Battery piece printing method

Abstract

The invention provides a battery piece printing method which comprises the following steps that a printing carrying table located in a feeding area is switched to a first track of a transmission module, and battery pieces are fed; the printing platform deck is conveyed to a positioning and deviation rectifying area along the first track, and positioning and deviation rectifying are conducted on the battery pieces on the printing platform deck through a positioning and deviation rectifying module located in the positioning and deviation rectifying area; the printing platform deck is conveyed to a printing area along the first track, and the battery pieces on the printing platform deck are printed through a printing module located in the printing area; the printing platform deck is conveyed to a discharging area along the first track, and the printing platform deck discharges the battery pieces from the discharging area; and the printing platform deck is switched to a second track of the conveying module, and the printing platform deck is conveyed to the feeding area from the discharging area along the second track. According to the invention, a high-precision positioning and deviation rectifying system which combines circulating transportation with parallel operation is adopted, so that the inherent defect that a printing platform deck in traditional printing equipment needs to return along an original path without load and the problem that a plurality of battery pieces cannot be printed at the same time are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery piece printing, and particularly relates to a battery piece printing method. BACKGROUND

[0002] The transmission module is a commonly used component in the battery piece printing equipment, and the transmission efficiency and utilization rate of the transmission module greatly restrict the working efficiency of the printing equipment and are one of key factors determining the production capacity.

[0003] The traditional transmission scheme, such as a straight line type conveyor belt or a one-way rail system, has an inherent defect: after the printing platform sends the battery piece from the feeding position to the discharging position, the printing platform needs to return to the feeding position along the original path in an empty state to perform the next conveying. The empty running causes a great waste of time, energy and transportation capacity, and reduces the overall efficiency.

[0004] In addition, in the existing printing scheme, the position of the battery piece is calibrated by a camera to obtain the position coordinates of the battery piece, and the screen position is adjusted according to the position coordinates to print the battery piece, but one adjustment of the screen can only print one battery piece, and the efficiency is low.

[0005] Therefore, it is necessary to provide a battery piece printing method to solve the above technical problems. SUMMARY

[0006] In order to achieve the above purpose, the present application provides a battery piece printing method, which comprises the following steps: switching the printing platform located in the feeding area to the first track of the transmission module, and feeding the battery piece; transmitting the printing platform along the first track to the positioning and deviation correction area, and positioning and deviation correcting the battery piece on the printing platform by the positioning and deviation correction module located in the positioning and deviation correction area; transmitting the printing platform along the first track to the printing area, and printing the battery piece on the printing platform by the printing module located in the printing area; transmitting the printing platform along the first track to the discharging area, and discharging the battery piece from the discharging area by the printing platform; switching the printing platform to the second track of the transmission module, and transmitting the printing platform from the discharging area to the feeding area along the second track; Wherein, the first track and the second track are parallel and the transmission directions are opposite.

[0007] As a further improvement of the present application, the "switching the printing platform located in the feeding area to the first track of the transmission module" specifically comprises: judging whether the printing platform is on the docking track in the feeding area; If yes, it is judged whether the docking track with the printing platform is docked with the first track; if yes, the battery piece is fed; if no, the first driving assembly is driven to dock the docking track with the first track; If no, it is waited for the printing platform to be transmitted to the feeding area.

[0008] As a further improvement of the present application, the "fed battery piece" specifically includes: The driving assembly located in the feeding area is moved so that the driving assembly is docked with the transmission assembly on the printing platform; The driving assembly is started to drive the transmission assembly to rotate, and the table paper is moved with the fed battery piece through the transmission assembly; The printing platform is triggered to be vacuum-sucked to fix the battery piece; The driving assembly is moved so that the driving assembly is separated from the transmission assembly; The "fed battery piece" specifically includes: The driving assembly located in the feeding area is moved so that the driving assembly is docked with the transmission assembly on the printing platform; The printing platform is broken to be vacuum-sucked, the driving assembly is started to drive the transmission assembly to rotate, and the table paper is moved with the fed battery piece through the transmission assembly; The driving assembly is moved so that the driving assembly is separated from the transmission assembly.

[0009] As a further improvement of the present application, N1 battery pieces are placed on the printing platform, M1 positioning and correcting workstations are arranged along the transmission direction of the transmission module, each of the positioning and correcting workstations is provided with the positioning and correcting module, the printing platform sequentially passes through the M1 positioning and correcting workstations and completes the positioning and correction of all the battery pieces; wherein M1≤N1.

[0010] As a further improvement of the present application, the positioning and correcting module includes a plurality of positioning and correcting working groups, and the total number of the positioning and correcting working groups in all the positioning and correcting workstations is greater than or equal to the number of the battery pieces on the printing platform; Each of the positioning and correcting modules positions and corrects part of the battery pieces to be printed on the printing platform, different positioning and correcting modules position and correct different battery pieces to be printed on the same printing platform, and all the positioning and correcting modules cooperatively complete the positioning and correction of all the battery pieces to be printed on the printing platform.

[0011] As a further improvement of the present application, the positioning of the battery piece by the positioning and correcting module includes: The printing platform is transmitted to the lower side of the positioning mechanism; Moving two imaging units arranged side by side to the first side of the battery sheet, and collecting image data of the battery sheet by the two imaging units; Moving two imaging units arranged side by side to the second side of the battery sheet, and collecting image data of the battery sheet by the two imaging units, the second side and the first side being oppositely arranged; Determining current coordinate data (X1, Y1, T1) of the battery sheet according to the image data collected by the imaging unit; Obtaining displacement deviation data of the battery sheet according to the screen printing coordinate (X0, Y0, T0) of the printing module: ΔX = X1-X0; ΔY = Y1-Y0; ΔT = T1-T0.

[0012] As a further improvement of the present application, the deviation correction of the battery sheet by the positioning and deviation correction module comprises: Transferring the printing platform to below the deviation correction mechanism; Lowering the suction disc assembly to the material taking position by the adjusting assembly, sucking the battery sheet on the printing platform by the suction disc assembly, and breaking the vacuum of the printing platform; Rising the suction disc assembly to the deviation correction position by the adjusting assembly, and adjusting the position of the battery sheet according to the displacement deviation data; Lowering the suction disc assembly to the material taking position by the adjusting assembly, triggering the vacuum suction of the printing platform, breaking the vacuum of the suction disc assembly, and placing the battery sheet on the printing platform according to the preset position; Rising the suction disc assembly to the deviation correction position by the adjusting assembly.

[0013] As a further improvement of the present application, the adjusting assembly adjusts the X, Y, T three-axis deviation correction of the battery sheet according to the displacement deviation data; Or, the adjusting assembly adjusts the Y, T two-axis deviation correction of the battery sheet according to the displacement deviation data, and adjusts the X-axis deviation correction of the battery sheet by moving the printing platform.

[0014] As a further improvement of the present application, the printing of the battery sheet by the printing module comprises: Lowering the printing head to the printing position by the lifting assembly; Translating the scraper from the printing starting position to the printing ending position to complete the printing of all the battery sheets on the printing platform; Rising the printing head to the preparation position by the lifting assembly.

[0015] As a further improvement of the present application, the switching of the printing platform to the second track of the transmission module specifically comprises: driving the docking track with the printing platform to be opposite to the second track by the first driving assembly.

[0016] The application has the beneficial effects that: the application adopts the circulating transportation combined with the parallel high-precision positioning and deviation rectifying system, solves the inherent defect that the printing carrier table in the traditional printing equipment must return to the original route in an empty state, makes the printing carrier table always in a carrying state or a preparation carrying state, the throughput capacity of the system can be flexibly configured by increasing or decreasing the number of the printing carrier tables and the positioning and deviation rectifying modules in the circulating loop, so as to adapt to different production batches and beat requirements, and ensure that the printing precision is still very high under the high-speed production beat; the positioning and deviation rectifying module is used for positioning and adjusting the deviation of the battery piece on the printing carrier table, so that the pose of the battery piece corresponds to the printing position on the printing module, the simultaneous printing of multiple battery pieces can be realized, and the printing efficiency is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are included to provide a further understanding of the application and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings: Figure 1 It is a schematic view of the printing equipment from one perspective of the application; Figure 2 It is a schematic view of the printing equipment from another perspective of the application; Figure 3 It is a schematic view of the printing equipment from another perspective of the application; Figure 4 The structure schematic view of the transmission module in the embodiment of the application is shown; Figure 5 is Figure 4 a schematic view from another angle; Figure 6 is Figure 4 a schematic view from another angle; Figure 7 is Figure 4 a schematic view from another angle; Figure 8 The structure schematic view of the transmission module in another embodiment of the application is shown; Figure 9 is Figure 8 a schematic view from another angle; Figure 10 is Figure 8 a schematic view from another angle; Figure 11 The structure schematic view of the transmission module in another embodiment of the application is shown; Figure 12 is Figure 11 a schematic view from another angle; Figure 13 is Figure 11 a schematic view from another angle; Figure 14 is Figure 11 a structural diagram of a fixed base station in the embodiment; Figure 15 is Figure 14 a diagram from another angle; Figure 16 is Figure 14 a diagram of the cooperation between the movable base station and the auxiliary track in the embodiment; Figure 17 is Figure 16 a diagram from another angle; Figure 18 a diagram of a positioning mechanism of the embodiment from one perspective; Figure 19 a diagram of a positioning mechanism of the embodiment from another perspective; Figure 20 a diagram of a positioning mechanism of the embodiment from another perspective; Figure 21 an exploded view of a positioning mechanism of the embodiment; Figure 22 a diagram of an image acquisition assembly of the embodiment; Figure 23 a diagram of an image acquisition assembly of the embodiment after removing the protective plate; Figure 24 a diagram of a first mounting plate with an imaging unit of the embodiment; Figure 25 a diagram of a second mounting plate with an imaging unit of the embodiment; Figure 26 a diagram of a deviation rectifying mechanism of the embodiment from one perspective; Figure 27 a diagram of a deviation rectifying mechanism of the embodiment from another perspective; Figure 28 a diagram of a deviation rectifying mechanism of the embodiment from another perspective; Figure 29 an exploded view of a deviation rectifying mechanism of the embodiment; Figure 30 a connection diagram of a lifting driving device-rotary driving device-suction disc assembly; Figure 31 a connection diagram of a lifting driving device-rotary driving device-suction disc assembly; Figure 32 an exploded diagram of Figure 31 ; Figure 33 a connection diagram of a printing platform-driving assembly of the embodiment; Figure 34 a diagram of the cooperation between a printing platform-driving assembly of the embodiment through a gear; Figure 35 an exploded diagram of Figure 34Schematic view from another perspective Figure 36 Schematic view of the printing platform Figure 34 Schematic view of the connection between the driving assembly and the pushing assembly Figure 37 Schematic view of the printing platform Figure 34 Schematic view of the printing platform Figure 38 Schematic view of the printing platform and the driving assembly cooperating through the gear disc Figure 39 Schematic view from another perspective Figure 38 Schematic view from another perspective Figure 40 Schematic view of the printing platform Figure 38 Schematic view of the connection between the driving assembly and the pushing assembly Figure 41 Schematic view of the printing platform Figure 38 Schematic view of an embodiment of the printing platform Figure 42 Schematic view of another embodiment of the printing platform Figure 38 Schematic view of another embodiment of the printing platform Figure 43 Flow chart of the battery piece printing method Figure 44 Flow chart of the battery piece feeding process Figure 45 Flow chart of the battery piece positioning and deviation rectification process Figure 46 Flow chart of the battery piece positioning process Figure 47 Flow chart of the battery piece deviation rectification process DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present application clearer, the following will be a clear and complete description of the technical solutions of the present application by combining the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] The embodiments of the present application will be described in detail below, and the examples of the embodiments are shown in the drawings, in which the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0020] In the description of the present application, it needs to be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0021] In the description of the present application, unless otherwise specified and limited, it needs to be explained that the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be mechanical connection or electrical connection, it can be the communication between the two elements inside, it can be direct connection, or indirect connection through intermediate medium, and the specific meaning of the above terms can be understood by the person skilled in the art according to the specific circumstances.

