Method and device for dynamically correcting lamination based on closed-loop compensation

Abstract

The invention discloses a lamination dynamic deviation correction method and device based on closed-loop compensation, and the method comprises the steps: calculating a first offset between a first sheet-shaped element and a diaphragm according to the obtained first interval information in a first edge image when the diaphragm is stacked on the first sheet-shaped element; if the first offset is in a normal range, stacking a second sheet-shaped element on the diaphragm, and calculating a second offset of the first sheet-shaped element and the second sheet-shaped element according to second interval information in the obtained second edge image; if it is judged that the second offset is within the deviation rectification range and the second judgment frequency reaches a second deviation rectification threshold value, the second sheet-shaped elements are stacked again after deviation rectification is conducted on the second sheet-shaped elements through the second deviation rectification table according to the second offset, and the laminated element is obtained. Therefore, the problem that the lamination alignment precision is influenced by sheet position deviation or sheet width change is solved, automatic closed-loop adjustment of sheet position compensation values is realized, and the lamination quality and the product quality are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rectification, and particularly to a dynamic rectification method and device for lamination based on closed-loop compensation. Background Art

[0002] With the booming development of the new energy vehicle industry and the energy storage market, as the core energy storage unit, the demand for lithium batteries has shown an explosive growth. As a key equipment for the production of lithium battery cells, the laminator undertakes the important task of precisely laminating the positive and negative electrode sheets and the separator, and its production accuracy directly affects the safety, energy density and service life of the battery cells. In the industry's pursuit of high production capacity and high precision, the rectification technology of the laminator has become the core technical bottleneck to ensure product quality.

[0003] In the actual production scenario, due to factors such as the tension fluctuation of the electrode sheets, the wear of mechanical components, and the change of environmental temperature and humidity, the overhang (OH) of the electrode sheets may have regular offsets. Once the offset exceeds the allowable range, it is easy to cause adverse deviations in the OH alignment of the battery cells, leading to problems such as ear misalignment and internal short circuit. The rectification method of manual intervention has problems such as response lag and low adjustment accuracy, and cannot meet the real-time and stability requirements of large-scale automated production.

[0004] Therefore, the existing solutions usually perform rectification through the PI control method of combining sensors with a single control strategy, which cannot dynamically adjust the rectification parameters according to the production conditions, and lacks an automatic closed-loop compensation mechanism, making it difficult to monitor and dynamically compensate the offset in real time, and easily affecting the lamination efficiency and product quality. Summary of the Invention

[0005] The present invention provides a dynamic rectification method and device for lamination based on closed-loop compensation, which solves the technical problems that the existing solutions usually perform rectification through the PI control method of combining sensors with a single control strategy, cannot dynamically adjust the rectification parameters according to the production conditions, lack an automatic closed-loop compensation mechanism, are difficult to monitor and dynamically compensate the offset in real time, and easily affect the lamination efficiency and product quality.

[0006] A dynamic rectification method for lamination based on closed-loop compensation provided by the present invention includes:

[0007] When laminating the separator onto the first sheet-like element, obtain the first edge image;

[0008] Calculate the first offset between the first sheet-like element and the separator according to the first interval information in the first edge image;

[0009] If it is determined that the first offset is within the normal range, then laminate the second sheet-like element onto the separator and obtain the second edge image;

[0010] Calculate a second offset between the first sheet element and the second sheet element according to second interval information within the second edge image;

[0011] If it is determined that the second offset is within the rectification range and the second determination count reaches a second rectification threshold, then after rectifying the second sheet element by the second rectification station according to the second offset, jump to execute the step of stacking the second sheet element onto the separator until it is determined that the second offset is within the normal range, obtaining a stacked sheet element.

[0012] Optionally, the method further includes:

[0013] If it is determined that the second offset is not within the rectification range and the normal range, remove the second sheet element through a moving mechanism;

[0014] Stack a new second sheet element onto the separator through the moving mechanism, and jump to execute the step of obtaining the second edge image.

[0015] Optionally, the method further includes:

[0016] If it is determined that the first offset is not within the normal range, accumulate the first determination count and cache the first offset;

[0017] If the first determination count does not reach the first rectification threshold, jump to execute the step of stacking the second sheet element onto the separator;

[0018] If the first determination count reaches the first rectification threshold, return a first median offset of the cached first offset to the first rectification station;

[0019] Rectify the first sheet element by the first rectification station according to the first median offset, and stack the separator onto the first sheet element again.

[0020] Optionally, the first interval information includes two sets of first horizontal average intervals and two sets of first vertical average intervals between the first sheet element and the separator, and the first offset includes a first horizontal offset and a first vertical offset; the calculating the first offset between the first sheet element and the separator according to the first interval information within the first edge image includes:

[0021] Calculate a first difference between the two sets of first horizontal average intervals;

[0022] Use a ratio between the first difference and a preset parameter as the first horizontal offset between the first sheet element and the separator;

[0023] Calculate a second difference between two sets of the first longitudinal average intervals;

[0024] Use the ratio between the second difference and a preset parameter as the first longitudinal offset between the first sheet-like element and the diaphragm.

