Sheet feeding method and sheet feeding device

Abstract

The embodiment of the invention provides a sheet feeding method and a sheet feeding device.The sheet feeding method comprises the steps that a first servo motor is controlled to enter a speed mode in response to the fact that a mechanical arm reaches a first preset position, and the mechanical arm is driven to get close to a to-be-fed sheet; in response to the to-be-fed sheet sensed by a first sensor arranged on the manipulator, a first servo motor is controlled to be switched to a position mode, and the manipulator is driven to move towards a second preset position; and in response to the fact that the mechanical arm reaches the second preset position, the mechanical arm is controlled to adsorb the to-be-fed sheet. Due to the fact that the distance that the first servo motor drives the mechanical arm to move in a position mode is short, the precision of the second preset position can be high, the feeding precision of the mechanical arm for adsorbing the to-be-fed sheet is high, the feeding stability is good, the preparation quality of the battery can be improved, the feeding process is simple, the preparation efficiency of the battery can be improved, and the production efficiency of the battery is improved. And the method can be suitable for sheets with different thicknesses, and the preparation efficiency of the battery can be further improved.

Description

Technical Field

[0001] This application relates to the field of battery technology, and more specifically, to a sheet feeding method and sheet feeding device. Background Technology

[0002] Energy conservation and emission reduction are key to the sustainable development of the automotive industry, and electric vehicles, due to their energy-saving and environmentally friendly advantages, have become an important component of this sustainable development. For electric vehicles, battery technology is a crucial factor in their development.

[0003] In battery technology, improving the manufacturing efficiency and quality of batteries is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a sheet feeding method and sheet feeding device, which can improve the preparation efficiency and quality of batteries.

[0005] In a first aspect, this application provides a sheet feeding method, comprising: in response to a robot arm reaching a first preset position, controlling a first servo motor to enter a speed mode and driving the robot arm to approach the sheet to be fed; in response to a first sensor mounted on the robot arm sensing the sheet to be fed, controlling the first servo motor to switch to a position mode and driving the robot arm to move to a second preset position; and in response to the robot arm reaching the second preset position, controlling the robot arm to pick up the sheet to be fed.

[0006] In the above technical solution, the first servo motor first drives the robot arm in speed mode to approach the sheet to be loaded from a first preset position, so that the first sensor on the robot arm senses the sheet to be loaded. That is, when the robot arm is in a position close to the sheet to be loaded, the first servo motor then moves to a second preset position in position mode. Since the distance the robot arm moves in position mode is short, the accuracy of the second preset position is high. The loading accuracy of the robot arm adsorbing the sheet to be loaded is high, and the loading stability is good, which is beneficial to improving the quality of battery preparation. The loading process is simple and conducive to improving the battery preparation efficiency. Furthermore, the sheet loading method of this application can be applied to sheets of different thicknesses. After changing different sheets, no adjustment is required, which can further improve the battery preparation efficiency.

[0007] In some embodiments of this application, in speed mode, a first servo motor drives a robotic arm to approach the sheet to be loaded at a constant speed.

[0008] In the above technical solution, by enabling the first servo motor to drive the robot arm to approach the sheet to be loaded at a constant speed in speed mode, the first sensor can easily sense the sheet to be loaded during the movement of the robot arm, reducing the possibility that changes in the robot arm's movement speed will affect the sensing of the first sensor, thereby reducing the problem of damage to the sheet to be loaded caused by the subsequent squeezing of the sheet by the robot arm.

[0009] In some embodiments of this application, "in response to the first sensor on the robotic arm sensing the sheet to be fed" includes: causing the first sensor on the robotic arm to send a laser to the sheet; when the light transmittance of the laser reaches a first threshold, the first sensor on the robotic arm senses the sheet to be fed.

[0010] In the above technical solution, when the light transmission of the laser reaches the first threshold, the first sensor on the robotic arm senses the sheet to be fed, which enables the first sensor to have high sensing accuracy. This is beneficial to further improve the feeding accuracy and feeding stability of the sheet feeding device, thereby improving the manufacturing quality of the battery.

[0011] In some embodiments of this application, “controlling the first servo motor to switch to position mode and driving the robot arm to move to the second preset position” includes: controlling the first servo motor to drive the robot arm to move a fixed distance toward the sheet to be loaded, and stopping the robot arm.

[0012] In the above technical solution, by setting the position mode of the first servo motor to control the first servo motor to drive the robot arm to move a fixed distance toward the sheet to be loaded, and then stopping the robot arm, the robot arm can move a fixed distance before reaching the second preset position. This facilitates the control of the first servo motor, resulting in higher accuracy of the second preset position. The robot arm's adsorption of the sheet to be loaded has higher loading accuracy and better loading stability, which is beneficial to improving the quality of battery manufacturing. The loading process is simple, which is beneficial to improving the efficiency of battery manufacturing. Furthermore, the distance threshold remains unchanged for sheets of different thicknesses, making it applicable to sheets of different thicknesses. After changing to different sheets, no adjustment is required, which can further improve the efficiency of battery manufacturing.

[0013] In some embodiments of this application, "in response to the robot arm reaching the second preset position" includes: the robot arm reaches the second preset position when the robot arm moves a distance equal to a fixed distance toward the sheet to be loaded.

[0014] In the above technical solution, when the robot moves a distance equal to a fixed distance toward the sheet to be fed, the robot reaches the second preset position. There is no need to use a detector to detect whether the robot is in contact with the sheet to be fed. This simplifies the feeding process, reduces the control difficulty of sheet feeding, and improves the efficiency of sheet feeding.

[0015] In some embodiments of this application, "in response to the robot arm reaching the first preset position" includes: the second sensor sensing that the robot arm has reached the first preset position.

[0016] In the above technical solution, by enabling the second sensor to detect that the robot has reached the first preset position, the second sensor has high sensing accuracy, which enables the robot to reach the first preset position with high accuracy. This is beneficial to further improve the feeding accuracy and feeding stability of the sheet feeding device, thereby improving the manufacturing quality of the battery.

[0017] In some embodiments of this application, before "responding to the robot reaching the first preset position", the method further includes: responding to a material picking signal, controlling a second servo motor to drive the robot to move towards the first preset position; the driving direction of the first servo motor is perpendicular to the driving direction of the second servo motor.

[0018] In the above technical solution, by controlling the second servo motor to drive the robot arm to move to the first preset position in response to the material picking signal, the possibility of damage to the robot arm or sheet caused by the second servo motor driving the robot arm when no material picking is required can be reduced.

[0019] In some embodiments of this application, "controlling the robotic arm to adsorb the sheet to be loaded" includes: providing negative pressure to the robotic arm through the suction cup of the robotic arm, so that the sheet to be loaded is adsorbed onto the suction cup.

[0020] In the above technical solution, negative pressure is provided to the robotic arm by the suction cup, so that the sheet to be loaded is adsorbed onto the suction cup. The suction cup is not likely to damage the sheet, and the suction cup can fix the sheet well. During the material handling process, the sheet is not likely to fall off the suction cup and be damaged.

[0021] In some embodiments of this application, after “controlling the robotic arm to pick up the sheet to be loaded”, the method further includes: in response to the sheet to be loaded being picked up into place, a first servo motor drives the robotic arm away from the support platform carrying the sheet to be loaded.

[0022] In the above technical solution, by enabling the first servo motor to drive the robot arm away from the support platform that carries the sheet to be loaded in response to the sheet being adsorbed into position, it is easier for the robot arm to perform subsequent operations such as unloading, and the possibility of interference between the robot arm and other sheets is reduced.

[0023] In some embodiments of this application, "in response to the sheet to be fed being adsorbed into place" includes: when the pressure value of the suction cup reaches a first pressure threshold, the sheet to be fed is adsorbed into place.

