An automatic feeding device for lithium-ion battery assembly

Abstract

The present invention discloses an automatic feeding device for lithium-ion battery assembly, specifically relating to the technical field of lithium-ion battery assembly. It includes a base, a conveyor belt for conveying electrode sheets, a suction cup, and a suction cup controller for controlling the suction cup to adsorb the electrode sheets. A fixing frame is arranged on the top of the base, a central processing unit is arranged on one side of the fixing frame, angle recovery mechanisms are arranged on both sides of the base, and the angle recovery mechanisms are used to recover the angles of the electrode sheets moved to the material taking station. A position adjustment mechanism is arranged on one side of the base, and the position adjustment mechanism is used to adjust the position of the material taking point on the suction cup; it also includes an electrode sheet position capture module. Through the collaborative method of electrode sheet position capture, intelligent calculation and analysis, and mechanical dynamic adjustment, the present invention accurately corrects the angle and position deviations during the conveying process of the electrode sheets, ensures the accurate alignment of the suction cup for material taking, thereby improving the material taking success rate, optimizing the production efficiency, and enhancing the quality and consistency of lithium-ion battery assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of lithium-ion battery assembly, and more specifically, the present invention relates to an automatic feeding device for lithium-ion battery assembly. Background Art

[0002] A lithium-ion battery is a high-energy density battery that relies on the movement of lithium ions between the positive and negative electrodes for charging and discharging, and is widely used in fields such as consumer electronics, electric vehicles, and energy storage systems. Its assembly process includes multiple key links such as electrode sheet manufacturing, electrode sheet stacking or winding, assembly into the case, electrolyte injection, encapsulation formation, and terminal testing. Among them, the feeding link is crucial and involves the precise transportation of core materials such as electrode sheets, diaphragms, and electrolytes. Traditional manual or semi-automatic feeding methods have problems such as low efficiency and unstable accuracy, while the introduction of automatic feeding devices has greatly improved production efficiency and product consistency. This device usually integrates functions such as intelligent transportation systems, vision detection, manipulator picking and placing, and position calibration to ensure stable and precise material supply. For example, during the electrode sheet stacking or winding process, the automatic feeding device can accurately align the electrode sheets to avoid misalignment or damage; during the electrolyte injection link, it can precisely control the injection volume to avoid overflow and material waste. Through intelligent control and big data optimized scheduling, the automatic feeding equipment not only improves the automation level of the production line, reduces labor costs, but also improves the stability, safety, and consistency of the battery, boosting the new energy industry to develop in a more efficient and intelligent direction.

[0003] Existing automated feeding devices for lithium-ion battery assembly usually adopt the methods of multi-station linkage, precise control, and intelligent detection to achieve efficient supply of various materials. The feeding process usually includes the following key steps: First, material storage and transportation. Materials such as electrode sheets, separators, and electrolytes are usually stored in automatic bins or storage units, and the materials are transported to the feeding station through conveyor belts, vibrating bowls, or pneumatic conveying systems. Second, precise material picking and positioning. The manipulator or adsorption device obtains the target material from the bin with the assistance of the visual detection system and corrects the position to ensure that key components such as electrode sheets and separators are aligned without deviation. Then, precise feeding and assembly docking. For example, during the process of electrode sheet stacking or winding, the equipment will sequentially send the positive electrode sheet, separator, negative electrode sheet, etc. to the assembly station according to the set stacking or winding sequence, and automatically adjust through the visual system and alignment mechanism to ensure the alignment accuracy. For electrolyte feeding, the automatic liquid injection system adopts quantitative control and precise spraying technology, injects a set amount of electrolyte according to the design requirements of the battery cell, and combines vacuum-assisted liquid injection to ensure uniform penetration and no air bubble residue. In the final packaging feeding stage, the automatic feeding device is responsible for transporting external packaging components such as the top cover and battery case, and accurately placing them on the battery cell, and the subsequent process completes the sealing. During the whole process, the intelligent detection system monitors the material state in real time to ensure the accuracy of each link, prevent material misplacement, material shortage, or accumulation, achieve high-speed and stable automated feeding, and greatly improve production efficiency and product consistency.

[0004] The prior art has the following deficiencies: During the electrode sheet feeding process of lithium-ion batteries, due to slight deviations in the operation of the conveyor belt (such as uneven tension or guide rail wear), the electrode sheet shifts left and right when being transported to the picking station, and cannot be accurately aligned with the picking point on the suction cup. This problem only occurs at the moment when the electrode sheet is transported to the picking station and does not affect other transportation stages. When the electrode sheet fails to reach the accurate position, the suction cup may mispick during picking, resulting in picking failure, or there may be a slight rotational error in the angle of the electrode sheet after picking, affecting the alignment accuracy of subsequent stacking. If the picking and alignment accuracy of the electrode sheet decreases, it may lead to misalignment of subsequent electrode sheet stacking, thereby affecting the consistency of the internal structure of the battery. In addition, an incorrect angle of the electrode sheet during picking may affect the consistency of winding or stacking, ultimately reducing the battery performance. If the picking fails, the production line may require additional adjustments or re-picking, reducing the production tempo and affecting the overall production efficiency.

[0005] The above information disclosed in the background art section is only used to enhance the understanding of the background of the present disclosure, and therefore it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0006] In order to overcome the above-mentioned defects of the prior art, the present invention provides an automatic feeding device for lithium-ion battery assembly to solve the problems put forward in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] An automatic feeding device for lithium-ion battery assembly, comprising a base, a conveyor belt for conveying electrode sheets, a suction cup, and a suction cup controller for controlling the suction cup to adsorb the electrode sheets. A fixing frame is provided on the top of the base, and a central processing unit is provided on one side of the fixing frame. Angle recovery mechanisms are provided on both sides of the base, and the angle recovery mechanism is used to recover the angle of the electrode sheet moved to the material taking station. A position adjustment mechanism is provided on one side of the base, and the position adjustment mechanism is used to adjust the position of the material taking point on the suction cup. A pole piece position capture module is provided on the inner top wall of the fixing frame, and the pole piece position capture module is used to obtain the position information of the pole piece in real time when it is conveyed to the material taking station through the conveyor belt, and generate an angle deviation coefficient and an offset change coefficient through the central processing unit;

[0009] The central processing unit comprehensively analyzes the generated angle deviation coefficient and offset change coefficient, judges whether the electrode sheet can be aligned with the material taking point on the suction cup when it is conveyed to the material taking station through the conveyor belt, and controls the working states of the angle recovery mechanism and the position adjustment mechanism according to the comparison result.

[0010] Preferably, the angle recovery mechanism includes a fixing plate, a first cylinder, a first telescopic rod and a push plate. One side of the fixing plate is fixedly connected to one side of the base, the top of the fixing plate is fixedly connected to the bottom of the first cylinder, the output end of the first cylinder is in transmission connection with the input end of the first telescopic rod, and the output end of the first telescopic rod is fixedly connected to one side of the push plate. The side of the push plate in contact with the electrode sheet is provided with a flexible coating.

