Soft package lithium battery independent control grabbing system and execution device

Abstract

The invention belongs to the technical field of lithium battery production and transfer, and particularly relates to a soft package lithium battery independent control grabbing system and executive device.The system comprises at least one modularized independent control unit, an integrated hybrid power energy storage mechanism, a self-adaptive interlocking self-locking mechanism, a collaborative clamping adjusting mechanism and a multi-parameter coupling sensing closed loop module; the execution device is correspondingly provided with a hardware combination to realize transverse and longitudinal movement; the hybrid power energy storage mechanism guarantees power-off emergency locking, the self-adaptive interlocking self-locking mechanism adjusts the locking strength along with the clamping force, and the multi-parameter sensing module collects parameters such as pressure and thickness and regulates and controls the clamping force in a closed-loop mode. According to the device, unit independent control and fault isolation are achieved, the deviation of the power core is adaptively adapted, damage or loosening is avoided, the grabbing precision and safety are improved, production continuity is guaranteed, and the requirements for refinement and high reliability are met.

Description

Technical Field

[0001] This invention belongs to the field of lithium battery production and transfer technology, specifically a soft-pack lithium battery independent control gripping system and execution device. Background Technology

[0002] With the rapid expansion of the new energy industry, soft-pack lithium batteries have become one of the core components of power batteries and energy storage systems due to their advantages of high energy density and strong form factor adaptability. In the production and transportation process, special gripping devices are key equipment to ensure the integrity of the battery cells and the continuity of production.

[0003] Publication No. CN120862677A discloses a method and system for grasping automotive batteries. The method includes: when a target vehicle is detected entering a preset detection area in real time, acquiring the target vehicle model code corresponding to the vehicle in real time; matching the corresponding vehicle model parameters and battery model in a preset database in real time based on the target vehicle model code, and acquiring image information from the battery production line in real time through a preset acquisition device; determining the corresponding grasping target in real time based on the battery model in the image information, and generating a corresponding target grasping path in real time based on the vehicle model parameters and the grasping target; and inputting the target grasping path into the interior of a preset robotic arm so that the preset robotic arm grasps the target battery into the interior of the target vehicle according to the target grasping path.

[0004] The system includes: a data acquisition module for acquiring the target vehicle model code corresponding to the vehicle in real time when the target vehicle enters the preset detection area; a matching module for matching the target vehicle model code with the corresponding vehicle model parameters and battery model in a preset database in real time, and acquiring image information from the battery production line in real time through a preset acquisition device; a processing module for determining the corresponding grasping target in the image information in real time based on the battery model, and generating a corresponding target grasping path in real time based on the vehicle model parameters and the grasping target; and an execution module for inputting the target grasping path into the interior of a preset robotic arm, so that the preset robotic arm grasps the target battery into the interior of the target vehicle according to the target grasping path.

[0005] The main drawbacks of the related technologies are as follows: they are mostly integrated designs, lack modular independent control capabilities, and a failure of a single unit can easily lead to the shutdown of the entire device, seriously affecting the continuity of production;

[0006] The clamping force is mostly set to a fixed threshold, which cannot adapt to the deviation of the cell thickness, and is prone to causing the soft-pack lithium battery casing to break and leak or the clamp to loosen and fall off.

[0007] Without a dedicated emergency energy storage locking mechanism for power outages, the clamps are difficult to close and lock quickly in the event of a sudden power outage, posing a safety hazard of battery cell damage and scrapping.

[0008] Sensor feedback is mostly limited to single pressure detection, and cannot achieve coupled analysis and closed-loop control of multiple parameters such as thickness, vibration, and electrostatics. The accuracy and reliability of the sensing are insufficient, making it difficult to meet the needs of precision production.

[0009] Therefore, a soft-pack lithium battery independent control grasping system and execution device are proposed to address the above problems. Summary of the Invention

[0010] The purpose of this invention is to address the shortcomings of the prior art by providing an independent control and grasping system and execution device for soft-pack lithium batteries, thereby solving the technical problems mentioned in the background art.

[0011] To achieve the above objectives, this application proposes an independent control and gripping system for soft-pack lithium batteries, including at least one modular independent control unit. Each independent control unit can independently execute gripping actions and achieve fault isolation. Each independent control unit integrates a composite power storage mechanism, an adaptive interlocking self-locking mechanism, a cooperative clamping adjustment mechanism, and a multi-parameter coupled sensing control closed-loop module.