[0024] In the above technical solution, by ensuring that the pressure value of the suction cup reaches the first pressure threshold, the sheet to be fed is adsorbed into place. This reduces the problem of the sheet not being adsorbed into place due to the suction cup pressure being too low, which would cause the sheet to detach from the robot during subsequent robot movement, resulting in sheet damage or failure to be fed into place. It also reduces the possibility of sheet deformation or breakage due to the suction cup pressure being too high, which is beneficial to improving the quality of sheet feeding.

[0025] Secondly, this application provides a sheet feeding device, including a support platform, a robot arm, and a first servo motor. The support platform is used to support the sheet to be fed; the robot arm is provided with a suction cup and a first sensor. The suction cup is used to adsorb the sheet to be fed, and the first sensor is used to sense the sheet to be fed; the first servo motor is used to drive the robot arm along a first direction.

[0026] In the above technical solution, a support platform is set up to support the sheet material to be loaded; by setting a suction cup and a first sensor on the robot arm, the sheet material to be loaded can be adsorbed onto the robot arm by the suction cup, and the first servo motor can drive the robot arm along the first direction according to the first sensor sensing the sheet material to be loaded.

[0027] In some embodiments of this application, the sheet feeding device further includes a negative pressure source, and a pipe is provided on the robotic arm, with both ends of the pipe connected to the negative pressure source and the suction cup, respectively; the sheet feeding device further includes a pressure detector, which is disposed in the pipe or the suction cup and is used to detect the pressure value in the pipe or the suction cup.

[0028] In the above technical solution, negative pressure is applied to the robotic arm by the suction cup, causing the sheet material to be loaded to adhere to the suction cup. The suction cup is less likely to damage the sheet material and can effectively fix the sheet material. During the material handling process, the sheet material is less likely to detach from the suction cup and cause damage. By setting a pressure detector to detect the pressure value in the pipe or suction cup, the sheet material to be loaded can be adsorbed into place when the pressure value in the pipe or suction cup reaches the first pressure threshold. This reduces the problem of the sheet material not being adsorbed due to the suction cup pressure being too low, which would cause the sheet material to detach from the robotic arm during subsequent movement, resulting in sheet material damage or failure to be loaded into place. It also reduces the possibility of the sheet material being deformed or broken due to the suction cup pressure being too high, which is beneficial to improving the quality of sheet material loading.

[0029] In some embodiments of this application, the sheet feeding device further includes a second servo motor, which drives the robot arm along a second direction perpendicular to the first direction.

[0030] In the above technical solution, by using the second servo motor to drive the robot along the second direction, which is perpendicular to the first direction, the first servo motor and the second servo motor can work together to adjust the position of the robot on the plane containing the first direction and the second direction.

[0031] In some embodiments of this application, the sheet feeding device further includes a second sensor, which is used to sense whether the robot arm has reached a first preset position in the direction perpendicular to the direction of gravity.

[0032] In the above technical solution, by setting a second sensor, the second sensor is used to sense whether the robot arm has reached the first preset position in the direction perpendicular to the direction of gravity. The second sensor has high sensing accuracy, which enables the robot arm to reach the first preset position with high accuracy. This is beneficial to further improve the feeding accuracy and feeding stability of the sheet feeding device, thereby improving the manufacturing quality of the battery.

[0033] In some embodiments of this application, the first sensor is a laser sensor.

[0034] In the above technical solution, by making the first sensor a laser sensor, the sensing accuracy of the first sensor can be made higher, which is beneficial to further improve the feeding accuracy and feeding stability of the sheet feeding device, thereby improving the manufacturing quality of the battery.

[0035] In some embodiments of this application, the first direction is the direction of gravity.

[0036] In the above technical solution, since multiple sheets to be loaded are stacked along the direction of gravity, by driving the robot arm with the first servo motor along the direction of gravity, the suction cup of the robot arm can be adsorbed onto the sheets to be loaded along the direction of gravity. After the robot arm adsorbs the top sheet, the other sheets can remain stationary under the action of gravity, which facilitates the loading of the sheets. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A schematic flowchart illustrating a sheet feeding method provided in some embodiments of this application;

[0039] Figure 2 This is a schematic diagram of the structure of a sheet feeding device provided in some embodiments of this application;

[0040] Figure 3 for Figure 2 A partially enlarged structural diagram of point A in the sheet feeding device;

[0041] Figure 4 A schematic flowchart illustrating a sheet feeding method provided in other embodiments of this application;

[0042] Figure 5 A schematic flowchart illustrating a sheet feeding method provided in other embodiments of this application;

[0043] Figure 6 This is a schematic flowchart illustrating a sheet feeding method provided in other embodiments of this application.

[0044] Icons: 10-Sheet feeding device; 100-Bearing platform; 200-Robot arm; 210-Suction cup; 220-First sensor; 230-Pipe; 240-Bracket; 250-Support plate; 300-First servo motor; 410-First slide rail; 420-First slider; 430-Second slide rail; 440-Second slider; X-First direction; Y-Second direction. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having" and any variations thereof in the description, claims and foregoing drawings of this application are intended to cover non-exclusive inclusion.

[0047] The terms "first," "second," etc., in the specification, claims, or the accompanying drawings of this application are used to distinguish different objects, rather than to describe a specific order or primary / secondary relationship.

[0048] In this application, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0049] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0050] In this application, "multiple" means two or more (including two).

[0051] A battery cell includes a casing, electrode components, and electrolyte. The casing houses the electrode components and electrolyte. A sheet of material, such as a polyester film, is placed between the electrode components and the casing. This serves to insulate the electrode components from the casing and protect the electrode components, reducing the likelihood of short circuits or even thermal runaway in the battery cell. This improves the quality of the battery cell and extends its lifespan. The sheet material needs to be fed into the battery cell during its manufacturing process.

[0052] However, currently, the robotic arm moves a preset distance in the direction of gravity to allow its adsorption mechanism to attach to the sheet material to be loaded, thus achieving the adsorption and loading of the sheet. The relatively long distance the robotic arm moves in the direction of gravity results in significant errors, leading to lower loading accuracy and affecting the quality of the sheet material, thereby impacting the quality of battery fabrication. After each loading, the preset distance needs to be increased by the thickness of the sheet. For sheets stacked at the bottom, the robotic arm moves an even longer distance in the direction of gravity, further increasing the error. Furthermore, the required increase in sheet thickness varies depending on the sheet thickness. Therefore, loading sheets of different thicknesses requires re-teaching to set an appropriate preset distance, making the sheet loading process more complex and affecting its efficiency, ultimately impacting the efficiency of battery fabrication.

[0053] Based on the above considerations, this application provides a sheet feeding method, which includes: in response to a robot arm reaching a first preset position, controlling a first servo motor to enter speed mode and driving the robot arm to approach the sheet to be fed; in response to a first sensor mounted on the robot arm sensing the sheet to be fed, controlling the first servo motor to switch to position mode and driving the robot arm to move to a second preset position; and in response to the robot arm reaching the second preset position, controlling the robot arm to pick up the sheet to be fed.

[0054] In this technical solution, the first servo motor first drives the robot arm in speed mode to approach the sheet to be loaded from a first preset position. When the first sensor on the robot arm detects the sheet to be loaded, i.e., when the robot arm is close to the sheet to be loaded, the first servo motor then moves to a second preset position in position mode. Since the distance the robot arm moves in position mode is short, the accuracy of the second preset position is high. The loading accuracy of the robot arm in adsorbing the sheet to be loaded is high, and the loading stability is good, which is beneficial to improving the quality of battery manufacturing. The loading process is simple and helps to improve the efficiency of battery manufacturing. Furthermore, the sheet loading method of this application can be applied to sheets of different thicknesses. After changing to different sheets, no adjustment is required, which can further improve the efficiency of battery manufacturing.