[0011] Preferably, the position adjustment mechanism includes a motor support plate, a motor, a rotating column, a top plate, a second cylinder, a second telescopic rod, a telescopic plate, a load-bearing frame, a third cylinder, and a third telescopic rod. One side of the motor support plate is fixedly connected to one side of the base. The top of the motor support plate is fixedly connected to the bottom of the motor. The output shaft of the motor is drivingly connected to the bottom of the rotating column. The top of the rotating column is fixedly connected to the bottom of the top plate. The top of the top plate is fixedly connected to the bottom of the second cylinder. The output end of the second cylinder is drivingly connected to the input end of the second telescopic rod. One side of the top plate is fixedly connected to one side of the telescopic plate. The other side of the telescopic plate and the output end of the second telescopic rod are both fixedly connected to one side of the load-bearing frame. The top of the load-bearing frame is fixedly connected to the bottom of the third cylinder. The output end of the third cylinder is drivingly connected to the input end of the third telescopic rod. The output end of the third telescopic rod is fixedly connected to the top of the suction cup controller. The output end of the suction cup controller is connected to the input end of the suction cup.

[0012] Preferably, the output end of the central processing unit is electrically connected to the input end of the first cylinder, the input end of the motor, the input end of the second cylinder, the input end of the third cylinder, and the input end of the suction cup controller respectively. The output end and the input end of the electrode position capture module are electrically connected to the input end and the output end of the central processing unit respectively.

[0013] Preferably, the electrode position capture module is used to obtain the position information of the electrode in real time when it is transported to the picking station through the conveyor belt, specifically including: the center point offset angle at different moments within a period of time when the electrode is transported to the picking station through the conveyor belt, and the position offset amount between the center point position of the electrode and the picking point on the suction cup;

[0014] And after obtaining it, transmit it to the central processing unit, and generate an angle deviation coefficient and an offset change coefficient through the central processing unit.

[0015] Preferably, the acquisition logic of the angle deviation coefficient is as follows:

[0016] S1. Obtain the center point offset angle of the electrode at different moments within T time when the electrode is transported to the picking station through the conveyor belt through the electrode position capture module, and calibrate it as , represents the center point offset angle of the electrode at the moment within T time when the electrode is transported to the picking station through the conveyor belt, , is a positive integer;

[0017] S2. Obtain the preset center point offset angle of the electrode when it is transported to the picking station through the conveyor belt through the central processing unit, and calibrate it as ;

[0018] S3. Calculate the angle deviation coefficient , and the specific calculation logic is as follows: When the pole piece is conveyed to the material taking station by the conveyor belt, calculate the square of the difference between the central point offset angles at different times within time T and the preset central point offset angle . After averaging the obtained results and adding the natural logarithm, the obtained value is the angle deviation coefficient .

[0019] Preferably, the acquisition logic of the offset change coefficient is as follows:

[0020] S1. Through the pole piece position capture module, obtain the position offset between the central point of the pole piece and the material taking point on the suction cup at different times within time T when the pole piece is conveyed to the material taking station by the conveyor belt, and calibrate it as , indicating the position offset between the central point of the pole piece and the material taking point on the suction cup at time within time T when the pole piece is conveyed to the material taking station by the conveyor belt, , where n is a positive integer;

[0021] S2. Through the central processing unit, obtain the preset position offset between the central point of the pole piece and the material taking point on the suction cup when the pole piece is conveyed to the material taking station by the conveyor belt, and calibrate it as ;

[0022] S3. Calculate the offset change coefficient . The specific calculation process is as follows: Calculate the ratio of the position offset between the central point of the pole piece and the material taking point on the suction cup at different times within time T when the pole piece is conveyed to the material taking station by the conveyor belt and the preset position offset to obtain the relative offset at each moment. Take the absolute value of the relative offsets at all moments and calculate their average value. Finally, perform an exponential operation on the average value through the natural exponential function to obtain the offset change coefficient .

[0023] Preferably, the central processing unit performs comprehensive analysis on the generated angle deviation coefficient and the offset change coefficient , and generates an alignment judgment coefficient through weighted summation.

[0024] Preferably, set the preset alignment judgment coefficient reference threshold to . Through the central processing unit, compare the calculated alignment judgment coefficient with the preset alignment judgment coefficient reference threshold Compare, and based on the comparison result, determine whether the pole piece can be aligned with the material taking point on the suction cup when it is conveyed to the material taking station by the conveyor belt, and control the working states of the angle recovery mechanism and the position adjustment mechanism according to the comparison result. The specific judgment is as follows:

[0025] When the pole piece can be aligned with the material taking point on the suction cup when it is conveyed to the material taking station by the conveyor belt, a normal signal is generated. After the central processing unit receives the normal signal, a standby signal and a holding signal are generated. The standby signal is transmitted to the first cylinder. After the first cylinder receives the standby signal, it controls the angle recovery mechanism to perform standby work, and the holding signal is respectively transmitted to the motor, the second cylinder and the third cylinder. After the motor, the second cylinder and the third cylinder receive the holding signal, they control the position adjustment mechanism to perform holding work;

[0026] When the pole piece cannot be aligned with the material taking point on the suction cup when it is conveyed to the material taking station by the conveyor belt, an abnormal signal is generated. After the central processing unit receives the abnormal signal, a recovery signal and an adjustment signal are generated. The recovery signal is transmitted to the first cylinder. After the first cylinder receives the recovery signal, it controls the angle recovery mechanism to perform angle recovery work, and the adjustment signal is respectively transmitted to the motor, the second cylinder and the third cylinder. After the motor, the second cylinder and the third cylinder receive the adjustment signal, they control the position adjustment mechanism to perform position adjustment work.

[0027] Technical effects and advantages of the present invention:

[0028] 1. Through the coordinated cooperation of the angle recovery mechanism, the position adjustment mechanism and the pole piece position capture module, the present invention realizes high-precision angle adjustment and position compensation for the pole piece conveyed to the material taking station, ensuring that the pole piece can be accurately aligned with the material taking point on the suction cup and improving the success rate of material taking. The pole piece position capture module is based on high-precision vision sensors, laser rangefinders or other detection devices to collect the position information of the pole piece on the conveyor belt in real time, and then through intelligent analysis by the central processing unit, alignment judgment parameters are generated to judge whether angle and position adjustments are required. If the pole piece fails to align, the angle recovery mechanism applies a flexible thrust to the pole piece through the cylinder, the telescopic rod and the push plate to accurately recover the angle of the pole piece. At the same time, the position adjustment mechanism adjusts the position of the material taking point of the suction cup through the motor, the cylinder telescopic plate rail to accurately align it with the center point of the pole piece, so as to achieve high-precision material taking. This closed-loop control system ensures that the position adjustment accuracy of the pole piece before material taking is controllable and improves the stability of the entire automated production line.