[0012] The composite power storage mechanism drives the clamp to remain open and accumulate energy when energized, and releases energy to drive the clamp to quickly close and clamp the soft-pack lithium battery when de-energized, with a closing response speed not lower than a preset response threshold.

[0013] The adaptive interlocking self-locking mechanism is linked with the clamp. After the clamp closes and tightens, it adaptively adjusts the locking strength. It achieves irreversible locking through multiple independent locking mechanisms and can only be unlocked when multiple preset unlocking conditions are met.

[0014] The collaborative clamping adjustment mechanism dynamically adjusts the clamping force to a preset threshold range according to the relevant parameters of the soft-pack lithium battery, and achieves protection and anti-detachment of the soft-pack lithium battery through multi-functional contact components;

[0015] The multi-parameter coupled sensing control closed-loop module collects relevant parameters in real time and sends control signals based on multi-parameter coupled analysis to achieve adaptive closed-loop control of the clamping action.

[0016] Preferably, the adaptive interlocking self-locking mechanism includes a dynamic locking component and multiple independent locking components;

[0017] The dynamic locking component adaptively adjusts the locking strength according to the clamping force; the greater the clamping force, the higher the locking strength. The multiple independent locking components include magnetic locking, mechanical locking, and rheological locking units, which are triggered synchronously and independently of each other. The preset multiple unlocking conditions are that the power component is energized, the control module sends an unlocking signal, the battery cell is placed in place, and the clamping force drops to a safe threshold. Unlocking is only possible when all four conditions are met simultaneously.

[0018] Preferably, the composite energy storage mechanism includes an electromagnetic drive component, a mechanical energy storage component, a permanent magnet auxiliary energy storage component, and an energy recovery component; when energized, the electromagnetic drive component drives the clamp to release, and simultaneously causes the mechanical energy storage component to compress and store energy, and the permanent magnet auxiliary energy storage component to accumulate magnetic energy.

[0019] When power is lost, the electromagnetic drive component loses its magnetism, and the mechanical energy storage component and the permanent magnet auxiliary energy storage component work together to release energy to drive the clamp to close. The energy recovery component recovers the reverse electromotive force, compensates for the force attenuation of the energy storage component, and provides short-term power to the sensing and control module.

[0020] Preferably, the multi-parameter coupled sensing and control closed-loop module includes pressure, thickness, vibration, and electrostatic detection components, and implements feedback regulation based on a multi-parameter coupled analysis model. The feedback regulation logic is implemented through a clamping force compensation formula.

[0021] ;

[0022] ;

[0023] And satisfy ;

[0024] in, To compensate for the clamping force, , , , These are the thickness, friction, vibration, and electrostatic compensation coefficients, respectively. To set a threshold, For the detection value, This is the electrostatic potential value. , These are the upper and lower threshold values ​​for clamping force, respectively.

[0025] Preferably, the collaborative clamping adjustment mechanism includes a medium energy storage adjustment component, a rigid adaptive component, and a multifunctional contact component;

[0026] The medium energy storage regulating component adjusts the clamping force by changing the medium state, and the rigid adaptive component compensates for the clamp closing displacement deviation; the multi-functional contact component has a three-layer composite structure to realize electrostatic release, clamping buffer and anti-slip limit functions.

[0027] As a preferred option, each independent control unit is equipped with an edge computing control module and a wireless communication module, which can realize multi-parameter coupling analysis and control locally without relying on a host system;

[0028] When multiple units are combined, synchronous, asynchronous or group linkage capture is supported. If any unit parameter exceeds the limit, fault isolation is triggered to maintain its own clamping state without affecting the operation of other units.

[0029] Preferably, the mechanical locking unit is a ball-joint wedge bidirectional ratchet composite structure, in which the ball joint compensates for angular deviations and the wedge angle can be adaptively adjusted;

[0030] The ball joint, wedge, and bidirectional pawl of the mechanical locking unit are equipped with wear-resistant coatings and self-lubricating repair components. When the wear or friction coefficient reaches a preset threshold, the components automatically release the lubricating medium and compensate for the reduction of locking force.