[0055] Please refer to Figures 1 to 3 , Figure 1 A schematic flowchart illustrating a sheet feeding method provided in some embodiments of this application; Figure 2 This is a schematic diagram of the structure of a sheet feeding device provided in some embodiments of this application; Figure 3 for Figure 2 A partially enlarged structural diagram of point A in the sheet feeding device.

[0056] This application provides a sheet feeding method, including:

[0057] S11. In response to the robot arm 200 reaching the first preset position, control the first servo motor 300 to enter the speed mode and drive the robot arm 200 to approach the sheet material 20 to be loaded.

[0058] S12. In response to the first sensor 220 set on the robot arm 200 sensing the sheet 20 to be loaded, the first servo motor 300 is controlled to switch to position mode, driving the robot arm 200 to move to the second preset position.

[0059] S13. In response to the robot arm 200 reaching the second preset position, control the robot arm 200 to pick up the sheet material 20 to be loaded.

[0060] First, the first servo motor 300 drives the robot arm 200 in speed mode to approach the sheet 20 to be loaded from a first preset position. When the first sensor 220 on the robot arm 200 senses the sheet 20 to be loaded, i.e., when the robot arm 200 is close to the sheet 20 to be loaded, the first servo motor 300 then moves to a second preset position in position mode. Since the distance the robot arm 200 moves in position mode is short, the accuracy of the second preset position is high. The robot arm 200 has high loading accuracy and good loading stability, which is beneficial to improving the quality of battery manufacturing. The loading process is simple and helps to improve the efficiency of battery manufacturing. Furthermore, the sheet 20 loading method of this application can be applied to sheets 20 of different thicknesses. After changing to different sheets 20, no adjustment is required, which can further improve the efficiency of battery manufacturing.

[0061] In some embodiments, the first servo motor 300 can be controlled by a controller. The controller and the first servo motor 300 are connected in communication. Specifically, they can be connected via a wired connection cable or via wireless signals such as WiFi or 4G.

[0062] In some embodiments, the servo motor includes three modes: position mode, speed mode, and torque mode. Position mode uses a host computer to send high-speed pulses of a certain frequency, combined with a direction signal, to achieve forward and reverse rotation of the motor. The host computer can be a programmable logic controller (PLC), a microcontroller, a manual pulse generator, etc. By adjusting the pulse frequency, the speed of the servo motor can be changed. Speed ​​mode uses analog signals to control the motor's rotational speed. Torque mode uses analog signals to control the servo motor's output torque and can be used in conjunction with position mode for closed-loop control.

[0063] After the robotic arm 200 reaches the first preset position, the first servo motor 300 enters speed mode, enabling it to drive the robotic arm 200 closer to the sheet 20 to be loaded more stably. After the first sensor 220 on the robotic arm 200 senses the sheet 20 to be loaded, the first servo motor 300 switches to position mode, allowing for better control of the distance the robotic arm 200 moves. This results in higher precision in reaching the second preset position, higher loading accuracy of the robotic arm 200 in adsorbing the sheet 20, and better loading stability, which is beneficial for improving the quality of battery manufacturing.

[0064] In some embodiments, the first servo motor 300 drives the robot arm 200 along the first slide rail.

[0065] By having the first servo motor 300 drive the robot arm 200 along the first slide rail, the movement of the robot arm 200 becomes more stable, the feeding stability is better, and the quality of battery manufacturing is improved.

[0066] In some embodiments, the first servo motor 300 drives the robot arm 200 along the direction of gravity.

[0067] Since multiple sheets 20 to be loaded are stacked along the direction of gravity, the first servo motor 300 drives the robot arm 200 along the direction of gravity, so that the suction cup 210 of the robot arm 200 can be adsorbed onto the sheets 20 to be loaded along the direction of gravity. After the robot arm 200 adsorbs the top sheet 20, the other sheets 20 can remain stationary under the action of gravity, which facilitates the loading of the sheets 20.

[0068] In other embodiments, the robotic arm 200 can be moved by other drive mechanisms such as cylinders.

[0069] In some embodiments, in speed mode, the first servo motor 300 drives the robot arm 200 to approach the sheet 20 to be loaded at a constant speed.

[0070] By enabling the first servo motor 300 to drive the robot arm 200 to approach the sheet 20 to be loaded at a constant speed in speed mode, the first sensor 220 can easily sense the sheet 20 to be loaded during the movement of the robot arm 200. This reduces the possibility that changes in the movement speed of the robot arm 200 will affect the sensing of the first sensor 220, thereby reducing the problem of damage to the sheet 20 to be loaded caused by the subsequent squeezing of the sheet 20 by the robot arm 200.

[0071] In other embodiments, in speed mode, the first servo motor 300 first drives the robot arm 200 to approach the sheet 20 to be loaded at a first speed at a constant speed, and then drives the robot arm 200 to approach the sheet 20 to be loaded at a second speed at a constant speed, wherein the first speed is greater than the second speed.

[0072] By having the first servo motor 300 drive the robot arm 200 to approach the sheet 20 to be loaded at a first speed at a constant speed in speed mode, and then drive the robot arm 200 to approach the sheet 20 to be loaded at a second speed at a constant speed, where the first speed is greater than the second speed, the first servo motor 300 can drive the robot arm 200 to approach the sheet 20 to be loaded at a faster speed, which can reduce the loading time of the sheet 20 and improve the loading efficiency of the sheet 20. Then, the first servo motor 300 drives the robot arm 200 to approach the sheet 20 to be loaded at a slower speed, which can reduce the problem that when the robot arm 200 moves too fast, the first servo motor 300 cannot immediately switch to position mode when the first sensor 220 senses the sheet 20 to be loaded, which may result in the robot arm 200 moving too far and squeezing the sheet 20 to be loaded, causing damage to the sheet 20.

[0073] In some embodiments, "in response to the first sensor 220 disposed on the robot arm 200 sensing the sheet 20 to be loaded" includes:

[0074] S121, causing the first sensor 220 on the robotic arm 200 to send a laser to the sheet 20.

[0075] S122. When the light transmission of the laser reaches the first threshold, the first sensor 220 on the robot arm 200 senses the sheet material 20 to be loaded.

[0076] When the light transmittance of the laser reaches the first threshold, the first sensor 220 on the robot arm 200 senses the sheet material 20 to be fed, which enables the first sensor 220 to have higher sensing accuracy, which is beneficial to further improve the feeding accuracy and feeding stability of the sheet material feeding device 10, thereby improving the manufacturing quality of the battery.

[0077] In other embodiments, "in response to the first sensor 220 disposed on the robot arm 200 sensing the sheet 20 to be fed" may further include: causing the first sensor 220 on the robot arm 200 to send a laser to the sheet 20; when the first sensor 220 receives the reflected light of the laser, the first sensor 220 on the robot arm 200 senses the sheet 20 to be fed.

[0078] The first sensor 220 can send laser pulses. Since the speed of laser is close to the speed of light (approximately 300 million meters per second), if the laser emitted by the first sensor 220 is resisted and reflected by the sheet material, it can reach the first sensor 220 almost instantly. Therefore, by having the first sensor 220 on the robot arm 200 send laser to the sheet material 20, and when the first sensor 220 receives the reflected light of the laser, the first sensor 220 on the robot arm 200 senses the sheet material 20 to be loaded. This can make the sensing accuracy of the first sensor 220 higher, which is beneficial to further improve the loading accuracy and loading stability of the sheet material loading device 10, thereby improving the manufacturing quality of the battery.

[0079] In other embodiments, "in response to the first sensor 220 disposed on the robot arm 200 sensing the sheet 20 to be fed" may further include: causing the first sensor 220 on the robot arm 200 to send ultrasonic waves to the sheet 20; when the first sensor 220 receives the echo of the ultrasonic waves, the first sensor 220 on the robot arm 200 senses the sheet 20 to be fed.