[0029] 2. Compared with the traditional method of feeding the electrode sheets of lithium-ion batteries, the present invention has a higher degree of automation and intelligent adjustment ability, effectively solving the problem of misalignment of electrode sheet picking caused by the running deviation of the conveyor belt, thereby avoiding problems such as misalignment of electrode sheet stacking, decreased winding accuracy, and increased short-circuit risk caused by deviation of the picking position. The traditional feeding method usually relies on fixed mechanical alignment or manual intervention, while the present invention uses the method of real-time data collection, intelligent calculation, and mechanical dynamic adjustment to automatically complete the angle and position correction of the electrode sheet without manual intervention, improving the feeding accuracy and stability. In addition, by pre-correcting the angle and position errors of the electrode sheet before picking, the present invention can effectively reduce the picking failure rate, improve production efficiency, reduce the rework rate and material loss caused by electrode sheet position errors, and make the operation of the automated production line more smooth and efficient.

[0030] 3. The present invention not only improves the accuracy of electrode sheet picking and the degree of automation of the equipment, but also ensures that the equipment can adapt to different types and sizes of electrode sheets through intelligent control algorithms and adaptive adjustment mechanisms, improving the compatibility of the system. Through the central processing unit combined with historical data analysis, motion model calculation, and intelligent algorithm optimization, the threshold of the alignment judgment parameter is dynamically adjusted, enabling the equipment to adaptively adjust the picking accuracy in different operating environments and further optimizing the picking effect. In addition, the present invention reduces the damage to the electrode sheet through the flexible coating push plate and combines the intelligent control of vacuum adsorption to ensure the stability and safety of the picking process. In summary, the present invention can not only significantly improve the automation level, picking accuracy, and production efficiency of the lithium-ion battery production line, but also reduce the error accumulation and material loss during the operation of the equipment, and has strong industrial application value and market competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with the drawings;

[0032] Figure 1 is a three-dimensional structural schematic diagram of an automated feeding device for lithium-ion battery assembly proposed by the present invention;

[0033] Figure 2 is a side structural schematic diagram of an automated feeding device for lithium-ion battery assembly proposed by the present invention;

[0034] Figure 3 is a schematic diagram of the installation structure of the angle recovery mechanism and position adjustment mechanism of an automated feeding device for lithium-ion battery assembly proposed by the present invention;

[0035] Figure 4 is a schematic diagram of the structure of the angle recovery mechanism of an automated feeding device for lithium-ion battery assembly proposed by the present invention;

[0036] Figure 5 Schematic diagram of the installation structure of the suction cup controller, suction cup and position adjustment mechanism for an automatic feeding device used in the assembly of lithium-ion batteries proposed by the present invention;

[0037] Figure 6 Schematic side view of the position adjustment mechanism of an automatic feeding device used in the assembly of lithium-ion batteries proposed by the present invention;

[0038] Figure 7 Module diagram of an automatic feeding device used in the assembly of lithium-ion batteries proposed by the present invention.

[0039] In the figure: 1, base; 2, conveyor belt; 3, suction cup controller; 4, suction cup; 5, fixing frame; 6, central processing unit; 7, angle restoration mechanism; 701, fixing plate; 702, first cylinder; 703, first telescopic rod; 704, push plate; 8, position adjustment mechanism; 801, motor support plate; 802, motor; 803, rotating column; 804, top plate; 805, second cylinder; 806, second telescopic rod; 807, telescopic plate; 808, load-bearing frame; 809, third cylinder; 810, third telescopic rod; 9, electrode position capture module. Detailed implementation manners

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0041] Embodiment

[0042] As Figure 1-7 shown, an automatic feeding device for the assembly of lithium-ion batteries includes a base 1, a conveyor belt 2 for conveying electrodes, a suction cup 4, and a suction cup controller 3 for controlling the suction cup 4 to adsorb the electrodes. A fixing frame 5 is provided on the top of the base 1, a central processing unit 6 is provided on one side of the fixing frame 5, angle restoration mechanisms 7 are provided on both sides of the base 1, the angle restoration mechanism 7 is used to restore the angle of the electrode moved to the material taking station, and a position adjustment mechanism 8 is provided on one side of the base 1, and the position adjustment mechanism 8 is used to adjust the position of the material taking point on the suction cup 4;

[0043] It further includes:

[0044] The pole piece position capturing module 9 is arranged on the inner top wall of the fixed frame 5 and is used to obtain the position information of the pole piece in real time when it is conveyed to the material taking station through the conveyor belt 2, specifically including: the center point offset angle of the pole piece at different moments within a period of time when it is conveyed to the material taking station through the conveyor belt 2, and the position offset between the center point position of the pole piece and the material taking point on the suction cup 4; and after obtaining it, transmit it to the central processor 6, and generate an angle deviation coefficient and an offset change coefficient through the central processor 6;

[0045] It should be noted that the pole piece position capturing module 9 can be a high-precision vision sensor, a laser displacement sensor, an infrared scanning sensor or other devices that can obtain the position information of the pole piece in real time when it is conveyed to the material taking station through the conveyor belt 2. The pole piece position capturing module 9 is not specifically limited here and can be selected according to actual needs.

[0046] The central processor 6 comprehensively analyzes the generated angle deviation coefficient and offset change coefficient to generate an alignment judgment coefficient, compares the alignment judgment coefficient with a pre-set alignment judgment coefficient reference threshold, judges whether the pole piece can be aligned with the material taking point on the suction cup 4 when it is conveyed to the material taking station through the conveyor belt 2 according to the comparison result, and controls the working states of the angle recovery mechanism 7 and the position adjustment mechanism 8 according to the comparison result.

[0047] The preset alignment judgment coefficient reference threshold can be determined through methods such as experimental data analysis, statistical modeling, machine learning optimization, adaptive algorithm setting, and simulation calculation to ensure its adaptability to different pole piece sizes, conveying speeds, and picking accuracy requirements. In practical applications, first, it is necessary to measure the angle deviation coefficient and offset change coefficient of the pole piece under different conveying speeds, different tension forces, and different wear degrees of the conveyor belt 2 multiple times in an experimental environment. After recording these data, an empirical initial threshold range is determined through statistical methods such as normal distribution analysis or mean-variance calculation to ensure that the system can pick materials accurately under 95% or more working conditions; subsequently, through machine learning optimization such as based on neural network or decision tree models, the historical data is input into the calculation model to analyze the corresponding relationship between the picking failure rate and the angle deviation coefficient and offset change coefficient under different working conditions, thereby optimizing the threshold setting of the alignment judgment coefficient; in addition, in the actual production environment, this threshold can be dynamically adjusted in combination with an adaptive algorithm. For example, during the operation of the equipment, if the picking failure rate rises, the threshold can be automatically reduced to increase the adjustment frequency, and if the picking success rate is stable, the threshold can be relaxed to reduce adjustment actions to optimize production efficiency; at the same time, through simulation calculation, different working condition parameters such as pole piece material, thickness, and friction coefficient are input for virtual testing to evaluate the stability of the system under different threshold settings, thereby finally determining the optimal alignment judgment coefficient reference threshold, which can not only ensure picking accuracy but also reduce unnecessary mechanical adjustments and improve overall production efficiency and stability.