[0031] In addition, to achieve the above objectives, this application also proposes a soft-pack lithium battery independent control gripping execution device, including at least one modular independent control unit, each unit corresponding to a set of hardware combinations, the hardware combinations including a support component, a second lateral drive component mounted on the support component, a longitudinal drive component, a composite power storage mechanism and a cooperative clamping adjustment mechanism, and each unit is configured with a first lateral drive component that cooperates with the support component, and the hardware is assembled in the following positions.

[0032] The actuator is based on a base as a supporting structure. A first slide rail is provided on the base, a support component is provided on the first slide rail, a second slide rail is provided on the top of the support component, a second lateral drive component is provided on the second slide rail, and a longitudinal drive component is provided on one side of the second lateral drive component. The second lateral drive component is used to drive the longitudinal drive component to move laterally.

[0033] A composite power storage mechanism is disposed below the longitudinal drive component, and a cooperative clamping adjustment mechanism is disposed below the composite power storage mechanism. The longitudinal drive component is used to drive the composite power storage mechanism and the cooperative clamping adjustment mechanism to move longitudinally.

[0034] The inner gripping contact surface of the collaborative clamping adjustment mechanism is provided with an adaptive interlocking self-locking mechanism and a multi-parameter sensing module. The multi-parameter sensing module is a pressure, thickness, vibration and electrostatic detection component used to collect relevant parameters of the soft-pack lithium battery.

[0035] Each modular independent control unit integrates an edge computing control module and a wireless communication module, which are mounted on the support components.

[0036] Preferably, a first lateral drive component is provided on one side of the support component, which is used to drive the support component to move on the first slide rail to achieve position change.

[0037] Preferably, the composite power energy storage mechanism includes an electromagnetic drive component, a mechanical energy storage component, a permanent magnet auxiliary energy storage component, and an energy recovery component.

[0038] The beneficial effects of this invention are:

[0039] The modular and independent control of the grasping unit is achieved, and fault isolation does not affect the overall operation, ensuring production continuity;

[0040] The adaptive clamping and interlocking self-locking design adapts to the thickness deviation of different batches of battery cells, reducing the risk of breakage and loosening.

[0041] The composite power storage mechanism ensures emergency locking during power outages, enhancing operational safety.

[0042] Multi-parameter sensing closed-loop control improves grasping accuracy and reliability. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] In the attached diagram:

[0045] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0046] Figure 2 This is a schematic diagram of the overall system workflow of the present invention;

[0047] Figure 3 This is a flowchart illustrating the modular independent control and fault isolation process in this invention.

[0048] Figure 4 This is a schematic diagram of the working process of the composite power energy storage mechanism in this invention;

[0049] Figure 5 This is a schematic diagram of the operation of the adaptive interlocking self-locking mechanism in this invention;

[0050] Figure 6 This is a schematic diagram of the multi-parameter coupled closed-loop control process in this invention.

[0051] Legend:

[0052] 1. Base; 2. First lateral drive assembly; 3. Support assembly; 4. Second lateral drive assembly; 5. Longitudinal drive assembly; 6. Composite power storage mechanism; 7. Cooperative clamping adjustment mechanism; 8. First slide rail; 9. Second slide rail; 10. Edge computing control module; 11. Wireless communication module. Detailed Implementation

[0053] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0054] Specific implementation examples are given below.

[0055] This actuator uses base 1 as its basic support structure. Base 1 is welded from Q235 steel plate and has leveling feet at the bottom. Its specific dimensions are designed to be adapted to the actual workstation layout and load-bearing requirements to meet the overall structural strength requirements. Two linear slide rails (THK SSR25 series) are laid parallel on base 1 as the first slide rail 8. The support component 3 slides with the first slide rail 8 via a slider. The support component 3 is an aluminum alloy profile frame structure with cross-sectional dimensions designed to be adapted to the specifications of the installation components. The second slide rail 9 (THK SSR20 series) is fixedly installed on the top with bolts. The second slide rail 9 is arranged perpendicular to the first slide rail 8, and the length of the slide rail is designed to be adapted to the actual gripping stroke requirements.

[0056] The second lateral drive assembly 4 includes a servo motor (e.g., Panasonic MSMF042L1U2M), a ball screw (lead selected according to transmission accuracy requirements), and a slider. The servo motor is connected to the ball screw via a coupling. The slider slides in cooperation with the second slide rail 9, and the longitudinal drive assembly 5 is fixed on one side of the slider via a flange. The longitudinal drive assembly 5 uses an electric push rod (e.g., TOLOMAT IC200 series). Its stroke and rated thrust are designed to be adapted to the weight of the battery cell being gripped and the lifting requirements. The bottom of the electric push rod is fixed to the housing of the composite power storage mechanism 6 via bolts.