[0080] The first sensor 220 may include a high-frequency oscillator and a transducer. The high-frequency oscillator can generate an electrical signal of a certain frequency. This electrical signal is converted into mechanical vibration by the transducer, thereby generating ultrasonic waves. The ultrasonic waves are impeded by the sheet material and reflected to form an echo. Furthermore, the speed of ultrasonic wave propagation in air is approximately 340 meters per second, and the time between ultrasonic wave emission and reflection is relatively short. Therefore, the first sensor 220 on the robot arm 200 sends ultrasonic waves to the sheet material 20. When the first sensor 220 receives the echo of the ultrasonic wave, the first sensor 220 on the robot arm 200 senses the sheet material 20 to be loaded. This allows the first sensor 220 to have high sensing accuracy, which is beneficial to further improve the loading accuracy and loading stability of the sheet material loading device 10, thereby improving the manufacturing quality of the battery.

[0081] In other embodiments, "in response to the first sensor 220 disposed on the robot arm 200 sensing the sheet 20 to be fed" may further include: causing the first sensor 220 on the robot arm 200 to send an infrared signal to the sheet 20; when the first sensor 220 receives the reflected signal of the infrared signal, the first sensor 220 on the robot arm 200 senses the sheet 20 to be fed.

[0082] The first sensor 220 can emit infrared light. Since the speed of infrared light is close to the speed of light (approximately 300 million meters per second), if the infrared light emitted by the first sensor 220 is resisted and reflected by the sheet material, it can reach the first sensor 220 almost instantly. Therefore, by having the first sensor 220 on the robot arm 200 send an infrared signal to the sheet material 20, and when the first sensor 220 receives the reflected infrared signal, the first sensor 220 on the robot arm 200 senses the sheet material 20 to be loaded. This can make the sensing accuracy of the first sensor 220 higher, which is beneficial to further improve the loading accuracy and loading stability of the sheet material loading device 10, thereby improving the manufacturing quality of the battery.

[0083] In some embodiments, "controlling the first servo motor 300 to switch to position mode and driving the robotic arm 200 to move to the second preset position" includes:

[0084] S123. Control the first servo motor 300 to drive the robot arm 200 to move a fixed distance toward the sheet 20 to be loaded, and stop driving the robot arm 200.

[0085] By setting the position mode of the first servo motor 300 to control the first servo motor 300 to drive the robot arm 200 to move a fixed distance toward the sheet 20 to be loaded, and then stopping the drive of the robot arm 200, the robot arm 200 can move a fixed distance before reaching the second preset position. This facilitates the control of the first servo motor 300, resulting in higher accuracy of the second preset position. The robot arm 200 can adsorb the sheet 20 to be loaded with high loading accuracy and good loading stability, which is beneficial to improving the quality of battery manufacturing. The loading process is simple, which is beneficial to improving the efficiency of battery manufacturing. Furthermore, the distance threshold remains unchanged for sheets 20 of different thicknesses, making it applicable to sheets 20 of different thicknesses. After changing to different sheets 20, no adjustment is required, which can further improve the efficiency of battery manufacturing.

[0086] In some embodiments, the distance the robot arm 200 moves toward the sheet 20 to be loaded can be controlled by controlling the number of rotations of the first servo motor 300.

[0087] In some embodiments, "in response to the robot arm 200 reaching the second preset position" includes:

[0088] S131. When the robot arm 200 moves a distance equal to a fixed distance toward the sheet 20 to be fed, the robot arm 200 reaches the second preset position.

[0089] By ensuring that the robot arm 200 moves a fixed distance toward the sheet 20 to be fed, and then reaches the second preset position, it is no longer necessary to use a detector to check whether the robot arm 200 is in contact with the sheet 20 to be fed. This simplifies the feeding process, reduces the difficulty of controlling the feeding of the sheet 20, and improves the efficiency of feeding the sheet 20.

[0090] In some embodiments, the number of rotations of the first servo motor 300 can be counted. When the number of rotations of the first servo motor 300 reaches a threshold, the moving distance of the robot arm 200 is equal to a fixed distance, and the robot arm 200 reaches a second preset position.

[0091] In some embodiments, "in response to the robotic arm 200 reaching a first preset position" includes:

[0092] S111, The second sensor detects that the robotic arm 200 has reached the first preset position.

[0093] By enabling the second sensor to detect that the robot arm 200 has reached the first preset position, and given the high sensing accuracy of the second sensor, the robot arm 200 can reach the first preset position with high precision. This is beneficial for further improving the feeding accuracy and feeding stability of the sheet feeding device 10, thereby improving the quality of battery manufacturing.

[0094] In some embodiments, "the second sensor detects that the robotic arm 200 has reached the first preset position" includes:

[0095] S1111, causing the second sensor to send a laser beam in the first direction. The first direction is perpendicular to the direction of movement of the robotic arm 200 before it reaches the first preset position.

[0096] S1112. When the light transmission of the laser reaches the second threshold, the second sensor detects that the robotic arm 200 has reached the first preset position.

[0097] When the light transmittance of the laser reaches the second threshold, the second sensor detects that the robot arm 200 has reached the first preset position. This enables the second sensor to have higher sensing accuracy, which is beneficial to further improve the feeding accuracy and feeding stability of the sheet feeding device 10, thereby improving the quality of battery preparation.

[0098] In other embodiments, "the second sensor senses that the robot 200 has reached the first preset position" may further include: causing the second sensor to send a laser in a first direction; when the second sensor receives the reflected light of the laser, the second sensor senses that the robot 200 has reached the first preset position.

[0099] The second sensor can send laser pulses. Since the speed of laser is close to the speed of light (approximately 300 million meters per second), if the laser sent by the second sensor is resisted and reflected by the sheet material, it can reach the second sensor almost instantly. Therefore, by having the second sensor send laser to the sheet material 20, and when the second sensor receives the reflected laser light, the second sensor senses the sheet material 20 to be fed, which can make the sensing accuracy of the second sensor higher. This is beneficial to further improve the feeding accuracy and feeding stability of the sheet material feeding device 10, thereby improving the quality of battery manufacturing.

[0100] In other embodiments, "the second sensor senses that the robot 200 has reached the first preset position" may further include: causing the second sensor to send ultrasonic waves in a first direction; when the second sensor receives the echo of the ultrasonic waves, the second sensor senses that the robot 200 has reached the first preset position.

[0101] The second sensor may include a high-frequency oscillator and a transducer. The high-frequency oscillator can generate an electrical signal of a certain frequency. This electrical signal is converted into mechanical vibration by the transducer, thereby generating ultrasonic waves. The ultrasonic waves are impeded by the sheet material and reflected to form an echo. Furthermore, the speed of ultrasonic wave propagation in air is approximately 340 meters per second. The time between the emission and reflection of ultrasonic waves is relatively short, thus enabling the second sensor to send ultrasonic waves to the sheet material 20. When the second sensor receives the echo of the ultrasonic waves, it senses the sheet material 20 to be fed. This allows the second sensor to have high sensing accuracy, which is beneficial to further improve the feeding accuracy and feeding stability of the sheet material feeding device 10, thereby improving the quality of battery manufacturing.

[0102] In other embodiments, "the second sensor senses that the robot 200 has reached the first preset position" may further include: causing the second sensor to send an infrared signal in a first direction; when the second sensor receives the reflected signal of the infrared signal, the second sensor senses that the robot 200 has reached the first preset position.

[0103] The second sensor can emit infrared light. Since the speed of infrared light is close to the speed of light (approximately 300 million meters per second), the infrared light emitted by the second sensor can reach the second sensor almost instantly if it is resisted and reflected by the sheet material. Therefore, by enabling the second sensor to send an infrared signal to the sheet material 20, and when the second sensor receives the reflected infrared signal, the second sensor senses the sheet material 20 to be fed, which can make the sensing accuracy of the second sensor higher. This is beneficial to further improve the feeding accuracy and feeding stability of the sheet material feeding device 10, thereby improving the manufacturing quality of the battery.