[0048] It should be noted that the suction cup controller 3 is used to precisely control the adsorption and release of the suction cup 4 on the pole piece, ensuring that the pole piece is stably adsorbed at the material taking station and precisely placed in subsequent processes. The specific implementation method is as follows: The suction cup controller 3 internally integrates a solenoid valve control system, a vacuum generator, a pressure sensor, and an air flow adjustment unit, and communicates with the central processor 6. Before taking the material, the central processor 6 determines whether the suction cup 4 has been precisely aligned with the center point of the pole piece according to the pole piece position data provided by the pole piece position capture module 9; when aligned, the central processor 6 sends an adsorption instruction to the suction cup controller 3. After receiving the instruction, the suction cup controller 3 starts the vacuum generator, opens the negative pressure channel inside the suction cup 4 through the solenoid valve, and quickly forms a stable negative pressure adsorption force between the suction cup 4 and the pole piece, so that the pole piece is firmly adsorbed on the surface of the suction cup 4. At the same time, the pressure sensor monitors the adsorption state in real time. If the detected adsorption force is insufficient, the suction cup controller 3 will automatically adjust the air flow channel to increase the vacuum degree to ensure that the pole piece will not fall off during transportation. When the suction cup 4 needs to release the pole piece, the suction cup controller 3 closes the vacuum channel and switches the air flow direction through the solenoid valve, allowing a small amount of positive pressure air to enter the inside of the suction cup 4 to break the adsorption negative pressure, so that the pole piece can be smoothly detached from the suction cup to complete the discharging operation. In addition, in order to adapt to pole pieces of different thicknesses and materials, the suction cup controller 3 can dynamically adjust the vacuum degree and the release air flow intensity according to the information fed back by the sensor, avoiding deformation or damage of the pole piece due to excessive suction force during the adsorption process, and improving the stability and accuracy of the automatic feeding device.

[0049] In this embodiment, the angle recovery mechanism 7 includes a fixed plate 701, a first cylinder 702, a first telescopic rod 703, and a push plate 704. One side of the fixed plate 701 is fixedly connected to one side of the base 1, the top of the fixed plate 701 is fixedly connected to the bottom of the first cylinder 702, the output end of the first cylinder 702 is drivingly connected to the input end of the first telescopic rod 703, the output end of the first telescopic rod 703 is fixedly connected to one side of the push plate 704, and the side surface of the push plate 704 in contact with the pole piece is provided with a flexible coating.

[0050] The angle recovery mechanism 7 is used to recover the angle of the pole piece moved to the material taking station. The specific implementation method is as follows: The first cylinder 702 transmits the generated linear thrust to the first telescopic rod 703 through its output end, and the first telescopic rod 703 further transmits the received thrust to the push plate 704 through its axial telescopic movement. Since one side of the push plate 704 is fixedly connected to the output end of the first telescopic rod 703, the movement of the push plate 704 along the axial direction of the first telescopic rod 703 can be controlled, and then a lateral thrust can be applied to the pole piece transported to the material taking station and having an angular offset, prompting the pole piece to perform angular fine adjustment around its central axis until it is restored to the standard angle, so as to ensure that the pole piece is precisely aligned before entering the material taking stage. To avoid damaging the pole piece, the contact surface of the push plate 704 with the pole piece is provided with a flexible coating.

[0051] It should be noted that the side of the pusher plate 704 in contact with the electrode sheet is provided with a flexible coating. Its main function is to reduce the mechanical impact of the pusher plate 704 on the surface of the electrode sheet when adjusting the angle of the electrode sheet, reduce frictional damage, and ensure the smoothness and stability of the angle recovery process. Since the electrode sheet is usually composed of a thin film material, a metal foil or a coated electrode sheet, its surface is relatively fragile and easily scratched or deformed. If the pusher plate 704 directly contacts the electrode sheet with a hard material such as metal or hard plastic during the adjustment process, it may cause scratches, creases, damage or microstructural changes on the surface of the electrode sheet, thereby affecting the assembly quality and electrochemical performance of the battery. Therefore, setting a flexible coating on the contact side of the pusher plate 704 can effectively buffer the pressure exerted by the pusher plate 704 on the electrode sheet, ensure a more uniform distribution of the thrust when adjusting the angle of the electrode sheet, reduce the stress concentration points on the electrode sheet, and improve the flexibility and accuracy of the adjustment. The flexible coating usually uses materials such as silicone, polyurethane PU, rubber, polytetrafluoroethylene PTFE coating or ultra-high molecular weight polyethylene UHMW-PE. These materials have good elasticity, wear resistance, anti-slip properties, and can effectively absorb part of the impact force while the pusher plate 704 exerts a thrust on the electrode sheet, so that the electrode sheet gradually returns to the standard angle during the adjustment process without deformation or slipping due to excessive force. In addition, the flexible coating can also reduce the electrostatic accumulation between the electrode sheet and the pusher plate 704, avoiding the situation where the electrode sheet still cannot be accurately aligned after adjustment due to electrostatic adsorption. In summary, the design of the pusher plate 704 with a flexible coating can improve the adjustment accuracy and stability of the angle recovery mechanism 7, ensure the safety of the electrode sheet during the adjustment process and the accurate alignment before material taking, improve the overall performance and reliability of the automatic loading device for lithium-ion batteries. The specific material of the flexible coating is not specifically limited here and can be selected according to actual needs.

[0052] In this embodiment, the position adjustment mechanism 8 includes a motor support plate 801, a motor 802, a rotating column 803, a top plate 804, a second cylinder 805, a second telescopic rod 806, a telescopic plate 807, a load-bearing frame 808, a third cylinder 809, and a third telescopic rod 810. One side of the motor support plate 801 is fixedly connected to one side of the base 1. The top of the motor support plate 801 is fixedly connected to the bottom of the motor 802. The output shaft of the motor 802 is drivingly connected to the bottom of the rotating column 803. The top of the rotating column 803 is fixedly connected to the bottom of the top plate 804. The top of the top plate 804 is fixedly connected to the bottom of the second cylinder 805. The output end of the second cylinder 805 is drivingly connected to the input end of the second telescopic rod 806. One side of the top plate 804 is fixedly connected to one side of the telescopic plate 807. The other side of the telescopic plate 807 and the output end of the second telescopic rod 806 are both fixedly connected to one side of the load-bearing frame 808. The top of the load-bearing frame 808 is fixedly connected to the bottom of the third cylinder 809. The output end of the third cylinder 809 is drivingly connected to the input end of the third telescopic rod 810. The output end of the third telescopic rod 810 is fixedly connected to the top of the suction cup controller 3. The output end of the suction cup controller 3 is drivingly connected to the input end of the suction cup 4.