[0022] As Figures 1 to 42 shown, the printing equipment provided by the present application comprises a conveying module 10, a plurality of printing carriers 20, a positioning and deviation correction module 30, a printing module 40 and a base 70. The printing equipment can print single-piece battery pieces, or can print half-piece battery pieces; of course, it can also print multiple single-piece battery pieces or multiple half-piece battery pieces at the same time.

[0023] The conveying module 10, the positioning and deviation correction module 30 and the printing module 40 are all mounted on the base 70, the conveying module 10 is used for conveying the printing carriers 20; the printing carriers 20 are used for carrying battery pieces, and multiple battery pieces can be placed on the printing carriers 20 at the same time. The positioning and deviation correction module 30 and the printing module 40 are arranged at intervals along the conveying direction of the conveying module 10, and the positioning and deviation correction module 30 is located upstream of the printing module 40. The positioning and deviation correction module 30 is used for positioning and adjusting the battery pieces on the printing carriers 20, so that the positions of the battery pieces on the printing carriers 20 match the printing positions on the printing module 40. The printing module 40 simultaneously prints all the battery pieces on the printing carriers 20.

[0024] In the transmission direction of the transmission module 10, the transmission module 10 is sequentially provided with a feeding area, a positioning and deviation correction area, a printing area and a discharging area. The feeding area is provided with a feeding device (not shown in the figure), the positioning and deviation correction module 30 is located in the positioning and deviation correction area, the printing module 40 is located in the printing area, and the discharging area is provided with a discharging device (not shown in the figure). The printing platform 20 is transmitted to the feeding area, and the battery piece to be printed is placed on the printing platform 20 through the feeding device. The printing platform 20 is transmitted to the positioning and deviation correction area, the image information of the battery piece is collected through the positioning and deviation correction module 30 to obtain the accurate position coordinate information of the battery piece, and the battery piece is adjusted and corrected according to the collected position coordinate information, so that the position of the corrected battery piece matches the printing position on the printing module 40. The printing platform 20 is transmitted to the printing area, and the battery piece on the printing platform 20 is printed through the printing module 40. After printing is completed, the printing platform 20 is transmitted to the discharging area, and the printed battery piece on the printing platform 20 is discharged through the discharging device.

[0025] Compared with the prior art which adjusts the position and attitude of the printing module 40 to print the battery piece on the printing platform 20, the present application positions and adjusts the deviation of the battery piece on the printing platform 20 through the positioning and deviation correction module 30, so that the placement position and attitude of the battery piece correspond to the printing position on the printing module 40, thereby eliminating the need to adjust the position and attitude of the printing module 40. In this way, simultaneous printing of multiple battery pieces can be achieved, greatly improving the printing efficiency.

[0026] In this paper, for the convenience of description, the arrangement direction of the deviation correction module 30 and the printing module 40 is defined as the first direction, and the transmission module 10 transmits the printing platform 20 along the first direction.

[0027] In order to realize the circulation transmission of the printing platform 20 and improve the printing efficiency of the printing device, the transmission module 10 comprises a first track 11, a second track 12 parallel to the first track 11 and opposite in the transmission direction, at least one butt joint track 13 located on the same side of the first track 11 and the second track 12 in the transmission direction, and a first driving assembly 14 driving the butt joint track 13 to move. The first driving assembly 14 drives the butt joint track 13 to selectively butt joint with the first track 11 or the second track 12. Those skilled in the art can understand that the first track 11 and the second track 12 are arranged in parallel and opposite in the transmission direction, which constitutes the "main line" of the circulation transmission. The first track 11 and the second track 12 are provided with at least one butt joint track 13 on both sides in the transmission direction. The butt joint track 13 is like a "smart switch" or "switching bridge", which can selectively butt joint with the first track 11 or the second track 12, so that the printing platform 20 can smoothly move between the first track 11 and the second track 12, realizing the circulation transmission.

[0028] The first track 11, the butt joint track 13 and the second track 12 form a circulating track, that is, the first track 11, the butt joint track 13 at one end of the conveying direction, the second track 12, and the butt joint track 13 at the other end of the conveying direction together form a complete circulating track with one-way flow. A plurality of printing carriers 20 are distributed on the circulating track, and the printing carriers 20 run along the circulating track repeatedly to realize continuous conveying, maximize the conveying capacity per unit time, and are particularly suitable for high-frequency and uninterrupted material conveying scenarios. The printing carrier 20 conveys the battery piece to different workstations for corresponding processing. After the printing carrier 20 moves to the unloading workstation and the battery piece is removed by the unloading device, the printing carrier 20 moves to the loading workstation to receive the battery piece to be printed.

[0029] The present application solves the inherent defect that the printing carrier 20 must return empty in the traditional one-way conveying system by constructing a circulating track, so that the printing carrier 20 is always in a carrying state or a ready-to-carry state, solves the problems of empty waste, space occupation and insufficient flexibility in automatic logistics, and finally achieves an efficient, compact, flexible and intelligent modern conveying device.

[0030] The conveying module 10 further comprises a fixed base 15 and a pair of movable bases 16 located on both sides of the fixed base 15 in the conveying direction. The first track 11 and the second track 12 are located on different surfaces of the fixed base 15. The butt joint track 13 is arranged on the movable base 16, and the first driving assembly 14 drives the movable base 16 to move or rotate relative to the fixed base 15 to selectively butt joint with the first track 11 or the second track 12.

[0031] The fixed base 15 is located in the middle and integrates the first track 11 and the second track 12 in opposite directions. The first track 11 is used for forward conveying of the printing carrier 20, that is, the printing carrier 20 moves along the first track 11 from the loading end to the unloading end. The second track 12 is used for reverse conveying of the printing carrier 20, that is, the printing carrier 20 returns along the second track 12 from the unloading end to the loading end. Through the movement or rotation of the movable base 16, the butt joint track 13 is selectively butt joint with the first track 11 or the second track 12, so that the printing carrier 20 smoothly slides between the first track 11 and the second track 12.

[0032] In addition, the first track 11 and the second track 12 are located on different surfaces of the fixed base 15, realizing spatial separation and mutual non-interference. By arranging the return tracks on different planes, three-dimensional multiplexing is realized, and the function of the ring track is realized with the smallest floor area, which is particularly suitable for space-limited workshops and reduces the space cost of enterprises.

[0033] Specifically, the first track 11 and the second track 12 are located on the surface of the fixed base 15 parallel to the conveying direction, and the first track 11 and the second track 12 extend along the conveying direction.

[0034] In some embodiments, the fixed base 15 has a first surface S1 and a second surface S2. The first surface S1 and the second surface S2 are parallel to the conveying direction. The first surface S1 and the second surface S2 are arranged along a circumferential direction perpendicular to the conveying direction. The first track 11 and the second track 12 are respectively located on the first surface S1 and the second surface S2. The movable base 16 rotates around the central axis L of the fixed base 15 extending in the conveying direction, so that the docking track 13 can be docked with the first track 11 or the second track 12.

[0035] On the one hand, by arranging the first surface S1 on which the first track 11 is arranged and the second surface S2 on which the second track 12 is arranged along the circumferential direction, the volume of the fixed base 15 can be minimized. On the other hand, the rotational movement of the movable base 16 can complete the position switching of the docking track 13 in a very small space at the end of the fixed base 15. This layout is more compact than linear translation and other methods, greatly reducing the space occupation of the device in the conveying direction and the direction perpendicular to the conveying direction. Further, the design of the movable base 16 rotating around the central axis L of the fixed base 15 makes the operation stable and has little vibration, and helps to ensure the alignment accuracy of the docking track 13 when it is docked with the first track 11 or the second track 12, reducing the jamming or wear caused by structural shaking or misalignment.

[0036] The first surface S1 and the second surface S2 are arranged adjacent to each other or spaced apart along the circumferential direction. In actual design and production, the corresponding surfaces can be selected to arrange the first track 11 and the second track 12 according to the to-be-transported articles and their efficiency requirements.

[0037] The included angle between the first surface S1 and the second surface S2 determines the relative positions of the first track 11 and the second track 12, and the movement mode of the movable base 16 also changes accordingly.

[0038] Please refer to Figures 4 to 7 As shown in the drawings, in some embodiments, the included angle between the first surface S1 and the second surface S2 is less than 180°. The first track 11 and the second track 12 are closer in space, which can reduce the envelope size of the cross section (the cross section after being cut perpendicular to the conveying direction) of the fixed base 15, thereby making the structure of the entire conveying module 10 more compact. Moreover, the single rotation angle of the movable base 16 can be reduced, and the position switching of the docking track 13 can be completed without rotating half a circle (180°), significantly reducing the time and angle required for rotational movement, thereby improving the efficiency and response speed of track switching.

[0039] Single rotation angle refers to: after receiving the instruction of rotation, the control of the single rotation angle of the movable base 16 is the minimum necessary rotation angle.

[0040] In an embodiment, the movable base 16 is provided with a single docking track 13. The single docking track 13 greatly simplifies the structural complexity and manufacturing cost of the movable base 16 itself, and its control logic also becomes simpler.

[0041] Correspondingly, the movable base 16 rotates unidirectionally or bidirectionally relative to the fixed base 15, both of which can make the docking track 13 alternatively dock with the first track 11 and the second track 12.

[0042] Unidirectional rotation can be clockwise rotation or counterclockwise rotation. After the docking track 13 switches from docking with the first track 11 to docking with the second track 12, it continues to rotate in the same direction until the docking track 13 contacts the first track 11. Unidirectional rotation is simple and reliable, effectively avoiding system failures caused by path confusion or logic errors.

[0043] Bidirectional rotation includes clockwise rotation and counterclockwise rotation, and the order of the two can be interchanged. After the docking track 13 switches from docking with the first track 11 to docking with the second track 12, it reverses to rotate until the docking track 13 contacts the first track 11. Bidirectional rotation allows the system to choose the shortest path to return according to real-time needs, which can reduce the waiting time of the printing platform 20 in some scenarios and improve the system response speed. For example, when the included angle between the two surfaces is small, the rotation time of the movable base 16 can be reduced, improving efficiency.

[0044] In an embodiment, the included angle between the first surface S1 and the second surface S2 is α°, and the single rotation angle of the movable base 16 is 180°-α°. Through one rotation, the docking track 13 can switch from the state of contacting the first track 11 (or the second track 12) to the state of contacting the second track 12 (or the first track 11).

[0045] In another embodiment, the fixed base 15 has a regular N-polygon cross section perpendicular to the transmission direction, and the single rotation angle of the movable base 16 is 360° / N. The use of a regular N-polygon cross section design makes the regular polygon structure have symmetry and balanced force distribution, which makes the fixed base 15 more stable when bearing load and better dynamic balance during rotation, which helps the system run smoothly for a long time. It is easy to design and manufacture, which is conducive to the derivation of a series of standard models, reducing production cost and cycle.

[0046] Wherein, N is an integer in the range of 3-6. This range of values provides multiple optimization options for different spatial constraints and application scenarios, and takes into account the compactness and stability of the fixed base 15. The smaller the value of N, the more compact the structure; the larger the value of N, the higher the stability of the fixed base 15. For example, an equilateral triangle cross-section may provide the ultimate compactness; while a square, hexagon provides a better balance between compactness and structural stability.