[0104] In some embodiments, prior to "responding to the robot arm 200 reaching the first preset position":

[0105] S14. In response to the material handling signal, control the second servo motor to drive the robot arm 200 to move towards the first preset position. The driving direction of the first servo motor 300 is perpendicular to the driving direction of the second servo motor.

[0106] By controlling the second servo motor to drive the robot 200 to move to the first preset position in response to the material picking signal, the possibility of damage to the robot 200 or the sheet 20 caused by the second servo motor driving the robot 200 when no material picking is required can be reduced.

[0107] In some embodiments, the material picking signal can be set according to the operation time of each feeding operation. For example, the time from receiving the material picking signal to the robot arm 200 completing the feeding and unloading of the sheet 20 is the first time. The material picking signal is automatically sent every second time. The second time is greater than or equal to the first time, which can automatically realize the continuous feeding of the continuous sheet 20.

[0108] In some embodiments, the material pick-up signal can be triggered after the previous loading and unloading is completed. For example, after the robot arm 200 completes the loading and unloading of the sheet 20, if it detects that there is no sheet 20 on the robot arm 200, a material pick-up signal is sent.

[0109] In some embodiments, the presence of sheet 20 on the robotic arm 200 can be detected by the first sensor 220. If the signal emitted by the first sensor 220 is not blocked at the suction cup 210, then there is no sheet 20 on the robotic arm 200; if the signal emitted by the first sensor 220 is blocked at the suction cup 210, then there is sheet 20 on the robotic arm 200.

[0110] In some embodiments, the presence of sheet 20 on the robotic arm 200 can be detected by the pressure value of the suction cup 210. If the pressure value of the suction cup 210 is less than a second pressure threshold, the suction cup 210 does not adsorb sheet 20; if the pressure value of the suction cup 210 is greater than or equal to the second pressure threshold, the suction cup 210 adsorbs sheet 20.

[0111] In some embodiments, the material handling signal can be manually set. For example, a material handling signal can be sent when it is observed manually that a material handling operation is needed. Alternatively, the material handling signal can be manually set to be sent at regular intervals.

[0112] In some embodiments, the second servo motor drives the robot arm 200 along the second slide rail.

[0113] By having the second servo motor drive the robot 200 along the second slide rail, the movement of the robot 200 becomes more stable, the feeding stability is better, and the quality of battery manufacturing is improved.

[0114] In some embodiments, "controlling the robotic arm 200 to pick up the sheet 20 to be fed" includes:

[0115] S132. Negative pressure is provided to the robotic arm 200 by the suction cup 210, so that the sheet 20 to be loaded is adsorbed onto the suction cup 210.

[0116] The suction cup 210 of the robotic arm 200 provides negative pressure to the robotic arm 200, so that the sheet 20 to be loaded is adsorbed onto the suction cup 210. The suction cup 210 is not likely to damage the sheet 20, and the suction cup 210 can fix the sheet 20 well. During the material handling process, the sheet 20 is not likely to fall off the suction cup 210 and be damaged.

[0117] In other embodiments, the sheet 20 can be fed by bonding the robotic arm 200 to the sheet 20 to be fed through an adhesive portion (not shown in the figure).

[0118] In some embodiments, after "controlling the robotic arm 200 to pick up the sheet 20 to be fed", the following is also included:

[0119] S15. In response to the sheet 20 to be loaded being attracted into place, the first servo motor 300 drives the robot arm 200 away from the support platform 100 that carries the sheet 20 to be loaded.

[0120] By causing the sheet 20 to be loaded to be attracted into position in response to being attracted, the first servo motor 300 drives the robot arm 200 away from the support platform 100 that carries the sheet 20 to be loaded, which facilitates subsequent operations such as unloading by the robot arm 200 and reduces the possibility of interference between the robot arm 200 and other sheets 20.

[0121] In some embodiments, "in response to the sheet 20 to be fed being adsorbed into place" includes:

[0122] When the pressure value of suction cup 210 reaches the first pressure threshold, the sheet material 20 to be loaded is attracted into place.

[0123] By ensuring that the pressure value of the suction cup 210 reaches the first pressure threshold, the sheet 20 to be fed is adsorbed into place. This reduces the problem of the sheet 20 not being adsorbed due to insufficient pressure value of the suction cup 210, which could lead to the sheet 20 detaching from the robot arm 200 during subsequent movement, causing damage to the sheet 20 or failure to be fed into place. It also reduces the possibility of the sheet 20 being deformed or broken due to excessive pressure value of the suction cup 210, thus improving the quality of sheet feeding.

[0124] In some embodiments, the first pressure threshold is greater than the second pressure threshold.

[0125] In some embodiments, the pressure value of the suction cup 210 can be directly detected by a detector inside the suction cup 210, or it can be detected by a detector inside the pipe 230 connected to the suction cup 210.

[0126] Please refer to Figure 4 , Figure 4 This is a schematic flowchart illustrating a sheet feeding method provided in other embodiments of this application.

[0127] Some embodiments of this application provide a method for feeding sheet 20, including:

[0128] S21. In response to the material picking signal, control the second servo motor to drive the robot arm 200 to move to the first preset position.

[0129] S22. In response to the robot arm 200 reaching the first preset position, control the first servo motor 300 to enter the speed mode and drive the robot arm 200 to approach the sheet material 20 to be loaded.

[0130] S23. In response to the first sensor 220 set on the robot arm 200 sensing the sheet 20 to be loaded, the first servo motor 300 is controlled to switch to position mode, driving the robot arm 200 to move to the second preset position.

[0131] S24. In response to the robot arm 200 reaching the second preset position, control the robot arm 200 to pick up the sheet material 20 to be loaded.

[0132] S25. In response to the sheet 20 to be loaded being attracted into place, the first servo motor 300 drives the robot arm 200 away from the support platform 100 that carries the sheet 20 to be loaded.

[0133] Please refer to Figure 5 , Figure 5 This is a schematic flowchart illustrating a sheet feeding method provided in other embodiments of this application.

[0134] Some embodiments of this application provide a method for feeding sheet 20, including:

[0135] S31. In response to the material picking signal, control the second servo motor to drive the robot arm 200 to move to the first preset position.

[0136] S32. In response to the second sensor sensing that the robot arm 200 has reached the first preset position, the first servo motor 300 is controlled to enter the speed mode, driving the robot arm 200 to approach the sheet material 20 to be loaded.

[0137] S331, causing the first sensor 220 on the robotic arm 200 to send a laser to the sheet 20.

[0138] S332. In response to the light transmission of the laser reaching the first threshold, the first servo motor 300 is controlled to switch to position mode, driving the robot arm 200 to move to the second preset position.

[0139] S34. In response to the robot arm 200 moving a distance equal to a fixed distance toward the sheet 20 to be loaded, negative pressure is provided to the robot arm 200 through the suction cup 210, so that the sheet 20 to be loaded is adsorbed onto the suction cup 210.

[0140] S35. In response to the pressure value of the suction cup 210 reaching the first pressure threshold, the first servo motor 300 drives the robot arm 200 away from the support platform 100 that carries the sheet 20 to be loaded.

[0141] Please refer to Figure 6 , Figure 6 This is a schematic flowchart illustrating a sheet feeding method provided in other embodiments of this application.

[0142] Some embodiments of this application provide a method for feeding sheet 20, including:

[0143] S41, Receive material picking signal.

[0144] In some embodiments, the material picking signal can be set according to the operation time of each feeding operation. For example, the time from receiving the material picking signal to the robot arm 200 completing the feeding and unloading of the sheet 20 is the first time. The material picking signal is automatically sent every second time. The second time is greater than or equal to the first time, which can automatically realize the continuous feeding of the continuous sheet 20.

