0084] The visual calibration method is used to determine the internal parameters (such as focal length, optical center position, etc.) and external parameters (position and direction of the camera in three-dimensional space) of the camera. In the present invention, visual calibration can include distortion and checkerboard calibration, N-point calibration and teaching calibration. Among them, distortion and checkerboard calibration are used to establish multiple shooting cameras in the same plane coordinate system to form a camera coordinate system; N-point calibration is used to establish a coordinate association between the camera coordinate system and the XYT actuator (physical space) used to control the screen to perform the first action; teaching calibration is used to determine the position of the center of the screen image in the camera coordinate system and establish a reference point.

[0085] like Figure 4 As shown, the distortion calibration process of the camera is started to correct the image distortion produced by the camera lens; it is determined whether the images before and after the correction meet the set conditions; if so, it is determined that the distortion calibration is successfully completed, and the checkerboard calibration is started. The checkerboard pattern is used as a calibration object, and multiple checkerboard images at different angles and positions are taken, and the camera internal parameters and external parameters are determined by using the corner point information in the checkerboard image; the corner points or intersections of the checkerboard in the captured image are detected, and it is determined whether the number of detected feature points meets the set conditions; if so, it is determined that the checkerboard calibration is successfully completed, and the N-point calibration is started; the printing stage is controlled to move to the camera shooting position, and the calibration plate is placed on the stage surface; the calibration plate is photographed to obtain the corresponding calibration plate image, and it is determined whether the coordinate point information in the calibration plate image matches the preset coordinate point information; if so, it is determined that the N-point calibration is successfully completed, and the teaching calibration is started; the position information of the preset point or preset area is determined by definition; it is determined whether the difference between the actually measured position information and the position information of the preset point or preset area meets the conditions; if so, it is determined that the teaching calibration is successfully completed.

[0086] If any of the above calibrations is not successfully completed, determine whether the calibration error is greater than the set value or whether the difference between the clarity of the captured photo and the clarity of the standard image is greater than the set value; if so, trigger an early warning signal, and after the early warning is triggered, detect whether the brightness of the light source is appropriate and / or whether the cleaning operation of the dirt on the calibration plate is completed; if so, reset the alarm signal and re-execute the next round of visual calibration process.

[0087] Distortion is a kind of image distortion phenomenon produced in the camera imaging process. Checkerboard calibration uses the checkerboard pattern as a calibration object. By taking multiple checkerboard images at different angles and positions, the camera internal and external parameters are determined using the corner point information in the checkerboard images.

[0088] N-point calibration is performed by photographing a calibration plate at multiple positions, where the calibration plate includes N marker points with known position coordinate information; based on the position coordinate information of the marker points and the pixel information of the corresponding calibration plate image, the intrinsic and extrinsic parameters of the camera are determined. These intrinsic and extrinsic parameters enable the points in the image coordinate system to be accurately converted to the physical coordinate system, thereby realizing the association between the image and the physical platform.

[0089] Teaching calibration refers to determining the position of the screen in the camera coordinate system and establishing a reference point through manual operation or preset programs.

[0090] For example, the printing stage is controlled to move to the camera shooting position, the calibration plate is placed on the stage surface, the table backlight source is turned on on the host computer screen, four cameras are turned on to shoot and obtain the calibration plate image, and the results are fed back to the host computer, and the backlight source is turned off; image processing is performed on the captured calibration plate images, and the internal and / or external parameters of the four cameras are adjusted according to the image processing results to establish the four cameras in the same plane coordinate system. (Distortion and chessboard calibration)

[0091] On the printing stage, an L-shaped bracket with marking points is used to provide a stable calibration reference. The printing stage is controlled to translate 9 times along the X axis (the first preset number of times), the screen is controlled to translate 9 times along the Y axis (the second preset number of times), and it is rotated 3 times along the T axis based on the fifth marking point. After each position is completed, the camera is triggered to take a photo to obtain the image and physical coordinates, and the corresponding image and coordinate information are fed back to the host computer; finally, a calibration conversion file is obtained to establish an association between the camera coordinate system and the XYT three-axis coordinate system; the position and / or angle of the XYT axis is adjusted according to the calibration conversion file. (N-point calibration)