[0053] The position adjustment mechanism 8 is used to adjust the position of the material taking point on the suction cup 4 to ensure that it can accurately align with the center point of the pole piece. The specific implementation method is as follows: The motor 802 controls the rotation of the rotating column 803 through its output shaft, and then controls the angle adjustment of the driving top plate 804, so that the suction cup 4 can adapt to the rotation angle error of the pole piece. Subsequently, the second cylinder 805 drives the second telescopic rod 806 to expand and contract axially, driving the load-bearing frame 808 and the telescopic plate 807 to perform fine position adjustment in the horizontal direction, so that the suction cup 4 can be finely adjusted in the horizontal plane to correct the relative offset between the suction cup 4 and the center point of the pole piece. At the same time, the third cylinder 809 controls the expansion and contraction of the third telescopic rod 810 to adjust the height of the suction cup 4 to adapt to pole pieces of different thicknesses or stacked heights, ensuring that the suction cup 4 can accurately fit the surface of the pole piece during material taking and avoiding material taking failure. Finally, when the position of the suction cup 4 is aligned with the center point of the pole piece, the central processor 6 sends a locking instruction to the position adjustment mechanism 8, all cylinders stop operating, the suction cup controller 3 is started, and the suction cup 4 performs the material taking operation. Through the multi-axis dynamic adjustment of the position adjustment mechanism 8, the suction cup 4 can perform high-precision positioning in the X, Y, and Z directions, and combined with the rotation adjustment function, it ensures that during the transportation of the pole piece, even if there are slight offsets or rotation errors, the suction cup 4 can still accurately adsorb the pole piece, greatly improving the success rate of material taking and the stability of the automatic production line.

[0054] In this embodiment, the output end of the central processing unit 6 is electrically connected to the input ends of the first cylinder 702, the motor 802, the second cylinder 805, the third cylinder 809, and the input end of the suction cup controller 3 respectively. The output end and the input end of the pole piece position capture module 9 are electrically connected to the input end and the output end of the central processing unit 6 respectively;

[0055] It should be noted that electrical connection refers to the process of transmitting current from one part of an electronic device or circuit to another through a conductive material or conductive component. This connection is a crucial part of the operation of electronic devices and circuits. It ensures the effective transmission and connection of the electron flow in the electronic device. Electrical connection can be achieved by using wires. The specific way of electrical connection between the central processing unit 6 and the first cylinder 702, the motor 802, the second cylinder 805, the third cylinder 809, the suction cup controller 3, and the pole piece position capture module 9 is not specifically limited and can be selected according to actual needs.

[0056] During the process of feeding the pole piece of the lithium-ion battery, due to the slight deviation in the operation of the conveyor belt 2, such as uneven tension or wear of the guide rail, the pole piece will shift left and right when it is transported to the picking station, and it cannot be accurately aligned with the picking point on the suction cup 4. This problem only occurs at the moment when the pole piece is transported to the picking station and does not affect other transportation stages. When the pole piece fails to reach the accurate position, the suction cup 4 may be misaligned during picking, resulting in picking failure, or there may be a slight rotational error in the angle of the pole piece after picking, affecting the alignment accuracy of subsequent stacking. If the picking alignment accuracy of the pole piece decreases, it may lead to misalignment of subsequent pole piece stacking, thereby affecting the consistency of the internal structure of the battery. In addition, an incorrect angle of the pole piece during picking may affect the consistency of winding or stacking, ultimately reducing the battery performance. If the picking fails, the production line may require additional adjustments or re-picking, reducing the production rhythm and affecting the overall production efficiency.

[0057] Therefore, in order to improve the accuracy of pole piece material collection during the production process of lithium-ion batteries, ensure the stability and consistency of battery assembly, and thus improve the overall performance and production efficiency of the battery. On the automated production line, pole pieces are key components of lithium-ion batteries, and their position accuracy directly affects the quality of subsequent processes such as lamination, winding, and welding. If the pole piece is offset left and right when it is transported to the material collection station, the suction cup 4 may be adsorbed misaligned or fail to collect materials when collecting materials, which will not only reduce production efficiency, but may also cause deformation or damage to the pole piece, thereby affecting the electrochemical properties inside the battery. In addition, the deviation of the material collection position may cause the pole piece to be stacked misaligned during lamination or winding, forming a risk of local short circuit, and ultimately affecting the safety, service life and charge and discharge performance of the battery. At the same time, due to the misalignment of material collection, the production line will require additional adjustments or repeated material collection operations, which increases production costs, equipment wear and energy consumption, and reduces the efficiency of automated production. Therefore, by accurately adjusting the position of the electrode and ensuring that the electrode is completely aligned with the suction cup 4 when taking the material, the success rate of taking the material can be improved, production errors can be reduced, and process stability can be optimized, thereby improving the production quality of lithium-ion batteries and ensuring the efficient and stable operation of large-scale automated production.

[0058] In this embodiment, the angle deviation coefficient is an indicator used to measure the degree of deviation between the center point offset angle and the theoretically predicted angle of the pole piece when it is transported to the material-retrieving station through a conveyor belt. It calculates the mean square error between the actual offset angle of the pole piece at multiple moments in a period of time and the preset center point offset angle, and optimizes the data distribution through logarithmic transformation, thereby quantitatively reflecting the angle stability of the pole piece during transportation. When the angle deviation coefficient value is larger, it means that the angle change of the pole piece during transportation is more drastic, and the instability increases. A larger angle deviation will increase the angle error of the suction cup 4 during material retrieving, resulting in an increase in the failure rate of material retrieving, affecting the alignment accuracy of subsequent laminations or windings, and thus reducing the overall assembly quality of the battery. On the contrary, when the angle deviation coefficient value is smaller, it means that the angle change of the pole piece during transportation is relatively stable and the deviation is small. Therefore, it is very important to keep the angle deviation coefficient within a reasonable range to ensure that the automated feeding device can still maintain high-precision and high-stability material retrieving operations when running at high speed.