[0145] In some embodiments, the material pick-up signal can be triggered after the previous loading and unloading is completed. For example, after the robot arm 200 completes the loading and unloading of the sheet 20, if it detects that there is no sheet 20 on the robot arm 200, a material pick-up signal is sent.

[0146] In some embodiments, the presence of sheet 20 on the robotic arm 200 can be detected by the first sensor 220. If the signal emitted by the first sensor 220 is not blocked at the suction cup 210, then there is no sheet 20 on the robotic arm 200; if the signal emitted by the first sensor 220 is blocked at the suction cup 210, then there is sheet 20 on the robotic arm 200.

[0147] S42. Control the second servo motor to drive the robot arm 200 to move to the first preset position.

[0148] In some embodiments, the second servo motor drives the robot arm 200 along the second slide rail.

[0149] By having the second servo motor drive the robot 200 along the second slide rail, the movement of the robot 200 becomes more stable, the feeding stability is better, and the quality of battery manufacturing is improved.

[0150] S431. Determine whether the robotic arm 200 has reached the first preset position.

[0151] In some embodiments, a second sensor detects whether the robotic arm 200 has reached a first preset position. For example, the second sensor sends a laser beam in a first direction; when the light transmittance of the laser beam reaches a second threshold, the second sensor detects that the robotic arm 200 has reached the first preset position. The first direction is perpendicular to the direction of movement of the robotic arm 200 before reaching the first preset position.

[0152] In other embodiments, "the second sensor senses that the robot 200 has reached the first preset position" may further include: causing the second sensor to send a laser in a first direction; when the second sensor receives the reflected light of the laser, the second sensor senses that the robot 200 has reached the first preset position.

[0153] In other embodiments, "the second sensor senses that the robot 200 has reached the first preset position" may further include: causing the second sensor to send ultrasonic waves in a first direction; when the second sensor receives the echo of the ultrasonic waves, the second sensor senses that the robot 200 has reached the first preset position.

[0154] In other embodiments, "the second sensor senses that the robot 200 has reached the first preset position" may further include: causing the second sensor to send an infrared signal in a first direction; when the second sensor receives the reflected signal of the infrared signal, the second sensor senses that the robot 200 has reached the first preset position.

[0155] S432. If the robot arm 200 reaches the first preset position, control the first servo motor 300 to enter speed mode and drive the robot arm 200 to approach the sheet material 20 to be loaded. Otherwise, return to step S42.

[0156] S441. Determine whether the first sensor 220 on the robotic arm 200 has detected the sheet material 20 to be loaded.

[0157] In some embodiments, "determining whether the first sensor 220 on the robotic arm 200 senses the sheet 20 to be fed" includes: causing the first sensor 220 on the robotic arm 200 to send a laser beam to the sheet 20. It is then determined whether the light transmittance of the laser beam reaches a first threshold; if the light transmittance of the laser beam reaches the first threshold, the first sensor 220 on the robotic arm 200 senses the sheet 20 to be fed.

[0158] In other embodiments, "determining whether the first sensor 220 on the robotic arm 200 senses the sheet 20 to be fed" may further include: causing the first sensor 220 on the robotic arm 200 to send a laser to the sheet 20; when the first sensor 220 receives the reflected light of the laser, the first sensor 220 on the robotic arm 200 senses the sheet 20 to be fed.

[0159] In other embodiments, "determining whether the first sensor 220 on the robot arm 200 senses the sheet 20 to be fed" may further include: causing the first sensor 220 on the robot arm 200 to send ultrasonic waves to the sheet 20; when the first sensor 220 receives the echo of the ultrasonic waves, the first sensor 220 on the robot arm 200 senses the sheet 20 to be fed.

[0160] In other embodiments, "determining whether the first sensor 220 on the robot arm 200 senses the sheet 20 to be fed" may further include: causing the first sensor 220 on the robot arm 200 to send an infrared signal to the sheet 20; when the first sensor 220 receives the reflected signal of the infrared signal, the first sensor 220 on the robot arm 200 senses the sheet 20 to be fed.

[0161] S442. If the first sensor 220 on the robotic arm 200 senses the sheet material 20 to be loaded, then the first servo motor 300 is controlled to switch to position mode, driving the robotic arm 200 to move to the second preset position. Otherwise, return to step S432.

[0162] S451. Determine whether the robotic arm 200 has reached the second preset position.

[0163] In some embodiments, "determining whether the robot arm 200 has reached the second preset position" includes: determining whether the moving distance of the robot arm 200 toward the sheet 20 to be loaded is equal to a fixed distance; if the moving distance of the robot arm 200 toward the sheet 20 to be loaded is equal to a fixed distance, then the robot arm 200 has reached the second preset position.

[0164] In some embodiments, the number of rotations of the first servo motor 300 can be counted. When the number of rotations of the first servo motor 300 reaches a threshold, the moving distance of the robot arm 200 is equal to a fixed distance, and the robot arm 200 reaches a second preset position.

[0165] S452. If the robot arm 200 reaches the second preset position, control the robot arm 200 to pick up the sheet material 20 to be loaded. Otherwise, return to step 442.

[0166] In some embodiments, “controlling the robotic arm 200 to adsorb the sheet 20 to be loaded” includes: providing negative pressure to the robotic arm 200 through the suction cup 210 of the robotic arm 200, so that the sheet 20 to be loaded is adsorbed onto the suction cup 210.

[0167] In other embodiments, the sheet 20 can be fed by bonding the adhesive portion on the robotic arm 200 to the sheet 20 to be fed.

[0168] S461. Determine whether the sheet material 20 to be fed has been properly adsorbed.

[0169] In some embodiments, "determining whether the sheet 20 to be fed has been adsorbed into place" includes: determining whether the pressure value of the suction cup 210 reaches a first pressure threshold. If the pressure value of the suction cup 210 reaches the first pressure threshold, then the sheet 20 to be fed has been adsorbed into place.

[0170] S462. If the sheet 20 to be loaded is attracted into place, the first servo motor 300 drives the robot arm 200 away from the support platform 100 that carries the sheet 20 to be loaded. Otherwise, return to step 452.

[0171] Please refer to Figure 2 and Figure 3 ,

[0172] This application provides a sheet feeding device 10, which includes a support platform 100, a robotic arm 200, and a first servo motor 300. The support platform 100 is used to support the sheet 20 to be fed. The robotic arm 200 is equipped with a suction cup 210 and a first sensor 220. The suction cup 210 is used to adsorb the sheet 20 to be fed, and the first sensor 220 is used to sense the sheet 20 to be fed. The first servo motor 300 is used to drive the robotic arm along a first direction X.

[0173] The support platform 100 can be used to support the sheet material 20 to be loaded. By setting a suction cup 210 and a first sensor 220 on the robot arm 200, the sheet material 20 to be loaded can be attracted to the robot arm 200 by the suction cup 210, and the first servo motor 300 can drive the robot arm in the first direction X according to the first sensor 220 sensing the sheet material 20 to be loaded.

[0174] In some embodiments, the first servo motor 300 is configured to enter speed mode in response to the robot arm 200 reaching a first preset position, driving the robot arm 200 to approach the sheet 20 to be loaded. In response to the first sensor 220 sensing the sheet 20 to be loaded, it switches to position mode, driving the robot arm 200 to move to a second preset position. In response to the robot arm 200 reaching the second preset position, it adsorbs the sheet 20 to be loaded.