[0092] Control the printing stage to move to the camera's shooting position, place an A4 paper on the printing stage, start the negative pressure component on the printing stage at the same time, adjust the position of the screen so that its current position on the YT axis is 0mm (printing starting point) to ensure that the starting position of each printing is consistent; control the printing stage to move to the printing station, and perform a trial print on the A4 paper on the printing stage. After the trial print, control the printing stage to move to the camera's shooting position to capture the image of the screen printed on the A4 paper, and determine the corresponding center coordinates based on the captured image, and upload it to the host computer as a teaching reference point.

[0093] (Teaching calibration)

[0094] The working principles and adjustment processes corresponding to the above-mentioned distortion and chessboard calibration, N-point calibration and teaching calibration can refer to the existing calibration methods and will not be described in detail here.

[0095] like Figure 5As shown, in a specific embodiment, before photographing the target battery cell based on the visual calibration method in step P21, the method may further include the following steps.

[0096] Step P211, controlling the printing stage to move along the X-axis according to a first preset number of times, and / or controlling the screen to perform a first action along the Y-axis according to a second preset number of times, and / or along the T-axis according to a third preset number of times;

[0097] Step P212, controlling the camera to shoot the screen after the first action is performed according to the target configuration parameters, and determining calibration transformation information according to the captured image information and the actual position information of the screen, wherein the calibration transformation information is used to determine the mapping relationship between the camera coordinate system and the XYT coordinate system where the screen is located;

[0098] Step P213, adjusting at least one of the position information and the angle information of the printing stage according to the calibration conversion information and the image information of the calibration plate set on the printing stage.

[0099] In this way, by controlling the movement of the printing stage and the screen, the mapping relationship between the camera coordinate system and the screen coordinate system (i.e., calibration conversion information) is determined by using the camera to capture and combine the actual position information of the screen. Subsequently, the position and angle of the printing stage are precisely adjusted using this mapping relationship and the image information of the calibration plate. This series of operations is designed to improve the positioning accuracy during the printing process and ensure printing quality.

[0100] In step P211, the first action includes controlling the screen to move along the Y axis according to a second preset number of times and to rotate along the T axis according to a preset angle. The X-axis movement refers to controlling the printing stage to move in the horizontal direction, the Y-axis movement refers to controlling the screen to move in the vertical direction, and the T-axis rotation refers to controlling the direction and / or angle of rotation of the screen.

[0101] In a specific embodiment, the step P212 of determining the calibration conversion file according to the captured image information and the actual location information of the network disk includes the following steps.

[0102] Step P2121, obtaining the physical coordinate information of a number of marking points on the screen in the XYT coordinate system;

[0103] Step P2122, determining pixel coordinate information of a plurality of marking points according to the image information of the photographed halftone plate;

[0104] Step P2123, determining calibration conversion information based on the difference between the physical coordinate information and the corresponding pixel coordinate information.

[0105] In this way, by comparing the coordinates of the marking points on the halftone in the physical coordinate system (XYT) with the pixel coordinates in the captured image, calibration conversion information for converting the image pixel coordinates into the physical coordinates is determined.

[0106] After the camera calibration is completed, the calibrated camera is put into the printing production process, that is, the battery cell is photographed to obtain the actual position of the battery cell, and compared with the coordinate position of the teaching reference point obtained in the teaching calibration to determine the corresponding offset value. According to the offset value, the offset of the printing stage in the X-axis direction and / or the offset of the screen in the YZ-axis direction (Y-axis direction and / or T-axis direction) is adjusted.