[0059] The logic for obtaining the angle deviation coefficient is:

[0060] S1, the pole piece position capture module 9 obtains the center point offset angle of the pole piece at different times within T time when the pole piece is transported to the material taking station by the conveyor belt 2, and calibrates it as , It means that the electrode is transported to the material taking station by conveyor belt 2 within T time. The center point offset angle at the moment, , is a positive integer;

[0061] S2. Obtain the preset center point offset angle of the pole piece when it is conveyed to the picking station by the conveyor belt 2 through the central processing unit 6, and calibrate it as ;

[0062] The preset center point offset angle refers to the center point offset angle that the pole piece should theoretically reach when it is conveyed to the picking station by the conveyor belt 2, which is used to compare with the actual offset angle to evaluate the angle stability of the pole piece during the conveying process and provide a reference for the adjustment of the angle recovery mechanism 7. The main methods for obtaining the preset center point offset angle include: historical data analysis, conveyor belt motion model calculation, machine learning prediction, and real-time vision tracking compensation. Among them, historical data analysis records the angle offset of a large number of pole pieces when they are conveyed to the picking station, establishes a statistical model and calculates the average theoretical angle under different working conditions; conveyor belt motion model calculation simulates the angle change of the pole piece under the ideal conveying state based on the kinematic parameters of the conveyor belt such as speed, tension, and friction coefficient, so as to obtain the preset offset angle; machine learning prediction trains an AI model based on a large amount of sensor data, enabling it to predict the theoretical angle of the pole piece under different conveying conditions and perform adaptive optimization as the production working conditions change; real-time vision tracking compensation dynamically tracks the position of the pole piece through a high-precision vision system and performs instant calculation in combination with the current conveying speed and the state of the pole piece to obtain more accurate preset angle data. Finally, the central processing unit 6 combines the above methods to dynamically calculate and update the preset center point offset angle to ensure that it can accurately reflect the ideal conveying state and provide an accurate theoretical basis for the calculation of the angle deviation coefficient and the adjustment of the angle recovery mechanism 7. The specific method for obtaining the preset center point offset angle is not specifically limited here and can be selected according to actual needs.

[0063] S3. Calculate the angle deviation coefficient , and the specific calculation logic is: take the difference square calculation of the center point offset angles at different moments within time T when the pole piece is conveyed to the picking station by the conveyor belt 2 and the preset center point offset angle , take the natural logarithm after averaging the obtained results and adding 1, and the obtained value is the angle deviation coefficient . The calculation expression is:

[0064]

[0065] In the formula, is the angle deviation coefficient.

[0066] In this embodiment, the offset change coefficient is an index used to measure the degree of change of the offset between the center point position of the electrode sheet and the suction cup picking point relative to the preset theoretical offset during the process of the electrode sheet being conveyed to the picking station by the conveyor belt. By calculating the normalized deviation mean between the actual position offsets at multiple moments within a period of time and optimizing the data distribution using exponential transformation, the position stability of the electrode sheet during the conveying process can be quantitatively reflected. When the value of the offset change coefficient is larger, it means that the electrode sheet has a large left-right or front-back offset during the conveying process, and the center point position is unstable. This may cause misalignment during picking by the suction cup 4, reduce the picking success rate, and may affect the accuracy of subsequent stacking or winding processes. In addition, a larger value also means that the position adjustment mechanism 8 needs to make a larger range of adjustments, which may increase the adjustment time, reduce production efficiency, and even affect the rhythm of the entire production line. On the contrary, when the value is small, it indicates that the position offset of the electrode sheet during the conveying process is small, the center point is more stable, the adjustment amount required by the position adjustment mechanism 8 is low, which helps to improve the picking accuracy, reduce the adjustment time, and thus improve production efficiency. Therefore, it is crucial to maintain the offset change coefficient within a reasonable range to ensure that the automatic feeding device of the lithium-ion battery can efficiently and accurately complete the picking process and improve the overall stability of the production line and product quality.

[0067] The acquisition logic of the offset change coefficient is as follows:

[0068] S1. Obtain the position offset between the center point position of the electrode sheet and the picking point on the suction cup 4 at different moments within time T when the electrode sheet is conveyed to the picking station by the conveyor belt 2 through the electrode sheet position capture module 9, and calibrate it as , indicating the position offset between the center point position of the electrode sheet and the picking point on the suction cup 4 at the moment within time T when the electrode sheet is conveyed to the picking station by the conveyor belt 2, , where n is a positive integer;

[0069] S2. Obtain the preset position offset between the center point position of the electrode sheet and the picking point on the suction cup 4 when the electrode sheet is conveyed to the picking station by the conveyor belt 2 through the central processing unit 6, and calibrate it as ;

[0070] The preset position offset refers to the theoretical offset between the center point position of the electrode sheet and the picking point on the suction cup 4 under the ideal conveying state, which is used as a reference value to compare with the actual offset Compare to evaluate the position stability of the pole piece during transportation and provide accurate adjustment basis for the position adjustment mechanism 8. The methods for obtaining the preset position offset mainly include: determination under benchmark conditions, calculation based on the conveyor belt movement model, historical data analysis, machine learning prediction, and real-time feedback optimization. In the determination under benchmark conditions, by measuring the actual center positions of multiple batches of pole pieces under standard operating conditions, calculating their average offset, and using it as the initial preset value; the calculation based on the conveyor belt movement model is based on parameters such as the speed, friction force, tension force, and guide rail accuracy of the conveyor belt 2, simulating the theoretical offset of the pole piece during transportation, and then obtaining the preset offset; historical data analysis obtains the preset offset under different working conditions by long-term recording of the position data of the pole piece when it is transported to the material taking station and using statistical methods such as mean calculation and regression analysis; machine learning prediction trains neural network or decision tree models based on a large amount of sensor data to predict the position offset trend of the pole piece under different transportation conditions and dynamically optimize it with the change of the production environment; real-time feedback optimization calculates the optimal preset position offset by using a high-precision vision system and laser sensors to monitor the transportation trajectory in real time and combining the current transportation state to adapt to the dynamic production environment. Finally, the central processor 6 calculates and dynamically adjusts the preset position offset in combination with the above methods to ensure that it can accurately reflect the ideal transportation state, providing reliable data support for calculating the offset change coefficient and the adjustment of the position adjustment mechanism 8, thereby improving the accuracy and stability of the automatic loading device. The specific method for obtaining the preset position offset is not specifically limited here and can be selected according to actual needs.

[0071] S3. Calculate the offset change coefficient , and the specific calculation process is as follows: The position offset between the center point position of the pole piece at different moments within time T when the pole piece is transported to the material taking station through the conveyor belt 2 and the material taking point on the suction cup 4 is compared with the preset position offset to calculate the ratio to obtain the relative offset at each moment. Take the absolute value of the relative offsets at all moments and calculate their average value. Finally, perform an exponential operation on the average value through the natural exponential function to obtain the offset change coefficient , and the calculation expression is:

[0072]

[0073] In the formula, is the offset change coefficient.