[0025] Optionally, for two sets of second lateral average intervals and two sets of second longitudinal average intervals between the first sheet-like element and the second sheet-like element, the second offset includes a second lateral offset and a second longitudinal offset; calculating the second offset between the first sheet-like element and the second sheet-like element according to the second interval information in the second edge image includes:

[0026] Calculate a third difference between two sets of the second lateral average intervals;

[0027] Use the ratio between the third difference and a preset parameter as the second lateral offset between the second sheet-like element and the first sheet-like element;

[0028] Calculate a fourth difference between two sets of the second longitudinal average intervals;

[0029] Use the ratio between the fourth difference and a preset parameter as the second longitudinal offset between the second sheet-like element and the first sheet-like element.

[0030] Optionally, if it is determined that the second offset is within the rectification range and the second determination times reach the second rectification threshold, then after rectifying the second sheet-like element according to the second offset by the second rectification table, jump to execute the step of stacking the second sheet-like element onto the diaphragm until it is determined that the second offset is within the normal range to obtain a stacked element, including:

[0031] If it is determined that the second offset is within the rectification range, accumulate the second determination times and cache the second offset;

[0032] If the second determination times reach the second rectification threshold, return the second median offset of the cached second offset to the second rectification table;

[0033] Rectify the second sheet-like element according to the second median offset by the second rectification table to obtain a new second sheet-like element;

[0034] Jump to execute the step of stacking the second sheet-like element onto the diaphragm until it is determined that the second offset is within the normal range to obtain a stacked element.

[0035] Optionally, the method further includes:

[0036] If the second determination count does not reach the second rectification threshold, the combined component of the first sheet component, the separator, and the second sheet component at the current moment is determined as the laminated component.

[0037] Optionally, the method further includes:

[0038] After obtaining the laminated component, detecting whether the stacking layer number of the laminated component reaches a preset layer number threshold;

[0039] If the layer number threshold is not reached, the second sheet component is used as the new first sheet component, and the separator is stacked on the new first sheet component, and then the step of obtaining the first edge image is jumped to and executed until the stacking layer number reaches the layer number threshold;

[0040] Wherein, the polarities of the first sheet component and the second sheet component are opposite.

[0041] Optionally, the method further includes:

[0042] When the stacking layer number reaches the layer number threshold, hot pressing and shaping the laminated component, and encapsulating it into a metal shell.

[0043] The present invention also provides a laminated dynamic rectification device based on closed-loop compensation, including:

[0044] A first image acquisition module, configured to acquire a first edge image when stacking a separator on a first sheet component;

[0045] A first offset calculation module, configured to calculate a first offset between the first sheet component and the separator according to first interval information in the first edge image;

[0046] A second image acquisition module, configured to stack a second sheet component on the separator and acquire a second edge image if it is determined that the first offset is within a normal range;

[0047] A second offset calculation module, configured to calculate a second offset between the first sheet component and the second sheet component according to second interval information in the second edge image;

[0048] A second rectification module, configured to, if it is determined that the second offset is within a rectification range and the second determination count reaches the second rectification threshold, rectify the second sheet component according to the second offset through a second rectification table, and then jump to and execute the step of stacking the second sheet component on the separator until it is determined that the second offset is within the normal range to obtain a laminated component.

[0049] It can be seen from the above technical solutions that the present invention has the following advantages:

[0050] When the diaphragm is stacked on the first sheet-like element, a first edge image is obtained; according to the first interval information in the first edge image, a first offset between the first sheet-like element and the diaphragm is calculated; if it is determined that the first offset is within the normal range, the second sheet-like element is stacked on the diaphragm, and a second edge image is obtained; according to the second interval information in the second edge image, a second offset between the first sheet-like element and the second sheet-like element is calculated; if it is determined that the second offset is within the rectification range and the second determination times reach the second rectification threshold, after rectifying the second sheet-like element according to the second offset by the second rectification table, the step of stacking the second sheet-like element on the diaphragm is jumped to and executed until it is determined that the second offset is within the normal range, and a stacked element is obtained. Thus, the problem that the alignment accuracy of the stacking process is affected by the offset of the sheet position or the change of the sheet width is solved, and the automatic closed-loop adjustment of the sheet position compensation value in the stacking process is realized, effectively improving the stacking quality and the product quality. Brief Description of the Drawings

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0052] Figure 1 It is a flowchart of the steps of a dynamic rectification method for stacking based on closed-loop compensation provided by an embodiment of the present invention;

[0053] Figure 2 It is a schematic diagram of the edge image of a stacked element provided by an embodiment of the present invention;

[0054] Figure 3 It is a block diagram of the structure of a dynamic rectification device for stacking based on closed-loop compensation provided by an embodiment of the present invention. Detailed Embodiments

[0055] In the existing stacking process, due to the change of the width of the incoming material or the change of the sheet position, the alignment degree is offset, and its offset data usually approaches the offset lower limit regularly. Since there is no automatic closed-loop rectification of the sheet-like element in the prior art, it is easy to cause the problem that the alignment degree of the subsequent battery cell is lower than the lower limit, resulting in quality risks of the battery cell.