[0107] Based on this, Figure 6 As shown, the light source for photographing is started to determine whether the printing stage successfully absorbs the target battery cell at the loading station; if so, the camera is turned on to photograph the target battery cell, and the photographed image is processed and analyzed to determine whether the visual photographing result meets the preset standard image; if the visual photographing result does not meet the preset standard image, it is determined whether the battery cell on the printing stage is broken or whether the difference between the clarity of the photographed battery cell image and the clarity of the standard image is greater than a preset value; if so, an early warning signal is triggered, and after the early warning is triggered, it is determined whether the broken battery cell on the printing stage is cleaned or a new battery cell is placed on the printing stage; if so, the placement position of the battery cell is photographed again for confirmation.

[0108] If the visual photography result meets the preset standard image, the actuator XYT is controlled to make corresponding adjustments according to the XYT three-axis position offset determined by the camera calibration, so that the position of the battery cell matches the preset position of the printing table; after completing the positioning calibration, it is detected and determined whether the printing stage has reached the preset printing position; if so, the print head is controlled to perform the printing operation on the target battery cell on the printing stage.

[0109] An embodiment of the present invention provides a printing device, wherein the printing device comprises a printing stage, and the printing stage is used to support and fix a target battery sheet so that the target battery sheet can be stably printed in the printing device.

[0110] In one embodiment, the printing device moves the printing carrier with the target battery cells placed thereon from the loading station to the printing station according to a printing carrier operation control method. After the printing operation is completed at the printing station, the printing carrier with the printed target battery cells placed thereon is moved from the printing station to the unloading station.

[0111] In a specific embodiment, the printing stage operation control method can be implemented with reference to any of the technical solutions provided above.

[0112] The printing device also includes a first control module, which is used to control the printing stage to move from the loading station to the printing station at a preset first speed after receiving the target cell sheet. The first control module is used to control the printing stage to move from the printing station to the unloading station at a preset second speed after the target cell sheet is printed;

[0113] The printing device also includes a second control module, which is used to control the printing stage to return from the unloading station to the loading station at a preset third speed after the target battery cell leaves the unloading station;

[0114] The third speed is smaller than at least one of the first speed and the second speed.

[0115] For example, Figure 7 As shown, the printing stage 20 can move back and forth horizontally along the direction marked by the arrow in the figure. Assuming that position 11 is the loading station, position 12 is the printing station, and position 13 is the unloading position, the printing stage is controlled to move from the loading station 11 to the printing station 12 at a preset first speed; after the target cell sheet is printed, the printing stage is controlled to move from the printing station 12 to the unloading station 13 at a preset second speed. After the target cell sheet leaves the unloading station, the printing stage is controlled to return from the unloading station 13 to the loading station 11 at a preset third speed.

[0116] One embodiment of the present invention provides a computer-readable storage medium.

[0117] In one embodiment, a computer readable storage medium stores a computer program executed by the processor mentioned above, or a printing stage operation control method in any of the technical solutions mentioned above.

[0118] When the processor executes the computer program, it can execute the description of the printing stage operation control method in any of the above technical solutions, so it will not be repeated here. In addition, the description of the beneficial effects of the same method will not be repeated.

[0119] The computer-readable storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0120] In summary, the present invention provides a printing stage operation control method, a printing device, and a storage medium. After receiving the target battery cell, the printing stage quickly moves from the loading station to the printing station at a preset first speed. This higher movement speed ensures that the battery cell can quickly enter the printing area, thereby reducing the overall production cycle time and improving production efficiency. After completing the printing operation, the printing stage moves from the printing station to the unloading station at a preset second speed to ensure that the battery cell can be smoothly and accurately transferred to the next processing link. When the target battery cell leaves the unloading station, the printing stage returns to the loading station at a slower third speed, which can reduce the energy consumption and friction loss of the device, thereby reducing the heat generation, and then extending the service life of the device and improving the stability of the device. .

[0121] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0122] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A printing stage operation control method, characterized in that: include: After receiving the target battery cell, the printing stage is controlled to move from the loading station to the printing station at a preset first speed; After the target battery cell is printed, the printing stage is controlled to move from the printing station to the unloading station at a preset second speed; After the target battery cell leaves the unloading station, the printing stage is controlled to return from the unloading station to the loading station at a preset third speed; The third speed is smaller than at least one of the first speed and the second speed.