[0074] In this embodiment, the expression formula of the alignment judgment coefficient is:

[0075] After and are made dimensionless, the generated angle deviation coefficient is processed by the central processor 6 and the offset change coefficient Conduct comprehensive analysis and generate an alignment judgment coefficient through weighted summation , and the specific calculation formula is as follows:

[0076]

[0077] In the formula, is the alignment judgment coefficient, and are respectively the preset proportionality coefficients of the angle deviation coefficient and the offset change coefficient, and and are both greater than 0;

[0078] It can be seen from the calculation expression that the larger the angle deviation coefficient and the offset change coefficient are, the larger the alignment judgment coefficient will be;

[0079] It should be noted that dimensionlessization is a process of expressing physical quantities in a dimensionless form. By this means, the influence of units on physical problems can be eliminated, making the problem more concise and general; the preset proportionality coefficients of the angle deviation coefficient and the offset change coefficient, and are for more flexibly adapting to different working conditions and environmental changes in actual monitoring. These deviation coefficients can be adjusted according to specific situations to improve the performance and applicability of the monitoring system.

[0080] In this embodiment, the preset reference threshold of the alignment judgment coefficient is set to , and the calculated alignment judgment coefficient and the preset reference threshold of the alignment judgment coefficient are compared by the central processing unit 6. According to the comparison result, it is judged whether the pole piece can be aligned with the picking point on the suction cup 4 when it is conveyed to the picking station through the conveyor belt 2, and the working states of the angle recovery mechanism 7 and the position adjustment mechanism 8 are controlled according to the comparison result. The specific judgment is as follows:

[0081] When , the pole piece can be aligned with the picking point on the suction cup 4 when it is conveyed to the picking station through the conveyor belt 2, generating a normal signal. After receiving the normal signal, the central processing unit 6 generates a standby signal and a holding signal, transmits the standby signal to the first cylinder 702. After receiving the standby signal, the first cylinder 702 controls the angle recovery mechanism 7 to perform standby work, and transmits the holding signal to the motor 802, the second cylinder 805 and the third cylinder 809 respectively. After receiving the holding signal, the motor 802, the second cylinder 805 and the third cylinder 809 control the position adjustment mechanism 8 to perform holding work;

[0082] Standby operation means that after the first cylinder 702 receives a standby signal, it does not control the first telescopic rod 703 to extend or retract, and thus does not control the push plate 704 to move towards the electrode plate, and thus does not change the angle of the electrode plate, that is, it controls the angle recovery mechanism 7 to perform standby operation.

[0083] Holding operation means that after the motor 802, the second cylinder 805, and the third cylinder 809 receive a holding signal, they all operate according to the pre-set working state, that is, it controls the position adjustment mechanism 8 to perform holding operation. Specifically, after the motor 802 receives the holding signal, it continues to maintain the current rotation angle state to ensure that the rotation angle of the suction cup 4 does not change; after the second cylinder 805 and the third cylinder 809 receive the holding signal, they respectively control the second telescopic rod 806 and the third telescopic rod 810 to maintain their original extended and retracted positions to ensure that the adjustment state of the suction cup 4 in the X, Y, and Z directions remains unchanged, so as to maintain the picking accuracy of the suction cup 4.

[0084] When the electrode plate cannot be aligned with the picking point on the suction cup 4 when it is conveyed to the picking station through the conveyor belt 2, an abnormal signal is generated. After the central processing unit 6 receives the abnormal signal, it generates a recovery signal and an adjustment signal, transmits the recovery signal to the first cylinder 702. After the first cylinder 702 receives the recovery signal, it controls the angle recovery mechanism 7 to perform angle recovery operation, and transmits the adjustment signal to the motor 802, the second cylinder 805, and the third cylinder 809 respectively. After the motor 802, the second cylinder 805, and the third cylinder 809 receive the adjustment signal, they control the position adjustment mechanism 8 to perform position adjustment operation.

[0085] Angle recovery operation means that after the first cylinder 702 receives the recovery signal, it transmits the linear thrust generated through its output end to the first telescopic rod 703. The first telescopic rod 703 further transmits the received thrust to the push plate 704 through its axial telescopic movement, applying a lateral thrust to the electrode plate that is conveyed to the picking station and has an angular offset, prompting the electrode plate to perform angular fine adjustment around its central axis until it returns to the standard angle, so as to ensure that the electrode plate is accurately aligned before entering the picking stage. That is, it controls the angle recovery mechanism 7 to perform angle recovery operation.

[0086] The position adjustment work means that after the motor 802 receives the adjustment signal, it controls the rotation of the rotating column 803 through its output shaft, and then controls the angle adjustment of the driving top plate 804, so that the suction cup 4 can adapt to the rotation angle error of the pole piece. Subsequently, after the second cylinder 805 receives the adjustment signal, it drives the second telescopic rod 806 to expand and contract axially, driving the load-bearing frame 808 and the telescopic plate 807 to perform fine position adjustment in the horizontal direction, so that the suction cup 4 can be finely adjusted in the horizontal plane to correct the relative offset between the suction cup 4 and the center point of the pole piece. At the same time, after the third cylinder 809 receives the adjustment signal, it controls the expansion and contraction of the third telescopic rod 810 to adjust the height of the suction cup 4 to adapt to pole pieces of different thicknesses or stacking heights, ensuring that the suction cup 4 can be accurately attached to the surface of the pole piece during material taking to avoid material taking failure. Through the multi-axis dynamic adjustment of the position adjustment mechanism 8, the suction cup 4 can perform high-precision positioning in the X, Y, and Z directions, and combined with the rotation adjustment function, it ensures that during the transportation of the pole piece, even if there are small offsets or rotation errors, the suction cup 4 can still accurately adsorb the pole piece, greatly improving the success rate of material taking and the stability of the automated production line.

[0087] The above formulas are all dimensionless and take their numerical values for calculation. The formula is obtained by collecting a large amount of data for software simulation to obtain a formula that is closest to the actual situation. The preset parameters in the formula are set by those skilled in the art according to the actual situation.

[0088] It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the sequence of execution. The execution sequence of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0089] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0090] In several embodiments provided by the present application, it should be understood that the disclosed overall system, device, and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another overall system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical, or other forms.