[0047] In other embodiments, the fixed base 15 is a regular N-gon in cross-section perpendicular to the transport direction, N≥3, and each face of the movable base 16 has a pair of docking tracks 13, and the single rotation angle of the movable base 16 is 360° / N.

[0048] The plurality of docking tracks 13 match the first track 11 and the second track 12, and after any number of rotations, there are always docking tracks 13 that match the first track 11 and the second track 12, improving the compatibility rate; and even if some of the docking tracks 13 are abnormal, other docking tracks 13 can be used as substitutes without affecting the transport efficiency.

[0049] The plurality of docking tracks 13 on the movable base 16 ensures that at a single rotation angle, there is always one docking track 13 that matches the first track 11 and one docking track 13 that matches the second track 12, allowing for parallel operation of "one side loading and one side unloading", further breaking the bottleneck of system efficiency and providing a physical basis for uninterrupted continuous operation.

[0050] The single rotation angle of 360° / N establishes a "hard positioning" mechanism for fixed rotation angles, reducing the dependence on high-precision sensors and improving the reliability and repeatability of the docking. Moreover, short-stroke, fixed-angle rotation motion produces less inertial force and less impact and wear on the mechanical structure than large-range rotation or complex motion, helping to extend the service life of the first drive assembly 14 and the entire device.

[0051] In one embodiment, N=3, the number of docking tracks 13=3, and the single rotation angle is 120°.

[0052] In another embodiment, N=4, the number of docking tracks 13=4, and the single rotation angle is 90°.

[0053] In another embodiment, N=5, the number of docking tracks 13=5, and the single rotation angle is 72°.

[0054] In another embodiment, N=6, the number of docking tracks 13=6, and the single rotation angle is 60°.

[0055] Please refer to Figures 8 to 10As shown, in some other embodiments, the first surface S1 is arranged opposite to the second surface S2, i.e. the first surface S1 and the first track 11 coincide with the second surface S2 and the second track 12 after rotating 180° around the middle axis L of the transport direction. The two tracks are located on the two oppositely arranged surfaces, forming the most stable and symmetric structure in mechanics.

[0056] This layout makes the two tracks achieve the maximum degree of separation in space. This fundamentally eliminates any potential interference that may occur when the printing carrier 20 runs on the two tracks, ensuring the absolute reliability and safety of the circulation loop operation. The loads and forces from the two tracks can be balanced and transmitted internally through the shortest and most direct path, greatly enhancing the overall structural rigidity and stability of the fixed base 15, thereby providing a solid foundation for high-load and high-precision transportation. The two oppositely arranged surfaces provide a clear and symmetric reference position for the rotational movement of the movable base 16. This makes it easier and more accurate for the movable base 16 to find and locate the docking position, reducing the complexity of the control system and improving the repeatability of the docking positioning accuracy.

[0057] In one embodiment, the movable base 16 is provided with one docking track 13, and the movable base 16 rotates unidirectionally or bidirectionally. The single rotation angle of the movable base 16 is 180°, so that the docking track 13 is alternatively docked with the first track 11 and the second track 12. By using only one docking track 13 and rotating 180° to serve the two oppositely arranged tracks, the "two-choice" switching function required by the circulation loop is achieved with the simplest mechanical structure, combining low cost and high reliability.

[0058] In one embodiment, the movable base 16 has two oppositely arranged docking tracks 13, and the single rotation angle of the movable base 16 is 180°. At any time, one docking track 13 is docked with the first track 11, and the other docking track 13 is docked with the second track 12. When the movable base 16 rotates 180°, the roles of the two docking tracks 13 are instantaneously exchanged. This achieves true "seamless switching", and the outgoing and returning processes of the printing carrier 20 can be continuously performed with almost no waiting time, maximizing the transportation efficiency. Moreover, the two completely symmetric docking tracks 13 make the mass distribution and moment of inertia of the movable base 16 also symmetric. When rotating 180°, the dynamic balance performance is excellent, and the operation is very stable with minimal vibration and noise. This not only enhances the high-end feel of the equipment, but also further reduces the impact on the driving components, improving the mechanical life.

[0059] In an embodiment, the fixed base 15 is a regular N-gon in cross section perpendicular to the transport direction, N is an even number greater than 4, and each face of the movable base 16 has a pair of docking tracks 13, and the single rotation angle of the movable base 16 is 360° / N or 180°.

[0060] The symmetrical structure brings stable rotation, and all the docking tracks 13 appear in pairs, and rotation by 360° / N or 180° can ensure that there is always a docking track 13 docking with the first track 11 and the second track 12.

[0061] Please refer to Figures 11 to 17 In other embodiments, the first track 11 and the second track 12 are arranged along a third direction intersecting the transport direction. The transport module 10 further includes an auxiliary track 17 extending along the third direction, and the first driving assembly 14 drives the movable base 16 to move along the auxiliary track 17.

[0062] The movable base 16 adopts a one-dimensional movement mode of linear movement to realize the docking of the docking track 13 with the first track 11 and the second track 12, which is simple to control and has high reliability and stability in the face of large loads and high precision requirements in industrial scenarios.

[0063] In an embodiment, the third direction is perpendicular to the transport direction, so that the arrangement of the entire transport module 10 is simple, and the component design is simple. The one-dimensional movement of the movable base 16 along the slide rail can make the docking track 13 selectively dock with the first track 11 and the second track 12; and the repeatability and reliability of the docking are improved.

[0064] In an embodiment, the fixed base 15 has a first base 18 and a second base 19 arranged at intervals along the third direction, and the first track 11 and the second track 12 are located on the same side of the first base 18 and the second base 19 along the third direction. The fixed base 15 is deconstructed from a single whole into two independent first base 18 and second base 19 arranged at intervals, so that the two bases can be independently manufactured, debugged and installed, reducing the production and assembly difficulty, and allowing independent maintenance of a single base without affecting the other.

[0065] The distance between the first base 18 and the second base 19 is greater than the size of the printing platform 20 in the third direction. The distance reserved between the first base 18 and the second base 19 naturally forms an open and barrier-free passage, eliminating the possibility of any collision or interference between the printing platform 20 and the other base on the return path, ensuring the absolute smoothness and safety of the circulation transport.

[0066] The plurality of printing platforms 20 are arranged on the transmission assembly 10 and reciprocally transmit between the feeding area, the positioning and deviation correcting area, the printing area and the discharging area to maximize the printing efficiency of the printing device. The plurality of printing platforms 20 can be independently controlled to transmit.

[0067] Specifically, the transmission module 10 adopts a linear motor, the transmission module 10 is provided with a stator, and the printing platform 20 is provided with a mover. The mover is driven to move by electromagnetic drive, and the linear motor has stable driving and high moving precision. In order to realize independent control of the plurality of printing platforms 20 to transmit, a driving force is generated by applying a current to the mover on each printing platform 20; or the stator is designed as multiple independent sections, such as four sections corresponding to the feeding area, the positioning and deviation correcting area, the printing area and the discharging area. Each section is separately energized to drive the printing platform 20 located in the section to move.

[0068] The printing platform 20 is provided with a plurality of placement areas, and each placement area places a battery piece. The positioning and deviation correcting assembly 30 positions and corrects the battery piece on the printing platform 20, so that the printing assembly 40 can print all the battery pieces on the printing platform 20 at the same time. The placement areas are arranged along the second direction, i.e. the battery pieces on the printing platform 20 are arranged along the second direction, and the second direction is perpendicular to the first direction, so as to facilitate the positioning and deviation correcting assembly 30 to position and correct the battery pieces on the printing platform 20.

[0069] The printing device further comprises a second driving assembly 50 located at both ends of the transmission assembly 10 along the transmission direction thereof, i.e. the second driving assembly 50 is arranged at the corresponding position of the feeding area and the discharging area. The second driving assembly 50 is installed on the base 70, and the second driving assembly 50 is used in cooperation with the printing platform 20 to transfer the battery pieces to be printed on the feeding device to the printing platform 20, and to transfer the printed battery pieces from the printing platform 20 to the discharging device.

[0070] When the printing platform 20 is transmitted to the feeding area, the second driving assembly 50 located at the feeding area cooperates with the printing platform 20 to transfer the battery pieces to be printed on the feeding device to the printing platform 20. When the printing platform 20 is transmitted to the discharging area, the second driving assembly 50 located at the discharging area cooperates with the printing platform 20 to transfer the printed battery pieces on the printing platform 20 to the discharging device.

[0071] By arranging the second driving assembly 50 at both ends of the transmission assembly 10 along the transmission direction thereof, all the printing platforms 20 can share the second driving assembly 50 to realize feeding and discharging, without the need to separately arrange the second driving assembly 50 on each printing platform 20, thereby reducing the manufacturing cost of the printing platform 20, and at the same time, the weight of the printing platform 20 can be reduced to reduce the transmission load of the transmission assembly 10.

[0072] It can be understood that, by reducing the weight of the printing platform 20, it is also convenient for the movable base 16 to drive the printing platform 20 to rotate, and the stability in the rotating process is improved; at the same time, the safety of the printing platform 20 in the transmission process along the second track 12 is also improved, and the overturning of the printing platform 20 is prevented.

[0073] The printing platform 20 comprises an adsorption platform 21, a table paper 22 arranged on the adsorption platform 21, and a transmission assembly 23 for driving the table paper 22 to move. The transmission assembly 23 has a first interface, and the second driving assembly 50 has a second interface. The second interface is used to cooperate with the first interface and transmit the driving force of the second driving assembly 50 to the transmission assembly 23.

[0074] When the printing platform 20 is transmitted to the feeding area, the second interface of the second driving assembly 50 located at the position of the feeding area is in connection with the first interface of the transmission assembly 23. The second driving assembly 50 is started, and the driving force of the second driving assembly 50 is transmitted to the transmission assembly 23. The table paper 22 is driven to move by the transmission assembly 23, so as to receive the battery piece to be printed from the feeding device (using a conveying belt) and transfer the battery piece to the adsorption platform 21.

[0075] When the printing platform 20 is transmitted to the discharging area, the second interface of the second driving assembly 50 located at the position of the discharging area is in connection with the first interface of the transmission assembly 23. The second driving assembly 50 is started, and the driving force of the second driving assembly 50 is transmitted to the transmission assembly 23. The table paper 22 is driven to move by the transmission assembly 23, so as to transfer the printed battery piece on the adsorption platform 21 to the discharging device (using a conveying belt).

[0076] The transmission assembly 23 comprises a first rotating shaft 23a and a second rotating shaft 23b. The first interface is arranged on the first rotating shaft 23a and / or the second rotating shaft 23b. The driving force of the second driving assembly 50 is transmitted to the first rotating shaft 23a and / or the second rotating shaft 23b through the cooperation of the first interface and the second interface, so as to drive the first rotating shaft 23a and the second rotating shaft 23b to rotate, and then drive the table paper 22 to move to realize feeding and discharging.

[0077] The first interface can be arranged on the first rotating shaft 23a and the second rotating shaft 23b at the same time. Correspondingly, the first rotating shaft 23a and the second rotating shaft 23b are driven to rotate by two second driving assemblies 50 respectively. Of course, the first interface can also be arranged only on the first rotating shaft 23a, and a transmission belt can be arranged between the first rotating shaft 23a and the second rotating shaft 23b. The first rotating shaft 23a is driven to rotate by the second driving assembly 50, and the second rotating shaft 23b is driven to rotate by the first rotating shaft 23a.

[0078] The arrangement of the table paper 22 includes but is not limited to the following modes: One end of the table paper 22 is wound and connected to the first rotating shaft 23a, and the other end of the table paper 22 is wound and connected to the second rotating shaft 23b. It can be understood that one of the first rotating shaft 23a and the second rotating shaft 23b is a winding shaft, and the other is an unwinding shaft, and the movement of the table paper 22 is realized by winding and unwinding the table paper 22.