2. The control method according to claim 1, characterized in that: The method further comprises: After receiving the target battery cell, the printing stage is controlled to move from the loading station to the printing station according to a preset first acceleration; After the target battery cell is printed, the printing stage is controlled to move from the printing station to the unloading station according to a preset second acceleration; After the target battery cell leaves the unloading station, the printing stage is controlled to return from the unloading station to the loading station according to a preset third acceleration; The third acceleration is smaller than at least one of the first acceleration and the second acceleration.

3. The control method according to claim 1, characterized in that: The printing stage includes a first printing stage and a second printing stage; the control method further includes: Controlling the first printing stage to move from the loading station to the printing station at a preset fourth speed; Controlling the second printing stage to move from the printing station to the unloading station at a preset fifth speed; Wherein, the fourth speed is less than or equal to the fifth speed.

4. The control method according to claim 1, characterized in that: The method further comprises: Before the printing stage receives the target battery cell, the transfer assembly is controlled to grab the target battery cell. When the distance between the transfer assembly and the printing stage reaches a preset value, the negative pressure assembly in the transfer assembly is turned off, and the negative pressure assembly that provides negative pressure adsorption force to the printing stage is started, so that the target battery cell is adsorbed and fixed on the printing stage.

5. The control method according to claim 1, characterized in that: Before the target pool sheet is printed, the method further comprises: Adjust the configuration parameters of the camera and / or the position information of the screen based on the visual calibration method, use the adjusted camera to shoot the target battery cell, and determine whether the shot image meets the preset conditions; If yes, the printing head is controlled to perform a printing operation on the target cell on the printing stage; If not, adjust the position of the target battery cell on the printing stage.

6. The control method according to claim 5, characterized in that: The printing stage includes a screen. Before photographing the target cell based on the visual calibration method, the method further includes: According to the image information of the calibration plate captured by several cameras, a three-dimensional visual calibration method is used to determine the calibration information of all cameras in the same camera coordinate system, and the target configuration parameters of each camera are adjusted according to the calibration information; Controlling the printing stage to move along the X-axis according to a first preset number of times, and / or controlling the screen to perform the first action along the Y-axis according to a second preset number of times, and / or along the T-axis according to a third preset number of times; Controlling the camera to shoot the screen after the first action is performed according to the target configuration parameters, and determining calibration transformation information according to the captured image information and the actual position information of the screen, wherein the calibration transformation information is used to determine the mapping relationship between the camera coordinate system and the XYT coordinate system where the screen is located; At least one of the position information and the angle information of the printing stage is adjusted according to the calibration conversion information and the image information of the calibration plate set on the printing stage.

7. The control method according to claim 6, characterized in that: Determining the calibration conversion file according to the captured image information and the actual location information of the network disk includes: Obtain the physical coordinate information of several marking points on the screen in the XYT coordinate system; Determine pixel coordinate information of a plurality of marking points according to the image information of the photographed halftone plate; The calibration conversion information is determined according to the difference between the physical coordinate information and the corresponding pixel coordinate information.

8. The control method according to claim 1, characterized in that: Before receiving the target battery slice, the method further includes: When the transfer component moves to the printing stage or the distance between the transfer component and the printing stage reaches a preset value, the negative pressure component in the printing stage is activated; Determine whether the actual pressure value of the negative pressure component meets the preset vacuum degree; If so, it is determined that the printing stage successfully absorbs and fixes the target battery cell; If not, a prompt message is generated to prompt the user that the current target battery cell is abnormal.

9. A printing device for executing the printing stage operation control method according to any one of claims 1 to 8, characterized in that: The printing device comprises a printing stage, and the printing device further comprises: The first control module is used to control the printing stage to move from the loading station to the printing station at a preset first speed after receiving the target cell sheet; and to control the printing stage to move from the printing station to the unloading station at a preset second speed after the target cell sheet is printed; A second control module is used to control the printing stage to return from the unloading station to the loading station at a preset third speed after the target battery cell leaves the unloading station; The third speed is smaller than at least one of the first speed and the second speed.

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

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