[0091] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0092] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0093] As mentioned above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An automatic feeding device for assembling a lithium-ion battery, comprising a base (1), a conveyor belt (2) for conveying electrode sheets, a suction cup (4), and a suction cup controller (3) for controlling the suction cup (4) to adsorb the electrode sheets, characterized in that: A fixing frame (5) is arranged on the top of the base (1). A central processing unit (6) is arranged on one side of the fixing frame (5). Angle recovery mechanisms (7) are arranged on both sides of the base (1). The angle recovery mechanisms (7) are used to recover the angle of the pole piece moved to the material taking station. A position adjustment mechanism (8) is arranged on one side of the base (1). The position adjustment mechanism (8) is used to adjust the position of the material taking point on the suction cup (4). A pole piece position capture module (9) is arranged on the inner top wall of the fixing frame (5). The pole piece position capture module (9) is used to obtain the position information of the pole piece in real time when it is conveyed to the material taking station through the conveyor belt (2), and generate an angle deviation coefficient and an offset change coefficient through the central processing unit (6). The central processing unit (6) comprehensively analyzes the generated angle deviation coefficient and offset change coefficient to judge whether the pole piece can be aligned with the material taking point on the suction cup (4) when it is conveyed to the material taking station through the conveyor belt (2), and controls the working states of the angle recovery mechanism (7) and the position adjustment mechanism (8) according to the comparison result. The acquisition logic of the angle deviation coefficient is as follows: S1. Obtain the central point offset angles of the pole piece at different moments within time T when the pole piece is conveyed to the picking station through the conveyor belt (2) by the pole piece position capture module (9), and calibrate them as , indicating the central point offset angle of the pole piece at the moment within time T when the pole piece is conveyed to the picking station through the conveyor belt (2), , where n is a positive integer; S2. Obtain the preset center point offset angle of the electrode sheet when it is conveyed to the material taking station by the conveyor belt (2) through the central processing unit (6), and calibrate it as ; S3. Calculate the angular deviation coefficient , and the specific calculation logic is as follows: When the pole piece is conveyed to the material taking station through the conveyor belt (2), the central point offset angles at different times within T time are calculated for the square of the difference with the preset central point offset angle . After averaging the obtained results and adding 1, the natural logarithm is taken, and the obtained value is the angular deviation coefficient ; The acquisition logic of the offset change coefficient is as follows: S4. Obtain the position offset between the center point of the electrode sheet at different moments within time T when the electrode sheet is conveyed to the material taking station through the conveyor belt (2) by the electrode sheet position capture module (9), and calibrate it as , indicating the position offset between the center point of the electrode sheet at the moment within time T when the electrode sheet is conveyed to the material taking station through the conveyor belt (2) and the material taking point on the suction cup (4), where , is a positive integer; S5. Obtain the preset position offset between the center point position of the electrode sheet and the material taking point on the suction cup (4) when the electrode sheet is conveyed to the material taking station by the conveyor belt (2) through the central processing unit (6), and calibrate it as ; S6. Calculate the offset change coefficient , and the specific calculation process is as follows: When the pole piece is conveyed to the material taking station through the conveyor belt (2), the position offset between the center point of the pole piece at different moments within time T and the material taking point on the suction cup (4) is calculated with the preset position offset to obtain the relative offset at each moment. Take the absolute value of the relative offsets at all moments and calculate their average value. Finally, perform an exponential operation on the average value through the natural exponential function to obtain the offset change coefficient ; The generated angular deviation coefficient is comprehensively analyzed by the central processing unit (6). And the offset change coefficient are comprehensively analyzed, and an alignment judgment coefficient is generated by weighted summation .

2. The automatic feeding device for assembling a lithium-ion battery according to claim 1, wherein: The angle recovery mechanism (7) includes a fixing plate (701), a first cylinder (702), a first telescopic rod (703) and a push plate (704). One side of the fixing plate (701) is fixedly connected to one side of the base (1). The top of the fixing plate (701) is fixedly connected to the bottom of the first cylinder (702). The output end of the first cylinder (702) is in transmission connection with the input end of the first telescopic rod (703). The output end of the first telescopic rod (703) is fixedly connected to one side of the push plate (704). The side surface of the push plate (704) in contact with the pole piece is provided with a flexible coating.

3. An automatic feeding device for assembling lithium-ion batteries according to claim 2, characterized in that: The position adjustment mechanism (8) includes a motor support plate (801), a motor (802), a rotating column (803), a top plate (804), a second cylinder (805), a second telescopic rod (806), a telescopic plate (807), a load-bearing frame (808), a third cylinder (809) and a third telescopic rod (810). One side of the motor support plate (801) is fixedly connected to one side of the base (1). The top of the motor support plate (801) is fixedly connected to the bottom of the motor (802). The output shaft of the motor (802) is drivingly connected to the bottom of the rotating column (803). The top of the rotating column (803) is fixedly connected to the bottom of the top plate (804). The top of the top plate (804) is fixedly connected to the bottom of the second cylinder (805). The output end of the second cylinder (805) is drivingly connected to the input end of the second telescopic rod (806). One side of the top plate (804) is fixedly connected to one side of the telescopic plate (807). The other side of the telescopic plate (807) and the output end of the second telescopic rod (806) are both fixedly connected to one side of the load-bearing frame (808). The top of the load-bearing frame (808) is fixedly connected to the bottom of the third cylinder (809). The output end of the third cylinder (809) is drivingly connected to the input end of the third telescopic rod (810). The output end of the third telescopic rod (810) is fixedly connected to the top of the suction cup controller (3). The output end of the suction cup controller (3) is drivingly connected to the input end of the suction cup (4).

4. An automatic feeding device for assembling a lithium-ion battery according to claim 3, characterized in that: The output end of the central processing unit (6) is electrically connected to the input end of the first cylinder (702), the input end of the motor (802), the input end of the second cylinder (805), the input end of the third cylinder (809) and the input end of the suction cup controller (3) respectively. The output end and the input end of the pole piece position capturing module (9) are electrically connected to the input end and the output end of the central processing unit (6) respectively.

5. An automatic feeding device for assembling a lithium-ion battery according to claim 4, characterized in that, Set the preset alignment judgment coefficient reference threshold to , and compare the calculated alignment judgment coefficient with the preset alignment judgment coefficient reference threshold through the central processing unit (6). According to the comparison result, judge whether the pole piece can be aligned with the material taking point on the suction cup (4) when it is conveyed to the material taking station through the conveyor belt (2), and control the working states of the angle recovery mechanism (7) and the position adjustment mechanism (8) according to the comparison result. The specific judgment is as follows: When When the pole piece is conveyed to the material taking station by the conveyor belt (2), it can be aligned with the material taking point on the suction cup (4) to generate a normal signal. After receiving the normal signal, the central processing unit (6) generates a standby signal and a holding signal, and transmits the standby signal to the first cylinder (702). After receiving the standby signal, the first cylinder (702) controls the angle recovery mechanism (7) to perform standby work, and transmits the holding signal to the motor (802), the second cylinder (805), and the third cylinder (809) respectively. After receiving the holding signal, the motor (802), the second cylinder (805), and the third cylinder (809) control the position adjustment mechanism (8) to perform holding work; When When the pole piece is conveyed to the material taking station through the conveyor belt (2), it cannot be aligned with the material taking point on the suction cup (4), generating an abnormal signal. After receiving the abnormal signal, the central processing unit (6) generates a recovery signal and an adjustment signal, transmits the recovery signal to the first cylinder (702). After receiving the recovery signal, the first cylinder (702) controls the angle recovery mechanism (7) to perform angle recovery work, and transmits the adjustment signal to the motor (802), the second cylinder (805) and the third cylinder (809) respectively. After receiving the adjustment signal, the motor (802), the second cylinder (805) and the third cylinder (809) control the position adjustment mechanism (8) to perform position adjustment work.

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