[0079] Alternatively, the table paper 22 is in a ring shape, and the table paper 22 is arranged between the first rotating shaft 23a and the second rotating shaft 23b. The rotation of the first rotating shaft 23a and the second rotating shaft 23b drives the rotation of the table paper 22.

[0080] The second driving assembly 50 includes a driving motor 51, and the second connecting part is arranged on the output shaft of the driving motor 51. The driving motor 51 drives the rotation of the second connecting part, thereby driving the rotation of the first connecting part matched with the second connecting part, so as to transmit the driving force of the driving motor 51 to the transmission assembly 23.

[0081] The first rotating shaft 23a and the second rotating shaft 23b are arranged along the transmission direction of the transmission assembly 10, and the driving motor 51 is located on the side of the printing platform 20 along the axial direction of the first rotating shaft 23a. The printing device further includes a pushing assembly 60 for moving the driving motor 51 away from or close to the printing platform 20. It can be understood that the first connecting part and the second connecting part have a first state of relative connection and a second state of relative separation.

[0082] When the first connecting part and the second connecting part are in the first state, the second driving assembly 50 can transmit the driving force to the transmission assembly 23. When the first connecting part and the second connecting part are in the second state, the second driving assembly 50 and the transmission assembly 23 are separated, and at this time the printing platform 20 can continue to transmit without being blocked.

[0083] The pushing assembly 60 includes a fixed plate 61 fixed to the base 70, a movable plate 62 movably mounted on the fixed plate 61, a rack 63 arranged on the movable plate 62, a driving member 64 mounted on the fixed plate 61, and a fourth gear 65 arranged on the output end of the driving member 64. The fourth gear 65 is engaged with the rack 63, and the driving motor 51 is fixed to the movable plate 62.

[0084] The movable plate 62 can move towards or away from the printing platform 20 relative to the fixed plate 61, and the fixed plate 61 and the movable plate 62 can be connected by a sliding rail and a sliding block. The driving member 64 drives the rotation of the fourth gear 65, thereby driving the movement of the rack 63 engaged with the fourth gear 65, and further driving the movement of the movable plate 62. The movement of the movable plate 62 drives the movement of the driving motor 51 on it towards or away from the printing platform 20, so as to make the first connecting part and the second connecting part relative or separate.

[0085] When the printing platform 20 is transported to the loading area, the pushing assembly 60 moves the driving motor 51 towards the printing platform 20, so that the first and second interfaces are in contact, the driving motor 51 is started to realize the loading, and then the pushing assembly 60 moves the driving motor 51 away from the printing platform 20, so that the first and second interfaces are separated, and the printing platform 20 can continue to be transported without obstruction, and the rotation of the movable base 16 and the printing platform 20 thereon is provided with space.

[0086] When the printing platform 20 is transported to the loading area, the pushing assembly 60 moves the driving motor 51 towards the printing platform 20, so that the first and second interfaces are in contact, the driving motor 51 is started to realize the loading, and then the pushing assembly 60 moves the driving motor 51 away from the printing platform 20, so that the first and second interfaces are separated, and the printing platform 20 can continue to be transported without obstruction, and the rotation of the movable base 16 and the printing platform 20 thereon is provided with space.

[0087] In an embodiment, the first interface is a first gear 23c connected to the end of the first rotating shaft 23a and / or the second rotating shaft 23b, and the second interface is a second gear 52 engaged with the first gear 23c.

[0088] When the first gear 23c is in contact with the second gear 52, the first gear 23c is engaged with the second gear 52, so that the driving force of the second driving assembly 50 is transmitted to the transmission assembly 23, that is, the transmission assembly 23 is driven to rotate by the second driving assembly 50.

[0089] To realize the engagement of the first gear 23c and the second gear 52, the second gear 52 is movably arranged on the output shaft in the axial direction of the output shaft, the outer side of the output shaft is provided with a second elastic member 54, and the second elastic member 54 abuts against the second gear 52.

[0090] When the pushing assembly 60 moves the driving motor 51 towards the printing platform 20, the second gear 52 gradually approaches the first gear 23c, and the driving motor 51 synchronously drives the second gear 52 to slowly rotate, when the first gear 23c and the second gear 52 are in contact in a misaligned manner, the second gear 52 is resisted by the first gear 23c, the second gear 52 moves in the axial direction of the output shaft, and the second elastic member 54 is compressed under force. When the second gear 52 rotates to the opposite position of the first gear 23c, the resistance of the second gear 52 disappears, the second elastic member 54 restores and pushes the second gear 52 to move, and the first gear 23c and the second gear 52 are engaged.

[0091] It should be particularly pointed out that, to realize the rotation of the output shaft and the second gear 52 and the movement of the second gear 52 in the axial direction of the output shaft, the output shaft and the second gear 52 are matched through key grooves, or the output shaft is a non-circular shaft.

[0092] Of course, in other embodiments, the first gear 23c can be movably arranged on the first rotating shaft 23a along the axial direction of the first rotating shaft 23a, and a first elastic member 23e can be arranged outside the first rotating shaft 23a and abut against the first gear 23c, so that the first gear 23c and the second gear 52 can be engaged in alignment.

[0093] The transmission assembly 23 further comprises a damping gear 23f, and the first gear 23c is engaged with the damping gear 23f. By arranging the damping gear 23f, the rotation of the transmission assembly 23 during the transmission of the printing platform 20 is prevented, which can maintain the tension of the table paper 22 and prevent the table paper 22 from moving.

[0094] In another embodiment, the first abutting portion is a first toothed disc 23d connected to the end of the first rotating shaft 23a and / or the second rotating shaft 23b, and the second abutting portion is a second toothed disc 53 matched with the first toothed disc 23d.

[0095] When the first toothed disc 23d abuts against the second toothed disc 53, the first toothed disc 23d is engaged with the second toothed disc 53, so that the driving force of the second driving assembly 50 is transmitted to the transmission assembly 23, i.e., the transmission assembly 23 is driven to rotate by the second driving assembly 50.

[0096] To realize the alignment and engagement of the first toothed disc 23d and the second toothed disc 53, the first toothed disc 23d is movably arranged on the first rotating shaft 23a along the axial direction of the first rotating shaft 23a, and a first elastic member 23e is arranged outside the first rotating shaft 23a and abuts against the first toothed disc 23d.

[0097] When the pushing assembly 60 moves the driving motor 51 towards the printing platform 20, the second toothed disc 53 gradually approaches the first toothed disc 23d, and the driving motor 51 synchronously drives the second toothed disc 53 to slowly rotate. When the first toothed disc 23d and the second toothed disc 53 are misaligned and in contact, the second toothed disc 53 is subjected to the resistance of the first toothed disc 23d, and the first toothed disc 23d is pushed to move along the axial direction of the first rotating shaft 23a, and the first elastic member 23e is compressed under stress. When the second toothed disc 53 rotates to the alignment position of the first toothed disc 23d, the pressure of the first toothed disc 23d disappears, the first elastic member 23e restores and pushes the first toothed disc 23d to move, and the first toothed disc 23d is engaged with the second toothed disc 53.

[0098] It should be particularly noted that, to realize the rotation of the first rotating shaft 23a driven by the first toothed disc 23d and the movement of the first toothed disc 23d along the axial direction of the first rotating shaft 23a, the first rotating shaft 23a and the first toothed disc 23d are matched by key grooves, or the first rotating shaft 23a is a non-circular shaft.

[0099] Of course, in other embodiments, the second toothed disc 53 can also be movably arranged on the output shaft in the axial direction of the output shaft, and the second elastic member 54 is arranged outside the output shaft and abuts against the second toothed disc 53, and the alignment and meshing of the first toothed disc 23d and the second toothed disc 53 can also be achieved.

[0100] The transmission assembly 23 further comprises a third gear 23g arranged on the first rotating shaft 23a and / or the second rotating shaft 23b, and a damping gear 23f meshing with the third gear 23g. The first elastic member 23e is located between the third gear 23g and the first toothed disc 23d. By arranging the third gear 23g and the damping gear 23f, the rotation of the transmission assembly 23 during the transmission of the printing platform 20 is prevented, which can not only maintain the tension state of the table paper 22, but also prevent the table paper 22 from moving.

[0101] In some embodiments, the transmission assembly 23 further comprises a fifth gear 23h meshing with the third gear 23g, the third gear 23g is located between the fifth gear 23h and the damping gear 23f, the first toothed disc 23d is coaxially connected with the fifth gear 23h, and the first elastic member 23e is located between the fifth gear 23h and the first toothed disc 23d. In this way, the first toothed disc 23d, the fifth gear 23h and the first elastic member 23e are arranged independently of the first rotating shaft 23a.

[0102] The positioning and deviation correction area is provided with a plurality of positioning and deviation correction stations at intervals, and each positioning and deviation correction station is provided with a positioning and deviation correction module 30. The positioning and deviation correction module 30 comprises a plurality of positioning and deviation correction working groups, and the total number of the positioning and deviation correction working groups in all the positioning and deviation correction stations is greater than or equal to the number of the placement areas on the printing platform 20.

[0103] Each positioning and deviation correction module 30 positions and corrects a part of the battery pieces on the printing platform 20, different positioning and deviation correction modules 30 position and correct different battery pieces on the same printing platform 20, and all the positioning and deviation correction modules 30 cooperatively complete the positioning and correction of all the battery pieces on the printing platform 20.

[0104] By arranging a plurality of positioning and deviation correction stations, the printing platform 20 is transmitted through all the positioning and deviation correction stations in sequence, thereby completing the positioning and correction of all the battery pieces on the printing platform 20, which can avoid arranging too many positioning and deviation correction working groups in the same positioning and deviation correction station, resulting in that the positioning and deviation correction module 30 is too heavy and too large in size, and can avoid the mutual interference between the positioning and deviation correction working groups. Each positioning and deviation correction working group positions and corrects one battery piece, thereby improving the positioning and deviation correction efficiency, matching the printing rhythm of the printing module, and improving the printing efficiency of the printing equipment.

[0105] The number of the positioning and deviation correction stations is M1, the number of the positioning and deviation correction working groups of each positioning and deviation correction module 30 is M2, and the number of the placement areas is N2. M1*M2 is the total number of the battery pieces to be printed that can be simultaneously processed by all the positioning and deviation correction modules 30.

[0106] In an embodiment, M1≤N2≤M1*M2, which can ensure that all the battery pieces to be printed are positioned and deviation-corrected before reaching the printing station, and the printing can be realized without adjusting the pose of the printing module 40.

[0107] In another embodiment, N2 is an integer multiple of M2, and each positioning and deviation correction module 30 can process the battery pieces to be printed at full capacity without being idle. Of course, in special working conditions, when the number of the printing platforms 20 is small, one or several positioning and deviation correction modules 30 can be closed.

[0108] In a specific embodiment, the number of the battery pieces to be printed that can be simultaneously processed by each positioning and deviation correction module 30 is 1, and the number of the positioning and deviation correction modules 30 is 4. The number of the battery pieces to be printed loaded by the feeding device to the printing platform 20 is 4. Each positioning and deviation correction module 30 processes only one of the battery pieces to be printed, and the printing platform 20 passes through the four positioning and deviation correction modules 30 in turn, and the four positioning and deviation correction modules 30 process the four battery pieces to be printed respectively.

[0109] In another specific embodiment, the number of the battery pieces to be printed that can be simultaneously processed by each positioning and deviation correction module 30 is 2, the number of the positioning and deviation correction modules 30 is 2, and the number of the battery pieces to be printed loaded by the feeding device to the printing platform 20 is 4. Each positioning and deviation correction module 30 processes only two of the battery pieces to be printed, and the other positioning and deviation correction module 30 processes the other two battery pieces to be printed. After passing through the two positioning and deviation correction modules 30, all the battery pieces to be printed are processed.