[0175] First, the first servo motor 300 drives the robot arm 200 in speed mode to approach the sheet 20 to be loaded from a first preset position. When the first sensor 220 on the robot arm 200 senses the sheet 20 to be loaded, i.e., when the robot arm 200 is close to the sheet 20 to be loaded, the first servo motor 300 then moves to a second preset position in position mode. Since the distance the robot arm 200 moves in position mode is short, the accuracy of the second preset position is high. The robot arm 200 has high loading accuracy and good loading stability, which is beneficial to improving the quality of battery manufacturing. The loading process is simple and helps to improve the efficiency of battery manufacturing. Furthermore, the sheet 20 loading method of this application can be applied to sheets 20 of different thicknesses. After changing to different sheets 20, no adjustment is required, which can further improve the efficiency of battery manufacturing.

[0176] In some embodiments, the sheet feeding device 10 further includes a controller (not shown in the figure), which is communicatively connected to the first servo motor 300. Specifically, it can be wired via a connecting cable or wirelessly via WiFi, 4G, or other wireless signals.

[0177] In some embodiments, the sheet feeding device 10 further includes a first slide rail 410 and a first slider 420. The first slide rail 410 extends along a first direction X, and the first slider 420 is movably disposed on the first slide rail 410. A first servo motor 300 is connected to the first slider 420, and a robot arm 200 is connected to the first slider 420, so that the first servo motor 300 can drive the robot arm 200 along the first slide rail 410.

[0178] In some embodiments, the first slide rail 410 and the first slider 420 can be made of metal materials such as steel and aluminum, or non-metallic materials with high strength such as carbon fiber and rigid plastic. This allows the first slide rail 410 and the first slider 420 to have high strength and good force-bearing performance, making the movement process of the robot 200 more stable and the feeding stability better, which is beneficial to improving the manufacturing quality of the battery.

[0179] In some embodiments, the sheet feeding device 10 further includes a negative pressure source (not shown in the figure), and the robot arm 200 is provided with a pipe 230, the two ends of which are respectively connected to the negative pressure source and the suction cup 210. The sheet feeding device 10 also includes a pressure detector, which is disposed in the pipe 230 or the suction cup 210, and is used to detect the pressure value in the pipe 230 or the suction cup 210.

[0180] The suction cup 210 of the robotic arm 200 provides negative pressure, causing the sheet material 20 to be loaded to be adsorbed onto the suction cup 210. The suction cup 210 is less likely to damage the sheet material 20 and can better fix the sheet material 20. During the material handling process, the sheet material 20 is less likely to detach from the suction cup 210 and cause damage. By setting a pressure detector to detect the pressure value in the pipe 230 or the suction cup 210, the sheet material 20 to be loaded can be adsorbed into place when the pressure value in the pipe 230 or the suction cup 210 is reached. This reduces the problem of the sheet material 20 not being adsorbed into place due to the pressure value of the suction cup 210 being too low, which would cause the sheet material 20 to detach from the robotic arm 200 during subsequent movement, resulting in damage to the sheet material 20 or failure to be loaded into place. It also reduces the possibility of the sheet material 20 being deformed or broken due to the pressure value of the suction cup 210 being too high, which is beneficial to improving the quality of sheet material loading.

[0181] In some embodiments, the pressure detector can be a pressure sensor, which can be a piezoresistive pressure sensor. The piezoresistive pressure sensor includes a metal resistance strain gauge. The working principle of the metal resistance strain gauge is that the strain resistance adsorbed on the substrate material changes with mechanical deformation, which is called the resistance strain effect.

[0182] In some embodiments, the sheet feeding device 10 further includes a second servo motor for driving a robot along a second direction Y, which is perpendicular to the first direction X.

[0183] By enabling the second servo motor to drive the robot 200 along the second direction Y, which is perpendicular to the first direction X, the first servo motor 300 and the second servo motor can work together to adjust the position of the robot 200 on the plane containing the first direction X and the second direction Y.

[0184] In some embodiments, the second servo motor is used to drive the robot arm 200 to move towards a first preset position in response to a material handling signal. The driving direction of the first servo motor 300 is perpendicular to the driving direction of the second servo motor.

[0185] By enabling the second servo motor to drive the robot arm 200 to move to the first preset position in response to the material picking signal, the possibility of damage to the robot arm 200 or the sheet 20 caused by the second servo motor driving the robot arm 200 when no material picking is required can be reduced.

[0186] In some embodiments, the controller is communicatively connected to the second servo motor, specifically via a wired connection using a connecting cable or a wireless connection using wireless signals such as WiFi or 4G.

[0187] In some embodiments, the sheet feeding device 10 further includes a second slide rail 430 and a second slider 440. The second slide rail 430 extends along the second direction Y, and the second slider 440 is movably disposed on the second slide rail 430. A second servo motor is connected to the second slider 440, and a first slide rail 410 is connected to the second slider 440, so that the second servo motor can drive the robot arm 200 along the second slide rail 430.

[0188] In some embodiments, the second slide rail 430 and the second slider 440 can be made of metal materials such as steel and aluminum, or non-metallic materials with high strength such as carbon fiber and rigid plastic. This allows the second slide rail 430 and the second slider 440 to have high strength and good force-bearing performance, making the movement of the robot 200 more stable and the feeding stability better, which is beneficial to improving the manufacturing quality of the battery.

[0189] In some embodiments, the sheet feeding device 10 further includes a second sensor for sensing whether the robot arm 200 has reached a first preset position in the second direction Y.

[0190] By setting a second sensor, the second sensor is used to sense whether the robot arm 200 has reached the first preset position in the second direction Y. The second sensor has high sensing accuracy, which enables the robot arm 200 to reach the first preset position with high accuracy. This is beneficial to further improve the feeding accuracy and feeding stability of the sheet feeding device 10, thereby improving the quality of battery preparation.

[0191] In some embodiments, the first sensor 220 may be a laser sensor.

[0192] In other embodiments, the first sensor 220 may also be an ultrasonic sensor or an infrared sensor, etc.

[0193] In some embodiments, the second sensor may be a laser sensor, an ultrasonic sensor, or an infrared sensor, etc.

[0194] In some embodiments, the first direction X is the direction of gravity.

[0195] Since multiple sheets 20 to be loaded are stacked along the direction of gravity, by driving the robot arm 200 along the direction of gravity with the first servo motor 300, the suction cup 210 of the robot arm 200 can be adsorbed onto the sheets 20 to be loaded along the direction of gravity. After the robot arm 200 adsorbs the top sheet 20, the other sheets 20 can remain stationary under the action of gravity, which facilitates the loading of the sheets 20.

[0196] In some embodiments, the robotic arm 200 further includes a bracket 240 and a support plate 250. The bracket 240 is connected to the first slider 420, the support plate 250 is disposed at one end of the bracket 240 near the support platform 100, the pipe 230 is disposed through the support plate 250, the suction cup 210 is disposed at one end of the pipe 230 near the support platform 100, and the first sensor 220 is disposed on the bracket 250.

[0197] By allowing the pipe 230 to pass through the support plate 250, it is easy to connect the pipe 230 to the negative pressure source. By placing the suction cup 210 at the end of the pipe 230 near the support platform 100, it is easy for the suction cup 210 to pick up the sheet 20 to be loaded.

[0198] In some embodiments, the bracket 240 and the support plate 250 can be fixedly connected by welding, threaded connection, riveting or bonding, so that the relative position of the bracket 240 and the support plate 250 is more stable, thereby making the position of the suction cup 210 more stable during the movement of the robot arm 200, which is beneficial to improving the quality of feeding.

[0199] In some embodiments, the support plate 250 and the pipe 230 can be fixedly connected by welding, threaded connection, riveting or bonding, so that the relative position of the support plate 250 and the pipe 230 is more stable, thereby making the position of the suction cup 210 more stable during the movement of the robot arm 200, which is conducive to improving the quality of feeding.

[0200] In some embodiments, the first sensor 220 does not overlap with the support plate 250 along the first direction X.