[0056] To this end, an embodiment of the present invention provides a dynamic lamination deviation correction method and device based on closed-loop compensation, which are used to solve the technical problems that existing solutions usually perform deviation correction through a PI control method that combines sensors with a single control strategy, cannot dynamically adjust deviation correction parameters according to production conditions, lack an automatic closed-loop compensation mechanism, are difficult to monitor and dynamically compensate the offset in real time, and easily affect the lamination efficiency and product quality.

[0057] In order to make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below 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.

[0058] Please refer to Figure 1 , Figure 1 which is a flowchart of the steps of a dynamic lamination deviation correction method based on closed-loop compensation provided by an embodiment of the present invention.

[0059] A dynamic lamination deviation correction method based on closed-loop compensation provided by the present invention includes:

[0060] Step 101, when laminating a separator onto a first sheet-like element, obtain a first edge image.

[0061] The separator refers to a thin sheet material used to separate different functional sheet-like elements, such as a porous thin sheet made of a polymer material such as polyolefin. In the lamination process of lithium battery cells, the separator plays a role in preventing direct contact and short circuit between the positive and negative electrodes.

[0062] The first sheet-like element refers to various thin sheet materials participating in the lamination process, which can combine with the second sheet-like element to generate functions. It includes but is not limited to the positive electrode sheet or negative electrode sheet in the lithium battery lamination process, etc.

[0063] The first edge image refers to a visual image obtained from a perspective perpendicular to the plane where the first sheet-like element is located, and its content includes all the edges and apex angles of the first sheet-like element and the separator.

[0064] In the embodiment of the present invention, after positioning and correcting the first sheet-like element, it is moved to the lamination table. At this time, the lamination table drives the separator to move, and the separator is laminated onto the first sheet-like element. At the same time, through an image acquisition device such as a CCD camera, a first edge image of the separator and the first sheet-like element in the laminated state is obtained.

[0065] In addition, in order to avoid damage to the sheet-like element, a pressure sensor can also be configured on the lamination table to monitor the placement pressure in real time.

[0066] Step 102: Calculate a first offset between the first sheet-like element and the diaphragm according to the first interval information in the first edge image.

[0067] The first interval information includes a first lateral average interval and a first longitudinal average interval between the first sheet-like element and the diaphragm to measure the offset degree between the first sheet-like element and the diaphragm.

[0068] The first offset refers to the positional deviation between the first sheet-like element and the diaphragm, with both an offset direction and a specific offset value existing.

[0069] After obtaining the first edge image, obtain the lateral intervals and longitudinal intervals between the respective vertex angles of the first sheet-like element and the respective vertex angles of the diaphragm, and calculate the average value between adjacent intervals as the first interval information. Then calculate the first offset between the first sheet-like element and the diaphragm according to the first interval information, so as to align the diaphragm with the first sheet-like element as the template position reference.

[0070] In an example of the present invention, the first interval information includes two groups of first lateral average intervals and two groups of first longitudinal average intervals between the first sheet-like element and the diaphragm, and the first offset includes a first lateral offset and a first longitudinal offset; Step 102 may include the following sub-steps:

[0071] Calculate a first difference between the two groups of first lateral average intervals;

[0072] Take the ratio between the first difference and a preset parameter as the first lateral offset between the first sheet-like element and the diaphragm;

[0073] Calculate a second difference between the two groups of first longitudinal average intervals;

[0074] Take the ratio between the second difference and the preset parameter as the first longitudinal offset between the first sheet-like element and the diaphragm.

[0075] In an embodiment of the present invention, by calculating the first difference between the two groups of first lateral average intervals and then calculating the ratio between the first lateral average interval and the preset parameter, the first lateral offset between the first sheet-like element and the diaphragm is obtained. At the same time, similarly, calculate the second difference between the two groups of first longitudinal average intervals, and calculate the ratio between the second difference and the preset parameter to obtain the first longitudinal offset between the first sheet-like element and the diaphragm.

[0076] Wherein, the preset parameter may be the value 2, and all offsets in this embodiment can be represented by the alignment degree.

[0077] As Figure 2 shown, Figure 2 is a schematic diagram of the edge image of a stacked element provided in an embodiment of the present invention.