[0110] In another specific embodiment, the number of the battery pieces to be printed that can be simultaneously processed by each positioning and deviation correction module 30 is 3, the number of the positioning and deviation correction modules 30 is 2, and the number of the battery pieces to be printed loaded by the feeding device to the printing platform 20 is 5. At this time, one of the positioning and deviation correction modules 30 processes only two of the battery pieces to be printed.

[0111] In another specific embodiment, the number of the battery pieces to be printed that can be simultaneously processed by each positioning and deviation correction module 30 is 4, the number of the positioning and deviation correction modules 30 is 2, and the number of the battery pieces to be printed loaded by the feeding device to the printing platform 20 is 4. At this time, one of the positioning and deviation correction modules 30 can process all the battery pieces to be printed, and the other positioning and deviation correction module 30 can be suspended. Alternatively, the two positioning and deviation correction modules 30 process all the battery pieces to be printed on the two printing platforms 20 respectively.

[0112] The positioning and deviation correction module 30 comprises a positioning mechanism 31 and a deviation correction mechanism 32 located downstream of the positioning mechanism 31. The positioning mechanism 31 is configured to take a photo of the battery piece in the placement area for positioning. The deviation correction mechanism 32 is configured to adjust the battery piece to a preset position according to the positioning result of the positioning mechanism 31. The preset position is the projection position of the printing position on the printing platform 20 in the height direction on the printing platform 20 after the printing platform 20 moves to the printing area.

[0113] The number of the positioning and deviation correction stations is M1, and the number of the printing platforms 20 is N1, and N1≥2*M1+4. The feeding area has one printing platform 20, the discharging area has one printing platform 20, the printing area has one printing platform 20, and each positioning and deviation correction station has two printing platforms 20. One of the two printing platforms 20 in each positioning and deviation correction station is located in the area of the positioning mechanism 31, and the other is located in the area of the deviation correction mechanism 32. In addition, there is another printing platform 20 in the state of being transferred from the discharging area to the feeding area. In this way, the printing efficiency of the printing equipment can be maximized, and the printing operation can be realized in a pipeline manner.

[0114] Specifically, the positioning mechanism 31 comprises a base plate 311, an image acquisition assembly 312 movably mounted on the base plate 311, and a driving assembly 313 fixedly mounted on the base plate 311. The positioning mechanism 31 is mounted on the base 70 through the base plate 311. The driving assembly 313 is configured to drive the image acquisition assembly 312 to move in the second direction to acquire the image information of the battery piece, so as to obtain the accurate position coordinate information of the battery piece. According to the position coordinate information of the battery piece, the position and attitude of the battery piece can be adjusted and corrected, so that the position of the battery piece matches the preset position.

[0115] The base plate 311 is provided with a first guide rail 311a, and the image acquisition assembly 312 is slidingly mounted on the first guide rail 311a. The movement of the image acquisition assembly 312 is guided by the first guide rail 311a, thereby improving the stability of the image acquisition assembly 312 during the movement driven by the driving assembly 313.

[0116] The base plate 311 is provided with two first guide rails 311a, and the driving assembly 313 is located between the two first guide rails 311a, thereby further improving the stability of the image acquisition assembly 312 during the movement driven by the driving assembly 313.

[0117] The image acquisition assembly 312 is slidingly mounted on the base plate 311 through the first guide rail 311a. The image acquisition assembly 312 comprises a rack 312a and a plurality of imaging groups 312b mounted on the rack 312a. The imaging group 312b comprises two imaging units 312b-1 arranged in the first direction. The driving assembly 313 is configured to drive the image acquisition assembly 312 to move in the second direction.

[0118] The driving assembly 313 drives the moving direction of the image acquisition assembly 312 to be the same as the arrangement direction of the battery sheet on the printing platform 20. When the image information of the battery sheet is acquired by the imaging group 312b, first, the imaging group 312b is moved to the first side of the battery sheet along the second direction by the driving assembly 313, and the image information of two calibration points on the first side of the battery sheet is acquired by the two imaging units 312b-1. Then, the imaging group 312b is moved to the second side of the battery sheet along the second direction by the driving assembly 313, and the image information of two calibration points on the second side of the battery sheet is acquired by the two imaging units 312b-1. Thus, the acquisition of the image information of four calibration points of the battery sheet is completed.

[0119] Compared with acquiring the image information of four calibration points of the battery sheet by four imaging units 312b-1 at the same time, the number of the imaging units 312b-1 can be reduced by half, thereby reducing the cost of the image acquisition assembly 312.

[0120] When the positioning mechanism 31 needs to acquire the image information of multiple battery sheets, after the image information of four calibration points of the first battery sheet is acquired by the imaging group 312b, the imaging group 312b continues to move along the second direction to acquire the image information of four calibration points of the second battery sheet, and so on, until the image information acquisition of all the battery sheets is completed. Of course, the number of the imaging group 312b can be increased to improve the efficiency of the image information acquisition of the battery sheet.

[0121] In a specific embodiment, at least two imaging groups 312b are installed on the rack 312a, and the two imaging groups 312b are arranged along the second direction. One imaging group 312b is used to acquire the image information of one battery sheet, thereby improving the efficiency of the positioning mechanism 31 in acquiring the image information of multiple battery sheets.

[0122] By arranging the imaging group 312b along the second direction, the arrangement direction of the imaging group 312b is consistent with the arrangement direction of the battery sheet on the printing platform 20, so that the image information of two battery sheets can be acquired by two imaging groups 312b at the same time. This arrangement mode can also make the structure of the image acquisition assembly 312 more compact, and enable the image acquisition assembly 312 to move stably along the second direction under the driving action of the driving assembly 313.

[0123] The rack 312a includes a top plate 312a-1, a side plate 312a-2 fixed to one side of the top plate 312a-1 facing the base plate 311, a first mounting plate 312a-3 slidingly installed on the top plate 312a-1, and the imaging unit 312b-1 installed on the first mounting plate 312a-3.

[0124] The frame 312a has a frame structure. The top plate 312a-1 is shaped like a grid, which facilitates the installation of the first mounting plate 312a-3 with imaging units 312b-1 and reduces the weight of the top plate 312a-1. The side plates 312a-2 are used to connect to the base plate 311 and the drive assembly 313. The imaging units 312b-1 are mounted on the first mounting plate 312a-3. By moving the first mounting plate 312a-3, the spacing between two adjacent imaging groups 312b or the spacing between two imaging units 312b-1 within the same imaging group 312b can be adjusted.

[0125] The top plate 312a-1 is provided with a sliding groove, and the first mounting plate 312a-3 is slidably installed in the sliding groove. Several screw holes are spaced apart along the extension direction of the sliding groove. The first mounting plate 312a-3 is provided with an elongated hole, the extension direction of which is the same as the extension direction of the sliding groove. The first mounting plate 312a-3 is fixed by fixing bolts, which pass through the elongated hole and are connected to the screw holes. The side of the sliding groove is provided with graduations for precise adjustment of the position of the first mounting plate 312a-3.

[0126] The following example uses a frame 312a with two imaging groups 312b, namely imaging group A and imaging group B.

[0127] In one embodiment, two first mounting plates 312a-3 are slidably mounted on the top plate 312a-1. The two first mounting plates 312a-3 are arranged along a first direction and slidably mounted on the top plate 312a-1 along the first direction. Two imaging units 312b-1 in the same imaging group 312b are respectively mounted on the two first mounting plates 312a-3.

[0128] Understandably, the first mounting plate 312a-3 extends along the second direction, and two imaging units 312b-1 are mounted on each of the two first mounting plates 312a-3. One of the two imaging units 312b-1 belongs to imaging group A, and the other belongs to imaging group B. By moving the first mounting plate 312a-3, the spacing between the two imaging units 312b-1 in imaging group A and imaging group B can be adjusted simultaneously, so that the spacing between the two imaging units 312b-1 in the same imaging group 312b is adapted to the size of the solar cell.

[0129] The first mounting plate 312a-3 has an elongated hole 312a-31 extending along a second direction, and the imaging unit 312b-1 is slidably mounted in the elongated hole 312a-31. The elongated hole 312a-31 penetrates the first mounting plate 312a-3 along its thickness direction. By moving the imaging unit 312b-1 along the elongated hole 312a-31, the distance between the two imaging units 312b-1 located on the first mounting plate 312a-3 can be adjusted.

[0130] When the number of imaging groups 312b needs to be increased, two imaging units 312b-1 in the increased imaging group 312b are respectively installed on two first installation plates 312a-3, that is, the number of imaging units 312b-1 installed on the first installation plate 312a-3 is the same as the number of imaging groups 312b.

[0131] In another embodiment, the first installation plate 312a-3 is slidably installed on the top plate 312a-1 along the second direction, two imaging units 312b-1 in the same imaging group 312b are installed on the same first installation plate 312a-3, and the number of first installation plates 312a-3 is the same as the number of imaging groups 312b.

[0132] It can be understood that the first installation plate 312a-3 extends along the first direction, one of the two first installation plates 312a-3 is used to install the imaging group A, and the other is used to install the imaging group B. By moving the first installation plate 312a-3, the distance between the imaging group A and the imaging group B can be adjusted, so as to adapt to the distance between the battery pieces.

[0133] The first installation plate 312a-3 is provided with a long hole 312a-31 extending along the first direction, and the imaging unit 312b-1 is slidably installed in the long hole 312a-31. The long hole 312a-31 penetrates the first installation plate 312a-3 along the thickness direction of the first installation plate 312a-3. By moving the imaging unit 312b-1 along the long hole 312a-31, the distance between the two imaging units 312b-1 located on the first installation plate 312a-3 can be adjusted, that is, the distance between the two imaging units 312b-1 in the same imaging group 312b is adjusted to adapt to the size of the battery piece.

[0134] The rack 312a further comprises a second installation plate 312a-4 slidably installed in the long hole 312a-31, and the imaging unit 312b-1 is movably installed on the second installation plate 312a-4 along the height direction.

[0135] The top of the second installation plate 312a-4 is threadedly connected with a fixing bolt, and the position of the second installation plate 312a-4 is locked by the fixing bolt, so as to complete the fixing of the imaging unit 312b-1 after the movement adjustment. The second installation plate 312a-4 extends along the vertical direction, and the second installation plate 312a-4 is provided with an adjusting hole 312a-41 extending along the vertical direction, and the imaging unit 312b-1 moves along the adjusting hole 312a-41 to adjust the height of the imaging unit 312b-1.

[0136] The rack 312a further comprises a protection plate 312a-5 arranged on the periphery thereof, and the protection plate 312a-5 is used to protect the imaging unit 312b-1 installed on the rack 312a.

[0137] The image collecting assembly 312 further comprises a first sliding block 312c fixed on the frame 312a, which is slidingly installed on a first guide rail 311a extending along the second direction. The movement of the image collecting assembly 312 is guided by the cooperation of the first sliding block 312c and the first guide rail 311a. Specifically, the first sliding block 312c is arranged on the side plate 312a-2.

[0138] The imaging unit 312b-1 comprises a connecting plate 312b-11, a camera 312b-12 fixed on the connecting plate 312b-11, and a light source 312b-13 below the camera 312b-12. The connecting plate 312b-11 is movable along the adjusting hole 312a-41, and the position of the connecting plate 312b-11 is locked by the fixing bolt, so as to adjust and lock the position of the camera 312b-12. The light source 312b-13 is used to provide illumination, so as to improve the clarity of the imaging.