[0201] By ensuring that the first sensor 220 does not overlap with the support plate 250 along the first direction X, the possibility of the support plate 250 blocking the light or signal emitted by the first sensor 220 can be reduced, thereby making the sensing effect of the first sensor 220 more accurate and improving the feeding accuracy.

[0202] In some embodiments, the support plate 250 is provided with a plurality of suction cups 210 and a plurality of pipes 230, and the plurality of suction cups 210 and the plurality of pipes 230 are connected in a one-to-one correspondence.

[0203] By equipping the support plate 250 with multiple suction cups 210 and multiple pipes 230, with each suction cup 210 and pipe 230 connected in a one-to-one correspondence, the robotic arm 200 can more firmly adhere to the sheet 20 to be fed, resulting in better feeding stability and improving the quality of battery manufacturing.

[0204] In some embodiments, the plurality of suction cups 210 are arranged in an array.

[0205] By arranging multiple suction cups 210 in an array, the suction force of the robotic arm 200 on the sheet 20 to be fed can be more evenly distributed, reducing the possibility of deformation or damage to the sheet 20 due to uneven force, which is beneficial to improving the manufacturing quality of the battery.

[0206] In some embodiments, the bracket 240 is provided with two support plates 250 spaced apart along the second direction Y, and each support plate 250 is provided with a plurality of suction cups 210 arranged in an array. The first sensor 220 is disposed between the two support plates 250 along the second direction Y.

[0207] Please refer to Figure 2 and Figure 3 This application provides a sheet feeding device 10, which includes a support platform 100, a robot arm 200, a first slide rail 410, a first slider 420, a first servo motor 300, a second slide rail 430, a second slider 440, and a second servo motor. The support platform 100 is used to support the sheet 20 to be fed. The second slider 440 is movably disposed on the second slide rail 430, and the second servo motor is used to drive the second slider 440 to move relative to the second slide rail 430 along the second direction Y. The first slide rail 410 is connected to the second slider 440, the first slider 420 is movably disposed on the first slide rail 410, the robot arm 200 is connected to the first slider 420, and the first servo motor 300 is used to drive the first slider 420 to move relative to the first slide rail 410 along the first direction X. The robotic arm 200 is equipped with a suction cup 210 and a first sensor 220. A first servo motor 300, in response to the robotic arm 200 reaching a first preset position, enters speed mode and drives the robotic arm 200 to approach the sheet material 20 to be loaded. In response to the first sensor 220 sensing the sheet material 20 to be loaded, it switches to position mode and drives the robotic arm 200 to move to a second preset position. In response to the robotic arm 200 reaching the second preset position, it picks up the sheet material 20 to be loaded. A second servo motor, in response to a material-picking signal, drives the robotic arm 200 to move to the first preset position. The driving direction of the first servo motor 300 is perpendicular to the driving direction of the second servo motor.

[0208] In some embodiments, the sheet feeding device 10 further includes a controller, which is communicatively connected to the first servo motor 300 and the second servo motor, and is used to control the operation of the first servo motor 300 and the second servo motor.

[0209] In some embodiments, the sheet feeding device 10 further includes a negative pressure source, and the robot arm 200 is provided with a pipe 230, the two ends of which are respectively connected to the negative pressure source and the suction cup 210. A pressure detector is provided inside the pipe 230 or the suction cup 210, and the pressure detector is used to detect the pressure value inside the pipe 230 or the suction cup 210.

[0210] In some embodiments, the sheet feeding device 10 further includes a second sensor for sensing whether the robot arm 200 has reached a first preset position in the second direction Y.

[0211] In some embodiments, the robotic arm 200 further includes a bracket 240 and a support plate 250. The bracket 240 is connected to the first slider 420, the support plate 250 is disposed at one end of the bracket 240 near the support platform 100, the pipe 230 is disposed through the support plate 250, the suction cup 210 is disposed at one end of the pipe 230 near the support platform 100, and the first sensor 220 is disposed on the bracket 250.

[0212] In some embodiments, a plurality of suction cups 210 arranged in an array are provided on the support plate 250.

[0213] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0214] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for feeding sheet material, characterized in that, include: In response to the robotic arm reaching the first preset position, the first servo motor is controlled to enter speed mode, driving the robotic arm to approach the sheet to be loaded; In response to the first sensor mounted on the robotic arm sensing the sheet to be loaded, the first servo motor is controlled to switch to position mode, driving the robotic arm to move to a second preset position; In response to the robotic arm reaching the second preset position, the robotic arm is controlled to pick up the sheet to be loaded.

2. The method according to claim 1, characterized in that, In the speed mode, the first servo motor drives the robotic arm to approach the sheet to be loaded at a constant speed.

3. The method according to claim 1, characterized in that, "In response to a first sensor mounted on the robotic arm sensing the sheet to be loaded" includes: This causes the first sensor on the robotic arm to send a laser beam toward the sheet. When the light transmittance of the laser reaches the first threshold, the first sensor on the robotic arm senses the sheet material to be loaded.

4. The method according to claim 1, characterized in that, The phrase "controlling the first servo motor to switch to position mode and driving the robotic arm to move to the second preset position" includes: The first servo motor is controlled to drive the robotic arm to move a fixed distance toward the sheet to be loaded, and then the robotic arm is stopped.

5. The method according to claim 4, characterized in that, The "response to the robotic arm reaching the second preset position" includes: When the robotic arm moves a distance equal to the fixed distance toward the sheet to be loaded, the robotic arm reaches the second preset position.

6. The method according to claim 1, characterized in that, The "response to the robotic arm reaching the first preset position" includes: The second sensor detects that the robotic arm has reached the first preset position.

7. The method according to claim 1, characterized in that, The process of "responding to the robot arm reaching the first preset position" also includes: In response to the material picking signal, the second servo motor is controlled to drive the robot arm to move to a first preset position; the driving direction of the first servo motor is perpendicular to the driving direction of the second servo motor.

8. The method according to claim 1, characterized in that, "Controlling the robotic arm to pick up the sheet material to be loaded" includes: The suction cup of the robotic arm provides negative pressure to the robotic arm, causing the sheet material to be loaded to adhere to the suction cup.

9. The method according to claim 8, characterized in that, Following "controlling the robotic arm to pick up the sheet to be loaded", the following is also included: In response to the sheet to be loaded being attracted into place, the first servo motor drives the robotic arm away from the support platform carrying the sheet to be loaded.

10. The method according to claim 9, characterized in that, The phrase "responding to the sheet to be fed being adsorbed into place" includes: When the pressure value of the suction cup reaches the first pressure threshold, the sheet to be loaded is adsorbed into place.

11. A sheet feeding device, characterized in that, include: A support platform is used to support the sheet material to be loaded. A robotic arm is equipped with a suction cup and a first sensor. The suction cup is used to adsorb the sheet material to be loaded, and the first sensor is used to sense the sheet material to be loaded. A first servo motor is used to drive the robotic arm along a first direction.

12. The sheet feeding device according to claim 11, characterized in that, The sheet feeding device also includes a negative pressure source, and the robotic arm is equipped with a pipe, the two ends of which are connected to the negative pressure source and the suction cup, respectively. The sheet feeding device also includes a pressure detector, which is installed inside the pipe or the suction cup to detect the pressure value inside the pipe or the suction cup.

13. The sheet feeding device according to claim 11, characterized in that, The sheet feeding device further includes a second servo motor, which drives the robotic arm along a second direction perpendicular to the first direction.

14. The sheet feeding device according to claim 13, characterized in that, The sheet feeding device also includes a second sensor, which is used to sense whether the robot arm has reached a first preset position in the second direction.

15. The sheet feeding device according to claim 11, characterized in that, The first sensor is a laser sensor.

16. The sheet feeding device according to claim 11, characterized in that, The first direction is the direction of gravity.

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