[0078] Taking the first lateral offset between the first sheet-like element and the diaphragm as an example, first obtain the lateral intervals of the first sheet-like element and the diaphragm at the positions of angles 2 and 3, calculate the average value of the two sets of lateral intervals to obtain the first lateral average interval AS23. Similarly, calculate the first lateral average interval AS67 of the first sheet-like element and the diaphragm at the positions of angles 6 and 7. Then further calculate the first lateral offset :

[0079]

[0080] Similarly, the first longitudinal offset is :

[0081]

[0082] Step 103, if it is determined that the first offset is within the normal range, stack the second sheet-like element on the diaphragm and obtain the second edge image;

[0083] The second edge image refers to the visual image obtained from the perspective perpendicular to the plane where the second sheet-like element is located, and its content includes all the edges and apex angles of the first sheet-like element and the second sheet-like element.

[0084] In the embodiment of the present invention, after calculating the first offset, if the first offset is within the normal range, such as less than 0.12 mm, it is determined that there is no offset between the first sheet-like element and the diaphragm, and the second sheet-like element can be directly stacked on the diaphragm, and the second edge image can be obtained.

[0085] In an example of the present invention, the method further includes the following steps S11-S14:

[0086] S11. If it is determined that the first offset is not within the normal range, accumulate the first determination times and cache the first offset;

[0087] S12. If the first determination times do not reach the first correction threshold, jump to execute the step of stacking the second sheet-like element on the diaphragm;

[0088] S13. If the first determination times reach the first correction threshold, return the first median offset of the cached first offset to the first correction table;

[0089] S14. Correct the first sheet-like element by the first correction table according to the first median offset, and stack the diaphragm on the first sheet-like element again.

[0090] In this embodiment, if the first offset is not within the normal range, it indicates that the first sheet element and the diaphragm are offset at this time. To avoid false alarms and reduce resource consumption, the first determination count when the first offset is not within the normal range can be accumulated first, and the first offset at this time can be cached. If the first determination count does not reach the first correction threshold, it indicates that it is still within the controllable range, and the second sheet element can be directly stacked on the diaphragm.

[0091] If the first determination count has reached the first correction threshold, calculate the median of the cached first offsets as the first median offset, and return it to the first correction station as the compensation value for correction. The first correction station superimposes this compensation value according to its correction rule to correct the first sheet element, stack the diaphragm on the first sheet element again, and obtain the first edge image again for correction judgment.

[0092] In addition, if the first determination count has been accumulated but the first offset in the next round is within the normal range, or if the first median offset has been calculated, the first determination count is cleared.

[0093] Step 104: Calculate the second offset between the first sheet element and the second sheet element according to the second interval information in the second edge image;

[0094] The second interval information includes the second horizontal average interval and the second vertical average interval between the second sheet element and the diaphragm to measure the offset degree between the second sheet element and the diaphragm.

[0095] The second offset refers to the position deviation between the second sheet element and the diaphragm, and there are both an offset direction and a specific offset value.

[0096] In this embodiment, after determining that the first offset of the first sheet element is within the normal range, taking the first sheet element as a reference, obtain the second edge image, and calculate the second offset between the first sheet element and the second sheet element according to the second interval information in the second edge image as the data basis for subsequent offset calculation.

[0097] In an example of the present invention, there are two sets of second horizontal average intervals and two sets of second vertical average intervals between the first sheet element and the second sheet element, and the second offset includes a second horizontal offset and a second vertical offset; Step 104 may include the following sub-steps:

[0098] Calculate the third difference between the two sets of second horizontal average intervals;

[0099] Take the ratio between the third difference and the preset parameter as the second horizontal offset between the second sheet element and the first sheet element;

[0100] Calculate a fourth difference between two sets of second longitudinal average intervals;

[0101] Use the ratio between the fourth difference and a preset parameter as the second longitudinal offset between the second sheet-like element and the first sheet-like element.

[0102] In this embodiment, for the calculation process of the second lateral offset and the second longitudinal offset, reference can be made to the calculation process of the first lateral offset and the first longitudinal offset, that is, the second lateral offset :

[0103]

[0104] Similarly, the second longitudinal offset is :

[0105]

[0106] This embodiment will not elaborate on this anymore.

[0107] Step 105, if it is determined that the second offset is within the rectification range and the second determination times reach the second rectification threshold, then after rectifying the second sheet-like element according to the second offset by the second rectification table, jump to execute the step of stacking the second sheet-like element onto the diaphragm until it is determined that the second offset is within the normal range, obtaining a stacked element.

[0108] The second determination times refer to the number of times that the second offset is not within the normal range but within the rectification range.

[0109] In the embodiment of the present invention, when it is determined that the second offset is within the rectification range and the accumulated second determination times reach the second rectification threshold, it indicates that multiple offsets of the second sheet-like element have occurred. The second sheet-like element can be rectified according to the second rectification amount by the second rectification table. After the rectification is completed, jump to execute the step of stacking the second sheet-like element onto the diaphragm in step 103 until it is determined that the second offset is within the normal range, obtaining a stacked element.