[0139] The driving assembly 313 comprises a first driving motor 313a fixed on the base plate 311, a first driving screw 313b connected to the output end of the first driving motor 313a, and a first driving block 313c threadedly connected to the first driving screw 313b, which is connected with the frame 312a.

[0140] The first driving screw 313b extends along the second direction, and the first driving block 313c is connected with the side plate 312a-2. The first driving motor 313a drives the first driving screw 313b to rotate, so as to drive the first driving block 313c to move along the first driving screw 313b, and further drive the image collecting assembly 312 to move along the second direction, so as to collect the image information of the battery piece.

[0141] Of course, in other embodiments, the driving assembly 313 can also adopt a gear and rack or a linear motor.

[0142] The deviation rectifying mechanism 32 comprises an adjusting assembly and a suction cup assembly 324, the suction cup assembly 324 is used to suck the battery piece on the printing platform 20, the adjusting assembly can drive the suction cup assembly 324 to ascend and descend along the vertical direction to realize the taking and placing of the battery piece, and can adjust the position and posture of the suction cup assembly 324, so as to adjust the position and posture of the battery piece on the suction cup assembly 324, and finally place the adjusted battery piece on the printing platform 20 according to the preset position.

[0143] In an embodiment, the adjusting assembly is used to simultaneously drive the suction cup assembly 324 to ascend and descend along the height direction, to translate along the second direction, and to rotate the suction cup assembly 324 around the vertical axis line thereof.

[0144] Specifically, the adjusting assembly comprises a horizontal driving device 321, a plurality of lifting driving devices 322 connected to the horizontal driving device 321, a rotating driving device 323 connected to the lifting driving devices 322, the horizontal driving device 321 is used to drive the lifting driving devices 322 to move along a second direction, the lifting driving devices 322 are used to drive the rotating driving device 323 to move along a vertical direction, a suction cup assembly 324 is arranged on the rotating driving device 323, and the rotating driving device 323 is used to drive the suction cup assembly 324 to rotate around a vertical axis line thereof.

[0145] The lifting driving devices 322 drive the suction cup assembly 324 to move along the vertical direction, so as to suck the battery piece on the printing platform 20 and place the battery piece adjusted and rectified again on the printing platform 20. The rotating driving device 323 drives the suction cup assembly 324 to rotate, so as to adjust the posture of the battery piece. The horizontal driving device 321 drives the suction cup assembly 324 to move along the second direction, so as to adjust the position of the battery piece.

[0146] It can be understood that when the battery piece is on the suction cup assembly 324, the position of the battery piece can be adjusted by driving the printing platform 20 to move along the first direction by the conveying module 10 and driving the lifting driving devices 322 to move along the second direction by the horizontal driving device 321, and the posture of the battery piece can be adjusted by driving the suction cup assembly 324 to rotate by the rotating driving device 323, so that the projection of the battery piece on the printing platform 20 along the height direction is completely coincident with the preset position.

[0147] The present application adjusts and rectifies the position and posture of the battery piece by the movement of the printing platform 20 and the rectifying mechanism 32, so as to simplify the structure of the rectifying mechanism 32 and reduce the manufacturing cost of the rectifying mechanism 32.

[0148] The horizontal driving device 321 adopts a linear motor, a driving plate 321a is connected to the mover of the horizontal driving device 321, and the lifting driving devices 322 are fixed to the driving plate 321a. The lifting driving devices 322 are driven to move along the second direction by the movement of the driving plate 321a, so as to rectify and adjust the position of the battery piece on the suction cup assembly 324 along the second direction. The linear motor driving is stable and has high movement precision, so as to efficiently and accurately rectify and adjust the position of the battery piece along the second direction.

[0149] The lifting driving device 322 comprises a support frame 322a fixed to the driving plate 321a, a second driving motor 322b arranged on the support frame 322a, a second driving screw 322c connected to the output end of the second driving motor 322b, and a second driving block 322d threadedly connected to the second driving screw 322c, the second driving block 322d being connected to the rotating driving device 323.

[0150] The second driving screw 322c is vertically arranged. The second driving screw 322c is driven to rotate by the second driving motor 322b, so as to drive the second driving block 322d to move along the second driving screw 322c, and then drive the rotary driving device 323 connected with the second driving block 322d to move in the vertical direction, so as to suck the battery piece on the printing platform 20 by the suction cup assembly 324 and place the adjusted and rectified battery piece on the printing platform 20 again.

[0151] Of course, in other embodiments, the lifting driving device 322 can also adopt a telescopic cylinder, a gear rack or a linear motor, etc.

[0152] The rotary driving device 323 comprises a first connecting plate 323a connected with the second driving block 322d, a rotary driving piece 323b installed on the first connecting plate 323a, and the rotary driving piece 323b is connected with the suction cup assembly 324 to drive the suction cup assembly 324 to rotate. The rotary driving piece 323b is driven to move in the vertical direction by the movement of the first connecting plate 323a in the vertical direction, and the rotary driving piece 323b is connected with the suction cup assembly 324 through the rotation shaft, so as to drive the suction cup assembly 324 to rotate to realize the posture adjustment of the battery piece on the suction cup assembly 324.

[0153] The driving plate 321a is provided with a second guide rail 321a-1, and the first connecting plate 323a is provided with a second sliding block 323a-1 matched with the second guide rail 321a-1. The movement of the rotary driving device 323 in the vertical direction is guided by the cooperation of the second guide rail 321a-1 and the second sliding block 323a-1, so as to improve the stability of the rotary driving device 323 during the movement.

[0154] The driving plate 321a is provided with two groups of second guide rails 321a-1, and the support frame 322a is located between the two groups of second guide rails 321a-1, so as to further improve the stability of the rotary driving device 323 during the movement.

[0155] The first connecting plate 323a comprises a first limiting plate 323a-2 located at the top thereof and a second limiting plate 323a-3 located at the bottom thereof, and the rotary driving device 323 further comprises a second connecting plate 323c slidably installed between the first limiting plate 323a-2 and the second limiting plate 323a-3, and the rotary driving piece 323b is connected with the second connecting plate 323c.

[0156] The second connecting plate 323c can be slidingly installed on the first connecting plate 323a through cooperation of a guide rail and a sliding block. The first limiting plate 323a-2 and the second limiting plate 323a-3 are used for limiting the second connecting plate 323c. When the second connecting plate 323c is in contact with the first limiting plate 323a-2, the second connecting plate 323c is at the highest position. When the second connecting plate 323c is in contact with the second limiting plate 323a-3, the second connecting plate 323c is at the lowest position. It can be understood that, in a natural state, the second connecting plate 323c is at the lowest position under the influence of gravity.

[0157] When the lifting driving device 322 drives the rotating driving device 323 to move downward to enable the suction cup assembly 324 to suck the battery piece on the printing platform 20, if the lifting driving device 322 continues to drive the rotating driving device 323 to move downward after the suction cup assembly 324 is in contact with the battery piece, the suction cup assembly 324 can excessively press the battery piece, causing the battery piece to be damaged.

[0158] However, by arranging the second connecting plate 323c, the above situation can be avoided. After the suction cup assembly 324 is in contact with the battery piece, if the lifting driving device 322 continues to drive the rotating driving device 323 to move downward, the reaction force between the suction cup assembly 324 and the battery piece can enable the second connecting plate 323c to move upward, thereby providing a buffer space for the movement of the suction cup assembly 324, so as to prevent the suction cup assembly 324 from excessively pressing the battery piece, causing the battery piece to be damaged.

[0159] The second connecting plate 323c is L-shaped, and includes a first part slidingly installed between the first limiting plate 323a-2 and the second limiting plate 323a-3, and a second part used for installing the rotating driving member 323b.

[0160] The rotating driving device 323 further includes an elastic member 323d connected between the first limiting plate 323a-2 and the second connecting plate 323c. Specifically, the elastic member 323d is connected between the first limiting plate 323a-2 and the first part. The elastic member 323d provides a buffer for the movement of the suction cup assembly 324, so as to prevent the suction cup assembly 324 from excessively pressing the battery piece, causing the battery piece to be damaged.

[0161] In some embodiments, the horizontal driving device 321 is connected with at least two lifting driving devices 322, and the horizontal driving device 321 drives the two lifting driving devices 322 to move independently along the horizontal direction, i.e., along the second direction.

[0162] When two lifting driving devices 322 are connected to the horizontal driving device 321, a rotating driving device 323 and a suction disc assembly 324 are connected to each lifting driving device 322, and the two lifting driving devices 322 move along the second direction independently, so that the two battery pieces can be adjusted simultaneously.

[0163] To realize the independent movement of the two lifting driving devices 322 along the second direction driven by the two horizontal driving devices 321, two movers are arranged on the horizontal driving device 321, and the two lifting driving devices 322 are respectively installed on the two movers through the driving plate 321a, and the driving force is generated by controlling the current applied to the two movers respectively; or the stator of the horizontal driving device 321 is designed as two independent sections, and the two movers are respectively located on the two sections, and the corresponding mover is driven to move by separately energizing and exciting each section.

[0164] It should be particularly pointed out that when the deviation correction mechanism 32 simultaneously sucks two battery pieces through the two suction disc assemblies 324 and corrects the two battery pieces, the horizontal driving device 321 drives the two lifting driving devices 322 to move along the second direction independently, so that the positions of the two battery pieces along the second direction can be adjusted independently, the poses of the two battery pieces can be adjusted through the rotating driving device 323, then the printing platform 20 is moved along the first direction, so that the projection of one of the battery pieces on the printing platform 20 along the height direction completely coincides with the preset position, then the lifting driving device 322 corresponding to the battery piece is started to place the battery piece on the printing platform 20; then the printing platform 20 is moved along the first direction again, so that the projection of the other battery piece on the printing platform 20 along the height direction completely coincides with the preset position, then the lifting driving device 322 corresponding to the battery piece is started to place the battery piece on the printing platform 20.

[0165] Of course, in other embodiments, the adjustment assembly can also be arranged to simultaneously drive the suction disc assembly 324 to ascend and descend along the height direction, to translate along the first direction and the second direction, and to drive the suction disc assembly 324 to rotate around its vertical axis, so that it is not necessary to move the printing platform 20 along the first direction to make the projection of the battery piece on the printing platform 20 along the height direction completely coincide with the preset position. The adjustment assembly can adopt a three-axis transplanting platform combined with a rotating driving device 323 or a mechanical hand.

[0166] The suction disc assembly 324 comprises a third connecting plate 324a connected with the rotating driving member 323b, a suction disc body 324b located below the third connecting plate 324a, and a plurality of connecting columns 324c connecting the third connecting plate 324a and the suction disc body 324b. The suction disc body 324b is used for sucking the battery piece, and the third connecting plate 324a and the suction disc body 324b are spaced apart by the connecting columns 324c, so that the connection of the vacuum tube on the suction disc body 324b is facilitated.

[0167] One imaging group 312b and one suction disc assembly 324 constitute one positioning and deviation correction working group, and the number of the positioning and deviation correction working groups in the positioning and deviation correction station is the same as and corresponds to the number of the imaging groups 312b and the suction disc assemblies 324 in the positioning and deviation correction station, so that the positioning and deviation correction of one battery piece are performed.

[0168] In some embodiments, the positioning and deviation correction module 30 comprises two positioning and deviation correction working groups, that is, two imaging groups 312b are installed on the rack 312a, two lifting driving devices 322 are connected to the horizontal driving device 321, and the rotating driving device 323 and the suction disc assembly 324 are connected to each lifting driving device 322. The two positioning and deviation correction working groups are respectively used for the positioning and deviation correction of two battery pieces arranged at intervals, so that the two imaging groups 312b and the two suction disc assemblies 324 are spaced apart, sufficient installation space is reserved, and the mutual influence between the two suction disc assemblies 324 is avoided.

[0169] Of course, in other embodiments, one positioning and deviation correction working group can be arranged in one positioning and deviation correction station, that is, the positioning and deviation correction module 30 comprises only one positioning and deviation correction working group, and the positioning and deviation correction working group in the Sth positioning and deviation correction station is used for the positioning and deviation correction of the Sth battery piece on the printing carrier table 20; or the positioning and deviation correction module 30 comprises more than two positioning and deviation correction working groups. The number of the positioning and deviation correction working groups in each positioning and deviation correction station can be the same or different. Specifically, the number of the positioning and deviation correction working groups or the number of the positioning and deviation correction stations can be adaptively adjusted according to the number of the battery pieces on the printing carrier table 20.

[0170] The printing module 40 comprises a printing head 41 and a lifting assembly 42 driving the printing head 41 to move in the height direction. When the printing carrier table 20 is transported to the printing area, all the battery pieces on the printing carrier table 20 have completed the positioning and deviation correction, and the position and posture of the printing head 41 do not need to be adjusted. The lifting assembly 42 drives the printing head 41 to move downward to the printing carrier table 20, and the printing of all the battery pieces on the printing carrier table 20 is completed by the printing head 41.

[0171] The present application provides a battery piece printing method, which can be realized based on the above printing device. The printing method specifically comprises the following steps: The printing stage 20 located in the loading area is switched to the first track 11 of the transfer module 10, and the battery cells are loaded. The printing stage 20 is transported to the positioning and correction area along the first track 11, and the battery cells on the printing stage 20 are positioned and corrected by the positioning and correction module 30 located in the positioning and correction area. The printing stage 20 is transported to the printing area along the first track 11, and the battery cells on the printing stage 20 are printed by the printing module 40 located in the printing area. The printing stage 20 is transported to the unloading area along the first track 11, and the printing stage 20 unloads the battery cells from the unloading area. The printing stage 20 is moved to the second track 12 of the transfer module 10, and the printing stage 20 is transferred from the unloading area to the loading area along the second track 12.

[0172] The following describes the printing method in detail, with the printing equipment having two positioning and correction stations, namely the first positioning and correction station and the second positioning and correction station, each positioning and correction module 30 including two groups of positioning and correction working groups, and the printing stage 20 simultaneously placing four battery cells.

[0173] The phrase "switching the printing stage 20 located in the feeding area to the first track 11 of the transfer module 10" specifically includes: Determine if there is a printing stage 20 in the material loading area; If yes, determine whether the docking track 13 with the printing stage 20 is aligned with the first track 11; if yes, load the battery cell; if no, drive the docking track 13 to align with the first track 11 via the first drive assembly 14. If not, wait for the printing stage 20 to be transferred to the loading area.

[0174] by Figure 4 In the embodiment shown, both the loading area and the unloading area are provided with a movable base 16. The movable base 16 is driven to rotate by the first driving component 14 so that the docking track 13 on the movable base 16 is connected to the first track 11 or the second track 12.

[0175] Determine whether there is a printing platform 20 in the feeding area, that is, determine whether there is a printing platform 20 on the movable base 16 located in the feeding area.

[0176] If yes, determine whether the docking track 13 with the printing platform 20 is aligned with the first track 11. If yes, the battery cell to be printed can be directly transferred to the printing platform 20 through the feeding device. If no, the movable base 16 of the feeding area is driven to rotate (rotate 90°) through the first driving component 14 so that the docking track 13 is aligned with the first track 11, and then the battery cell is fed.

[0177] If not, wait for the printing carrier 20 to be transported to the loading area.

[0178] It is particularly noted that when the loading area has and only has one docking track 13. When waiting for the printing carrier 20 to be transported to the loading area, it is necessary to ensure that the docking track 13 is opposite to the second track 12, so that the printing carrier 20 transported from the second track 12 can be transported to the loading area; in addition, when the loading of the battery piece is completed, the printing carrier 20 is transported from the loading area to the positioning and deviation correction area, and it is also necessary to rotate the movable base 16 to make the docking track 13 opposite to the second track 12. That is, when the loading area does not have the printing carrier 20, it is necessary to ensure that the docking track 13 is opposite to the second track 12.

[0179] When the movable base 16 of the loading area has the docking track 13 on all four sides, one of the docking tracks 13 is opposite to the first track 11, and the other is opposite to the second track 12. In this way, it is only necessary to rotate the movable base 90° each time the second track 12 transports the printing carrier 20 to the loading area.

[0180] Figure 8 The embodiments shown are the same as Figure 4 and will not be described here again.

[0181] In Figure 11 the embodiments shown, it is determined whether the loading area has the printing carrier 20, that is, whether the movable base 16 in the loading area has the printing carrier 20.

[0182] If yes, it is determined whether the docking track 13 on the movable base 16 is opposite to the first track 11. If yes, the battery piece to be printed can be directly transported to the printing carrier 20 by the loading device; if not, the movable base 16 of the loading area is driven to move (rise) by the first driving assembly 14 to make the docking track 13 on the movable base 16 opposite to the first track 11, and then the battery piece is loaded.

[0183] If not, wait for the printing carrier 20 to be transported to the loading area. It is particularly noted that when waiting for the printing carrier 20 to be transported to the loading area, it is necessary to ensure that the docking track 13 is opposite to the second track 12, so that the printing carrier 20 transported from the second track 12 can be transported to the loading area; in addition, when the loading of the battery piece is completed, the printing carrier 20 is transported from the loading area to the positioning and deviation correction area, and it is also necessary to move the movable base 16 (lower) to make the docking track 13 opposite to the second track 12. That is, when the loading area does not have the printing carrier 20, it is necessary to ensure that the docking track 13 is opposite to the second track 12.

[0184] The “loading of the battery piece” includes the following steps: The driving assembly 50 is moved to the position where it is in contact with the transmission assembly 23 on the printing platform 20; The driving assembly 50 is started to drive the transmission assembly 23 to move the battery sheet on the platform paper 21. The printing platform 20 is triggered to suck and fix the battery sheet.

[0185] The driving assembly 50 is moved to the position where it is in contact with the transmission assembly 23 on the printing platform 20;

[0186] Specifically, when the printing platform 20 is transported to the loading area, the driving assembly 50 is pushed by the pushing assembly 60 to move towards the printing platform 20, so that the second connecting part is in contact with the first connecting part of the transmission assembly 23, the driving assembly 50 is started and the driving force of the driving assembly 50 is transmitted to the transmission assembly 23, the battery sheet is moved by the transmission assembly 23, so that the battery sheet to be printed is received from the loading device (using a conveying belt) and transferred to the suction platform 21.

[0187] After the battery sheet is transported to the position, the driving assembly 50 is turned off, and the printing platform 20 is triggered to suck and fix the battery sheet on the suction platform 21, so as to prevent the displacement of the battery sheet in the subsequent transportation process.

[0188] Finally, the driving assembly 50 is moved by the pushing assembly 60 to move away from the printing platform 20, so that the second connecting part is separated from the first connecting part, that is, the driving assembly 50 is separated from the transmission assembly 23, so as to transport the printing platform 20 to the positioning and deviation correction area.

[0189] The printing platform 20 is transported to the positioning and deviation correction area, and the battery sheet on the printing platform 20 is positioned and deviation corrected by the positioning and deviation correction module 30 in the positioning and deviation correction area, which includes the following steps: Firstly, the printing platform 20 is transported to the first positioning and deviation correction station, and the first battery sheet and the third battery sheet on the printing platform 20 are positioned and deviation corrected by the two positioning and deviation correction working groups in the first positioning and deviation correction station; then the printing platform 20 is transported to the second positioning and deviation correction station, and the second battery sheet and the fourth battery sheet on the printing platform 20 are positioned and deviation corrected by the two positioning and deviation correction working groups in the second positioning and deviation correction station, so as to complete the positioning and deviation correction of all the battery sheets on the printing platform 20.

[0190] Specifically, the positioning of the battery sheet by the positioning and deviation correction module 30 includes: The printing platform 20 is transported to the position below the positioning mechanism 31; The two imaging units 312b-1 arranged side by side are moved to the first side of the battery sheet, and the image data of the battery sheet is collected by the two imaging units 312b-1; The two imaging units 312b-1 are moved to the second side of the battery sheet, and the image data of the battery sheet is collected by the two imaging units 312b-1, and the second side is opposite to the first side; The current coordinate data (X1, Y1, T1) of the battery sheet is determined according to the image data collected by the imaging unit 312b-1; The displacement deviation data of the battery sheet is obtained according to the screen printing coordinates (X0, Y0, T0) of the printing module 40: ΔX = X1-X0; ΔY = Y1-Y0; ΔT = T1-T0.

[0191] The two imaging units 312b-1 are moved to the first side of the battery sheet, and the image information of two calibration points on the first side of the battery sheet is collected by the two imaging units 312b-1; the two imaging units 312b-1 are moved to the second side of the battery sheet, and the image information of two calibration points on the second side of the battery sheet is collected by the two imaging units 312b-1, so as to complete the collection of the image information of four calibration points of the battery sheet, and the current coordinate data (X1, Y1, T1) of the battery sheet is determined according to the image information of the four calibration points.

[0192] According to the current coordinate data (X1, Y1, T1) and the screen printing coordinates (X0, Y0, T0), the displacement deviation data (ΔX, ΔY, ΔT) of the battery sheet can be determined, and the battery sheet is adjusted to the preset position according to the displacement deviation data (ΔX, ΔY, ΔT) in the subsequent.

[0193] In this embodiment, the positioning mechanism 31 has two imaging groups 312b, so as to simultaneously collect the image information of two battery sheets arranged at intervals.

[0194] The correction of the battery sheet by the positioning and correction module 30 includes: The printing platform 20 is transmitted to the lower side of the correction mechanism 32. In the initial state, the suction cup assembly 324 is located at the correction position, and when the printing platform 20 is transmitted to the lower side of the correction mechanism 32, the suction cup assembly 324 is located above the printing platform 20.

[0195] The suction cup assembly 324 is lowered to the material taking position by the adjusting assembly, the suction cup assembly 324 is in contact with the battery sheet on the printing platform 20, the battery sheet on the printing platform 20 is sucked by the suction cup assembly 324, and the printing platform 20 is broken.

[0196] The suction cup assembly 324 is raised to the correction position by the adjusting assembly, so that the battery sheet is separated from the printing platform 20, and the position of the battery sheet is adjusted according to the displacement deviation data; The printing platform 20 sucks vacuum, the suction cup assembly 324 breaks vacuum, and the battery piece is placed on the printing platform 20 according to the preset position. The adjusting assembly raises the suction cup assembly 324 to the deviation correction position.

[0197] In an embodiment, the adjusting assembly adjusts the battery piece in Y and T axes according to the displacement deviation data, and the printing platform 20 is moved to adjust the battery piece in the X axis.

[0198] The horizontal driving device 321 drives the lifting driving device 322 to move in the second direction to adjust the battery piece in the Y axis. The rotary driving device 323 drives the suction cup assembly 324 to rotate to adjust the battery piece in the T axis. The transmission module 10 drives the printing platform 20 to move in the first direction to adjust the battery piece in the X axis. In this way, the X, Y, and T axes of the battery piece are adjusted, and the deviation correction mechanism 32 can place the battery piece on the printing platform 20 according to the preset position.