[0110] In an example of the present invention, step 105 may include the following sub-steps:

[0111] If it is determined that the second offset is within the rectification range, then accumulate the second determination times and cache the second offset;

[0112] If the second determination times reach the second rectification threshold, then return the second median offset of the cached second offset to the second rectification table;

[0113] Rectify the second sheet-like element according to the second median offset by the second rectification table to obtain a new second sheet-like element;

[0114] Jump to execute the step of stacking the second sheet-like component on the separator until it is determined that the second offset is within the normal range, obtaining the stacked component.

[0115] In this embodiment, after correcting the deviation of the first sheet-like component, the deviation of the second sheet-like component is corrected based on it. When it is determined that the second correction amount is within the correction range, it indicates that the second sheet-like component is still within the range that can be corrected. The second determination count can be incremented and the specific deviation direction and deviation value of the second offset can be cached. If the second determination count reaches the second correction threshold at this time, it indicates that the deviation of the second sheet-like component has shown a certain trend. To prevent the current cell from starting to deviate and causing the risk of the current cell having a burden, which affects the cell quality, the median of the cached second offsets can be calculated as the second median offset, and it can be returned to the second correction stage.

[0116] Among them, the second correction stage can be a table driven by a motor or a table with a robotic arm, and can be the same correction stage as the first correction stage. Since the second median correction amount has a specific correction direction and correction value, the second correction stage can directly move a distance equal to the correction value in the correction direction, thereby realizing the correction operation of the second sheet-like component and obtaining a new second sheet-like component. Stack the corrected second sheet-like component on the separator again, and obtain the second edge image again to calculate the second correction amount until it is determined that the second correction amount is within the normal range, obtaining the stacked component. Through the entire correction process of the above steps 101 - 104, the purpose of automatically compensating and correcting the deviation after the pole piece deviates can be achieved, ensuring that the first sheet-like component, the separator, and the second sheet-like component are always aligned, and ensuring that the alignment degree among the three is controlled within ±0.3 mm, effectively improving the yield of the cell.

[0117] Exemplarily, the value of the correction range can be 0.12 mm to 0.5 mm, and the value of the normal range can be less than 0.12 mm, or it can be adjusted according to the type, size, or use environment of the sheet-like component. The correction direction is horizontal or vertical. To balance the correction efficiency and the cell quality, the first correction threshold and the second correction threshold can be set to values such as 3, 4, or 5. The embodiments of the present invention do not limit this. The normal range and the correction range set for the first offset and the second offset in the embodiments of the present invention can be the same.

[0118] In addition, if the second determination count has been incremented but the second offset in the next round is within the normal range, or in the case where the second median offset has been calculated, the second determination count is cleared.

[0119] In another example of the present invention, step 105 further includes the following sub-steps:

[0120] If the second determination count does not reach the second rectification threshold, the combined component of the first sheet element, the separator, and the second sheet element at the current moment is determined as the stacked element.

[0121] In an embodiment of the present invention, when it is determined that the second offset is within the rectification range, the second determination count is incremented by one at this time, and the second offset is cached. At the same time, it is determined whether the second determination count reaches the second rectification threshold. If it does not reach the second rectification threshold, it indicates that this may be a false alarm or the number of tolerable offsets is still within the limit. The combined pressure drop at the current moment can be directly determined as the stacked element and sent to the next step to detect whether the stacking layer number of the stacked element reaches the preset layer number threshold.

[0122] In an example of the present invention, the method further includes the following steps:

[0123] If it is determined that the second offset is not within the rectification range and the normal range, the second sheet element is removed by the moving mechanism;

[0124] A new second sheet element is stacked on the separator by the moving mechanism, and the step of obtaining the second edge image is jumped to and executed.

[0125] In an embodiment of the present invention, if the second offset is not within the rectification range nor within the normal range, it indicates that the second sheet element is within an unrectifiable range. It can be determined that the second sheet element does not meet the production requirements at this time, and the second sheet element can be removed by a moving mechanism such as a manipulator. In a specific implementation, it can be achieved through the following single-throw program, that is, the second sheet element is vacuum-adsorbed by the stacking manipulator and moved to the position of the defective component box, and the vacuum is broken to discard the second sheet element. After removing the second sheet element, the patch program is started, the stacking manipulator is called to pick a new second sheet element again and stack it on the separator, and the second edge image is obtained again to determine the second offset.

[0126] In another example of the present invention, the method further includes the following steps:

[0127] When the stacked element is obtained, it is detected whether the stacking layer number of the stacked element reaches the preset layer number threshold;

[0128] If the layer number threshold is not reached, the second sheet element is used as the new first sheet element, and the separator is stacked on the new first sheet element, and the step of obtaining the first edge image is jumped to and executed until the stacking layer number reaches the layer number threshold;

[0129] Among them, the polarities of the first sheet element and the second sheet element are opposite.

[0130] The stacking layer number refers to the combined stacking layer number that can independently realize functions in the stacked element, and each combined component is stacked and composed of a first sheet element, a separator, and a second sheet element.

[0131] In an embodiment of the present invention, while performing the lamination operation, the stacking layer number of the laminated components can be detected in real time, and when each laminated component is obtained, it is judged in real time whether the stacking layer number reaches a preset layer number threshold. If the layer number threshold is not reached, the second sheet-like component at the current moment is used as the new first sheet-like component, and stacking starts again. The separator is stacked on the new first sheet-like component, and the process jumps to execute steps 101-105 to cyclically perform closed-loop deviation correction on the stacked first and second sheet-like components until the stacking layer number reaches the layer number threshold.

[0132] Among them, the preset layer number threshold can be custom-set according to different requirements of the laminated components, and the embodiments of the present invention do not limit this. The polarities of the first sheet-like component and the second sheet-like component are always in opposite states. Taking the positive and negative electrode sheets of a lithium battery as an example, during the lamination process, if the first sheet-like component is the negative electrode sheet, the second sheet-like component is the positive electrode sheet. When it is detected that the stacking layer number does not reach the preset layer number threshold and the second sheet-like component is used as the new first sheet-like component, the new first sheet-like component is the positive electrode sheet at this time. When stacking the new second sheet-like component subsequently, the second sheet-like component is the negative electrode sheet.

[0133] Further, the method further includes the following steps:

[0134] When the stacking layer number reaches the layer number threshold, hot pressing and shaping are performed on the laminated components, and they are encapsulated into a metal shell.

[0135] In an embodiment of the present invention, if the stacking layer number of the laminated components meets the layer number threshold, it indicates that the stacking of the laminated components at the current moment is complete and each combined component meets the alignment requirements. At this time, the laminated components can be transferred to the station where the hot pressing and shaping equipment is located by a manipulator, and hot pressing operation is performed on the laminated components according to the preset temperature and pressure parameters. After hot pressing is completed, the hot pressing and shaping equipment automatically cools to room temperature, and then the control unit issues an instruction, and the manipulator transfers the hot-pressed and shaped laminated components to the encapsulation station.

[0136] The hot-pressed and shaped laminated components are placed into the metal shell by a manipulator, and the seams between the metal shell and the laminated components are welded to complete the encapsulation of the laminated components.

[0137] Among them, the hot pressing time is set according to the lamination thickness and material properties, generally 3-10 minutes. During the hot pressing process, the temperature control system and the pressure control system monitor and precisely adjust the temperature and pressure in real time to ensure the stable progress of the hot pressing process. After encapsulation, the hermeticity of the encapsulated product can also be detected by a hermeticity detection device such as a helium mass spectrometer leak detector. If leakage is detected, the equipment issues an alarm, and the unqualified products will be marked and removed for rework; if the detection is qualified, the products enter the subsequent packaging process.

[0138] In another example of the present invention, for the overall process of the lamination dynamic deviation correction method based on closed-loop compensation described in the embodiments of the present invention, it can be applied to laminators or all models similar to this mechanism. The alignment degree during the pole piece stacking process can be controlled by this method, but it is not limited to pole pieces, and the stacking of other sheet-like objects can also be carried out in the same way.

[0139] In the embodiments of the present invention, when laminating a separator onto a first sheet-like element, a first edge image is obtained; according to the first interval information in the first edge image, a first offset amount between the first sheet-like element and the separator is calculated; if it is determined that the first offset amount is within the normal range, a second sheet-like element is laminated onto the separator, and a second edge image is obtained; according to the second interval information in the second edge image, a second offset amount between the first sheet-like element and the second sheet-like element is calculated; if it is determined that the second offset amount is within the deviation correction range and the second determination count reaches the second deviation correction threshold, then after correcting the second sheet-like element according to the second offset amount by the second deviation correction table, the step of laminating the second sheet-like element onto the separator is skipped and executed until it is determined that the second offset amount is within the normal range, and a laminated element is obtained. Thus, the problem that the lamination alignment accuracy is affected by the offset of the sheet position or the change of the sheet width during the lamination process is solved, the automatic closed-loop adjustment of the sheet position compensation value during the lamination process is realized, and the lamination quality and product quality are effectively improved.

[0140] Please refer to Figure 3 , Figure 3 which shows the structural block diagram of a lamination dynamic deviation correction device based on closed-loop compensation provided by the embodiments of the present invention.