[0199] In this embodiment, two lifting driving devices 322 are lowered at the same time to suck two battery pieces through two suction cup assemblies 324 respectively. The horizontal driving device 321 drives the two lifting driving devices 322 to move independently in the second direction to adjust the two battery pieces in the Y axis respectively. The rotary driving device 323 drives the suction cup assembly 324 to rotate to adjust the battery piece in the T axis. Then the printing platform 20 is moved in the first direction, so that the projection of one of the battery pieces on the printing platform 20 in the height direction completely coincides with the preset position, and then the corresponding lifting driving device 322 of the battery piece is started to place the battery piece on the printing platform 20. Then the printing platform 20 is moved in the first direction again, so that the projection of the other battery piece on the printing platform 20 in the height direction completely coincides with the preset position, and then the corresponding lifting driving device 322 of the battery piece is started to place the battery piece on the printing platform 20. When the two battery pieces are adjusted, the printing platform 20 is transmitted to the next station.

[0200] In another embodiment, the adjusting assembly adjusts the battery piece in X, Y, and T axes according to the displacement deviation data. The adjusting assembly can use a three-axis transplanting platform combined with a rotary driving device 323 or a mechanical hand to adjust the battery piece in X, Y, and T axes according to the displacement deviation data without moving the printing platform 20.

[0201] After the printing platform 20 is transmitted out of the positioning and deviation correction area, all the battery pieces on the printing platform 20 are positioned and deviation corrected, and then the printing platform 20 is transmitted to the printing area for printing work.

[0202] The printing of the battery piece by the printing module 40 includes: The printing head 41 is lowered to the printing position by the lifting assembly 42. In the initial state, the printing head 41 is located at the preparation position, and after the printing platform 20 is transported to the printing area, the printing head 41 is located above the printing platform 20, and the printing head 41 is lowered to the printing position.

[0203] The scraper is translated from the printing starting position to the printing ending position to complete the printing of all the battery pieces on the printing platform 20. After the printing is completed, the printing head 41 is raised to the preparation position by the lifting assembly 42.

[0204] The "battery piece to be unloaded" specifically includes: The driving assembly 50 located in the unloading area is moved so that the driving assembly 50 is connected with the transmission assembly 23 on the printing platform 20. The printing platform 20 is broken vacuum, the driving assembly 50 is started to drive the transmission assembly 23 to rotate, and the transmission assembly 23 drives the platform paper 21 to move the battery piece to be unloaded. The driving assembly 50 is moved so that the driving assembly 50 is separated from the transmission assembly 23.

[0205] Specifically, when the printing platform 20 is transported to the unloading area, the driving assembly 50 is pushed by the pushing assembly 60 to move towards the printing platform 20, so that the second connecting part is connected with the first connecting part of the transmission assembly 23.

[0206] The printing platform 20 is broken vacuum, the driving assembly 50 is started, and the driving force of the driving assembly 50 is transmitted to the transmission assembly 23, and the transmission assembly 23 drives the platform paper 22 to move, so that the battery piece printed on the printing platform 20 is transported to the unloading device (a conveying belt is used).

[0207] After the battery piece is transported to the position, the driving assembly 50 is closed, and the driving assembly 50 is moved away from the printing platform 20 by the pushing assembly 60, so that the second connecting part is separated from the first connecting part, that is, the driving assembly 50 is separated from the transmission assembly 23.

[0208] The "switching the printing platform 20 to the second track 12 of the conveying module 10" specifically includes: The connecting track 13 with the printing platform 20 is connected with the second track 12 by the first driving assembly 14.

[0209] The "switching the printing platform 20 to the second track 12 of the conveying module 10" specifically includes: Figure 4The shown embodiment is an example, when the printing of the battery piece on the printing platform 20 is completed, the empty printing platform 20 needs to be transported to the feeding area. At this time, the first driving assembly 14 drives the movable base 16 of the unloading area to rotate, so that the docking track 13 with the printing platform 20 is opposite to the second track 12, and the empty printing platform 20 is transported to the feeding area through the second track 12.

[0210] It needs to be particularly pointed out that the movable base 16 of the unloading area has and only has one docking track 13. When the printing platform 20 is transported to the unloading area, it needs to ensure that the docking track 13 is opposite to the first track 11, so that the printing platform 20 transported from the first track 11 can be transported to the unloading area; in addition, when the printing platform 20 is transported away from the unloading area, the movable base 16 also needs to be rotated to make the docking track 13 opposite to the first track 11.

[0211] When the movable base 16 of the unloading area has docking tracks 13 on four sides, one of the docking tracks 13 is opposite to the first track 11, and the other track is opposite to the second track 12. In this way, only 90° rotation of the movable base is needed after the printing of the battery piece on the printing platform 20 in the unloading area is completed.

[0212] Figure 8 The shown embodiment is the same as Figure 4 , which will not be repeated here.

[0213] In Figure 11 the shown embodiment, when the printing of the battery piece on the printing platform 20 is completed, the empty printing platform 20 needs to be transported to the feeding area. At this time, the first driving assembly 14 drives the movable base 16 to move (down) to make the docking track 13 opposite to the second track 12, and the empty printing platform 20 is transported to the feeding area through the second track 12.

[0214] It needs to be particularly pointed out that when the printing platform 20 is transported to the unloading area, it needs to ensure that the docking track 13 is opposite to the first track 11, so that the printing platform 20 transported from the first track 11 can be transported to the unloading area; in addition, when the printing platform 20 is transported away from the unloading area, the movable base 16 also needs to be moved (up) to make the docking track 13 opposite to the first track 11.

[0215] In summary, the method adopts circulating transportation combined with parallel and high-precision positioning and deviation correction system, solves the inherent defect that the printing platform in the traditional printing equipment must return to the original route with empty load, makes the printing platform 20 always in the state of carrying or preparing to carry, the throughput capacity of the equipment can be flexibly configured by increasing or decreasing the number of printing platforms 20 and positioning and deviation correction modules 30 in the circulating loop, to adapt to different production batch and beat requirements, and ensures that under high-speed production beat, extremely high printing precision can still be realized.

[0216] It should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

[0217] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present application, and are not intended to limit the protection scope of the present application. Any equivalent embodiments or changes made without departing from the spirit of the present application shall be included in the protection scope of the present application.

Claims

1. A method for printing battery cells, characterized in that, The method comprises the following steps: Switching the printing platform (20) in the loading area to the first track (11) of the transmission module (10) and loading the battery sheet; Transmitting the printing platform (20) along the first track (11) to the positioning and deviation correction area, positioning and correcting the battery sheet on the printing platform (20) by the positioning and deviation correction module (30) in the positioning and deviation correction area; Transmitting the printing platform (20) along the first track (11) to the printing area, printing the battery sheet on the printing platform (20) by the printing module (40) in the printing area; Transmitting the printing platform (20) along the first track (11) to the unloading area, and unloading the battery sheet from the printing platform (20) in the unloading area; Switching the printing platform (20) to the second track (12) of the transmission module (10) and transmitting the printing platform (20) from the unloading area to the loading area along the second track (12); Wherein, the first track (11) and the second track (12) are parallel and the transmission directions are opposite.

2. The cell printing method of claim 1, wherein, The "switching the printing platform (20) in the loading area to the first track (11) of the transmission module (10)" specifically comprises: Judging whether the docking track (13) in the loading area has the printing platform (20); If yes, judging whether the docking track (13) with the printing platform (20) is opposite to the first track (11); if yes, loading the battery sheet; if no, driving the docking track (13) to be opposite to the first track (11) by the first driving assembly (14); If no, waiting for the printing platform (20) to be transmitted to the loading area.

3. The cell printing method of claim 1, wherein, The "loading the battery sheet" specifically comprises: Moving the driving assembly (50) in the loading area so that the driving assembly (50) is opposite to the transmission assembly (23) on the printing platform (20); Starting the driving assembly (50) to drive the transmission assembly (23) to rotate, moving the table paper (21) by the transmission assembly (23) to load the battery sheet; The printing platform (20) is triggered to suck the vacuum to adsorb and fix the battery sheet; Moving the driving assembly (50) so that the driving assembly (50) is separated from the transmission assembly (23); The "unloading the battery sheet" specifically comprises: Moving the driving assembly (50) in the unloading area so that the driving assembly (50) is opposite to the transmission assembly (23) on the printing platform (20); The printing platform (20) breaks the vacuum, starts the driving assembly (50) to drive the transmission assembly (23) to rotate, and moves the table paper (21) by the transmission assembly (23) to unload the battery sheet; Moving the driving assembly (50) so that the driving assembly (50) is separated from the transmission assembly (23).

4. The cell printing method of claim 1, wherein: The printing platform (20) is provided with N1 battery pieces, the positioning and deviation correction area is provided with M1 positioning and deviation correction stations along the transmission direction of the transmission module (10), each positioning and deviation correction station is provided with the positioning and deviation correction module (30), and the printing platform (20) sequentially passes through the M1 positioning and deviation correction stations and completes positioning and deviation correction of all battery pieces.

5. The cell printing method of claim 4, wherein: The positioning and deviation correction module (30) includes a plurality of positioning and deviation correction working groups, and the total number of the positioning and deviation correction working groups in all the positioning and deviation correction stations is greater than or equal to the number of battery pieces on the printing platform (20); Each positioning and deviation correction module (30) positions and corrects part of the battery pieces on the printing platform (20), different positioning and deviation correction modules (30) position and correct different battery pieces on the same printing platform (20), and all the positioning and deviation correction modules (30) cooperatively complete positioning and deviation correction of all the battery pieces on the printing platform (20).

6. The cell printing method of claim 4 or 5, wherein, Positioning the battery piece by the positioning and deviation correction module (30) includes: Transmitting the printing platform (20) to below the positioning mechanism (31); Moving two imaging units (312b-1) arranged side by side to the first side of the battery piece, and collecting image data of the battery piece by the two imaging units (312b-1); Moving two imaging units (312b-1) arranged side by side to the second side of the battery piece, and collecting image data of the battery piece by the two imaging units (312b-1), the second side being opposite to the first side; Determining current coordinate data (X1, Y1, T1) of the battery piece by the image data collected by the imaging unit (312b-1); According to the screen coordinates (X0, Y0, T0) of the printing module (40), obtaining displacement deviation data of the battery piece: ΔX = X1-X0; ΔY = Y1-Y0; ΔT = T1-T0.

7. The cell printing method of claim 6, wherein, Deviation correction of the battery piece by the positioning and deviation correction module (30) includes: Transmitting the printing platform (20) to below the deviation correction mechanism (32); Lowering the suction disc assembly (324) to the material taking position by the adjusting assembly, sucking the battery piece on the printing platform (20) by the suction disc assembly (324), and breaking the vacuum of the printing platform (20); Rising the suction disc assembly (324) to the deviation correction position by the adjusting assembly, and adjusting the position of the battery piece according to the displacement deviation data; Lowering the suction disc assembly (324) to the material taking position by the adjusting assembly, triggering the vacuum suction of the printing platform (20), breaking the vacuum of the suction disc assembly (324), and placing the battery piece on the printing platform (20) according to the preset position; Rising the suction disc assembly (324) to the deviation correction position by the adjusting assembly.

8. The cell printing method of claim 7, wherein: The adjusting assembly adjusts the X, Y and T three-axis deviation correction of the battery piece according to the displacement deviation data. Or, the adjusting assembly adjusts the Y and T two-axis deviation correction of the battery piece according to the displacement deviation data, and adjusts the X-axis deviation correction of the battery piece by moving the printing platform (20).

9. The cell printing method of claim 1, wherein, The printing module (40) prints the battery piece, which includes: The lifting assembly (42) drives the printing head (41) to descend to a printing position; The scraper translates from a printing start position to a printing end position, completing the printing of all battery pieces on the printing platform (20); The lifting assembly (42) drives the printing head (41) to ascend to a standby position.

10. The cell printing method of claim 1, wherein, The "switching the printing platform (20) to the second track (12) of the conveying module (10)" specifically includes: The first driving assembly (14) drives the docking track (13) with the printing platform (20) to be opposite to the second track (12).

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