[0141] The embodiments of the present invention provide a lamination dynamic deviation correction device based on closed-loop compensation, including:

[0142] A first image acquisition module 301, configured to obtain a first edge image when laminating a separator onto a first sheet-like element;

[0143] A first offset amount calculation module 302, configured to calculate a first offset amount between the first sheet-like element and the separator according to the first interval information in the first edge image;

[0144] A second image acquisition module 303, configured to, if it is determined that the first offset amount is within the normal range, laminate a second sheet-like element onto the separator and obtain a second edge image;

[0145] A second offset amount calculation module 304, configured to calculate a second offset amount between the first sheet-like element and the second sheet-like element according to the second interval information in the second edge image;

[0146] The second rectification module 305 is configured to, if it is determined that the second offset is within the rectification range and the second determination count reaches the second rectification threshold, rectify the second sheet-like component according to the second offset through the second rectification table, and then jump to execute the step of stacking the second sheet-like component onto the separator until it is determined that the second offset is within the normal range, thereby obtaining a stacked component.

[0147] Optionally, the apparatus further includes a removal and replay module, which is specifically configured to:

[0148] If it is determined that the second offset is not within the rectification range and the normal range, remove the second sheet-like component through the moving mechanism;

[0149] Stack a new second sheet-like component onto the separator through the moving mechanism, and then jump to execute the step of acquiring the second edge image.

[0150] Optionally, the apparatus further includes a first rectification module, which is specifically configured to:

[0151] If it is determined that the first offset is not within the normal range, accumulate the first determination count and cache the first offset;

[0152] If the first determination count does not reach the first rectification threshold, jump to execute the step of stacking the second sheet-like component onto the separator;

[0153] If the first determination count reaches the first rectification threshold, return the first median offset of the cached first offset to the first rectification table;

[0154] Rectify the first sheet-like component according to the first median offset through the first rectification table, and stack the separator onto the first sheet-like component again.

[0155] Optionally, the first interval information includes two sets of first transverse average intervals and two sets of first longitudinal average intervals between the first sheet-like component and the separator, and the first offset includes a first transverse offset and a first longitudinal offset; the first offset calculation module 302 is specifically configured to:

[0156] Calculate the first difference between the two sets of first transverse average intervals;

[0157] Use the ratio between the first difference and a preset parameter as the first transverse offset between the first sheet-like component and the separator;

[0158] Calculate the second difference between the two sets of first longitudinal average intervals;

[0159] Use the ratio between the second difference and a preset parameter as the first longitudinal offset between the first sheet-like component and the separator.

[0160] Optionally, between the first sheet element and the second sheet element, there are two sets of second lateral average intervals and two sets of second longitudinal average intervals. The second offset includes a second lateral offset and a second longitudinal offset. The second offset calculation module 304 is specifically configured to:

[0161] Calculate a third difference between the two sets of second lateral average intervals;

[0162] Use the ratio between the third difference and a preset parameter as the second lateral offset between the second sheet element and the first sheet element;

[0163] Calculate a fourth difference between the two sets of second longitudinal average intervals;

[0164] Use the ratio between the fourth difference and a preset parameter as the second longitudinal offset between the second sheet element and the first sheet element.

[0165] Optionally, the second rectification module 305 is specifically configured to:

[0166] If it is determined that the second offset is within the rectification range, accumulate the second determination times and cache the second offset;

[0167] If the second determination times reach the second rectification threshold, return the second median offset of the cached second offset to the second rectification stage;

[0168] Rectify the second sheet element by the second rectification stage according to the second median offset to obtain a new second sheet element;

[0169] Jump to execute the step of stacking the second sheet element on the diaphragm until it is determined that the second offset is within the normal range to obtain a stacked element.

[0170] Optionally, the second rectification module 305 is further specifically configured to:

[0171] If the second determination times do not reach the second rectification threshold, determine the combined element of the first sheet element, the diaphragm, and the second sheet element at the current moment as the stacked element.

[0172] Optionally, the device further includes a stacking update module, which is specifically configured to:

[0173] After obtaining the stacked element, detect whether the stacking layer number of the stacked element reaches a preset layer number threshold;

[0174] If it does not reach the layer number threshold, use the second sheet element as the new first sheet element, stack the diaphragm on the new first sheet element, and jump to execute the step of obtaining the first edge image until the stacking layer number reaches the layer number threshold;

[0175] Wherein, the polarities of the first sheet element and the second sheet element are opposite.

[0176] Optionally, the stacking update module is further specifically configured to:

[0177] When the number of stacked layers reaches the layer threshold, hot press and shape the laminated components, and encapsulate them into a metal shell.

[0178] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0179] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or modules can be in electrical, mechanical or other forms.

[0180] The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical modules, that is, they can be located in one place, or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0181] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dynamic deviation correction method for laminations based on closed-loop compensation, characterized in that, Including: When stacking the diaphragm on the first sheet-like element, obtaining a first edge image; Calculating a first offset between the first sheet-like element and the diaphragm according to first interval information in the first edge image; If it is determined that the first offset is within a normal range, stacking a second sheet-like element on the diaphragm and obtaining a second edge image; Calculating a second offset between the first sheet-like element and the second sheet-like element according to second interval information in the second edge image; If it is determined that the second offset is within a rectification range and the second determination count reaches a second rectification threshold, rectifying the second sheet-like element by the second rectification table according to the second offset, and then jumping to execute the step of stacking the second sheet-like element on the diaphragm until it is determined that the second offset is within the normal range to obtain a stacked element.

2. The method according to claim 1, characterized in that, The method further includes: If it is determined that the second offset is not within the rectification range and the normal range, removing the second sheet-like element by a moving mechanism; Stacking a new second sheet-like element on the diaphragm by the moving mechanism, and jumping to execute the step of obtaining the second edge image.

3. The method according to claim 1, wherein The method further includes: If it is determined that the first offset is not within the normal range, incrementing a first determination count and caching the first offset; If the first determination count does not reach a first rectification threshold, jumping to execute the step of stacking the second sheet-like element on the diaphragm; If the first determination count reaches the first rectification threshold, returning a first median offset of the cached first offset to a first rectification table; Rectifying the first sheet-like element by the first rectification table according to the first median offset, and stacking the diaphragm on the first sheet-like element again.

4. The method according to claim 1, wherein The first interval information includes two sets of first horizontal average intervals and two sets of first vertical average intervals between the first sheet-like element and the diaphragm, and the first offset includes a first horizontal offset and a first vertical offset; calculating the first offset between the first sheet-like element and the diaphragm according to the first interval information in the first edge image includes: Calculating a first difference between the two sets of first horizontal average intervals; Taking a ratio between the first difference and a preset parameter as the first horizontal offset between the first sheet-like element and the diaphragm; Calculating a second difference between the two sets of first vertical average intervals; Taking a ratio between the second difference and a preset parameter as the first vertical offset between the first sheet-like element and the diaphragm.

5. The method according to claim 1, characterized in that, Two sets of second horizontal average intervals and two sets of second vertical average intervals between the first sheet-like element and the second sheet-like element, and the second offset includes a second horizontal offset and a second vertical offset; calculating the second offset between the first sheet-like element and the second sheet-like element according to the second interval information in the second edge image includes: Calculating a third difference between the two sets of second horizontal average intervals; Take the ratio between the third difference and a preset parameter as the second lateral offset between the second sheet element and the first sheet element; Calculate a fourth difference between two sets of the second longitudinal average intervals; Take the ratio between the fourth difference and a preset parameter as the second longitudinal offset between the second sheet element and the first sheet element.

6. The method according to claim 1, wherein If it is determined that the second offset is within the rectification range and the second determination count reaches the second rectification threshold, then after rectifying the second sheet element according to the second offset by a second rectification table, jump to execute the step of stacking the second sheet element onto the diaphragm until it is determined that the second offset is within the normal range to obtain a stacked element, including: If it is determined that the second offset is within the rectification range, then accumulate the second determination count and cache the second offset; If the second determination count reaches the second rectification threshold, then return the second median offset of the cached second offset to the second rectification table; Rectify the second sheet element according to the second median offset by the second rectification table to obtain a new second sheet element; Jump to execute the step of stacking the second sheet element onto the diaphragm until it is determined that the second offset is within the normal range to obtain a stacked element.

7. The method according to claim 6, wherein The method further includes: If the second determination count does not reach the second rectification threshold, then determine the combined element of the first sheet element, the diaphragm, and the second sheet element at the current moment as a stacked element.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: After obtaining the stacked element, detect whether the stacking layer number of the stacked element reaches a preset layer number threshold; If it does not reach the layer number threshold, then take the second sheet element as a new first sheet element, stack the diaphragm onto the new first sheet element, and jump to execute the step of obtaining the first edge image until the stacking layer number reaches the layer number threshold; Wherein, the polarities of the first sheet element and the second sheet element are opposite.

9. The method according to claim 8, wherein The method further includes: When the stacking layer number reaches the layer number threshold, perform hot pressing and shaping on the stacked element and encapsulate it into a metal shell.

10. A laminated dynamic deviation rectification device based on closed-loop compensation, characterized in that, Including: A first image acquisition module, configured to acquire a first edge image when stacking a diaphragm onto a first sheet element; A first offset calculation module, configured to calculate a first offset between the first sheet element and the diaphragm according to first interval information in the first edge image; A second image acquisition module, configured to stack a second sheet element onto the diaphragm and acquire a second edge image if it is determined that the first offset is within the normal range; A second offset calculation module, configured to calculate a second offset between the first sheet element and the second sheet element according to second interval information in the second edge image; A second deviation correction module, which is configured to, if it is determined that the second offset is within the deviation correction range and the second determination count reaches the second deviation correction threshold, correct the second sheet-like component according to the second offset through a second deviation correction table, and then jump to execute the step of stacking the second sheet-like component on the diaphragm until it is determined that the second offset is within the normal range, thereby obtaining a laminated component.

Images