[0057] The shell of the composite energy storage mechanism 6 is made of stainless steel, and it integrates an electromagnetic drive component, a mechanical energy storage component, a permanent magnet auxiliary energy storage component, and an energy recovery component. The electromagnetic drive component uses a DC electromagnet (model MFZ1-5.5, rated voltage 24V, with the suction force adapted to the opening and closing requirements of the clamp). The mechanical energy storage component is a cylindrical helical compression spring made of 60Si2Mn material, with specific specifications designed according to energy storage requirements to ensure that the released energy can drive the clamp to close quickly. The permanent magnet auxiliary energy storage component uses neodymium iron boron magnets, grade N35, with specific dimensions adapted to auxiliary energy storage requirements, and is symmetrically arranged on both sides of the spring. The energy recovery component includes a rectifier bridge (model KBPC3510), a supercapacitor (capacity and rated voltage designed according to power supply requirements), and a voltage regulator module (model LM2596), which are electrically connected to the electromagnetic drive component and the sensing control module through wires.

[0058] The composite power storage mechanism 6 is fixed below by a bolt-on clamping and adjusting mechanism 7. Its clamp body is an aluminum alloy forging. The inner gripping contact surface is attached with a multi-functional contact component. This component has a three-layer composite structure: the outer layer is a polytetrafluoroethylene wear-resistant layer with a thickness designed according to wear resistance requirements; the middle layer is a silicone rubber buffer layer with a thickness and Shore hardness adapted to buffer requirements, for example, a Shore hardness of 50A is selected; and the bottom layer is a conductive cloth electrostatic discharge layer with a thickness designed according to electrostatic discharge efficiency. It is composite molded through a vulcanization process, and the contact area is designed to be adapted to the specifications of the battery cell to be gripped.

[0059] The first lateral drive component 2 is fixed to one side of the support component 3 by a bracket. Its structure is the same as that of the second lateral drive component 4. The support component 3 is driven to move along the first slide rail 8 by a servo motor. The surface of the support component 3 has reserved mounting positions to fix the edge computing control module 10 and the wireless communication module 11. The edge computing control module 10 adopts a Raspberry Pi 4B development board (or an industrial control module with the same performance) and is equipped with the Ubuntu 20.04 system. The wireless communication module 11 adopts a WiFi 6 module (Intel AX200 is selected as an example), supports the TCP / IP protocol, and is connected to the edge computing module through the PCIe interface.

[0060] The inner gripping contact surface of the collaborative clamping adjustment mechanism 7 is embedded with a multi-parameter sensing module. Among them, the pressure sensor (Honeywell FSG15N1A is selected as an example, with the range and accuracy designed according to the clamping force detection requirements, with an example range of 0-500N and an accuracy of ±0.5%FS) is installed inside the buffer layer, and the number is adapted to the detection uniformity requirements (4 are arranged evenly in an example); the thickness sensor (Keyence IL-300 is selected as an example, with the measurement range and accuracy designed according to the cell thickness detection requirements) is installed on both sides of the fixture opening and arranged symmetrically; the vibration sensor (PCB 352C65 is selected as an example, with the range and frequency range designed according to the transfer stability detection requirements) is installed on the side of the fixture body; the electrostatic sensor (IONICON ESA 200 is selected as an example, with the measurement range and response time designed according to the electrostatic protection requirements) is installed above the fixture opening. All sensors are connected to the ADC interface of the edge computing control module 10 through wires.

[0061] The working principle of the system's core components is as follows:

[0062] 1. Modular Independent Control Implementation: Each modular independent control unit corresponds to a set of the above-mentioned hardware combination. The edge computing control module 10 has a pre-stored control program and can receive start, stop, path setting and other trigger commands through conventional industrial control equipment (such as industrial control computers, PLCs, human-machine interfaces or computers, all of which are external supporting equipment and do not need to be fixedly assembled with this device). It can also run automatically according to the preset program. The module receives the data collected by the multi-parameter sensing module locally, and completes the coupling analysis and control signal output through the built-in algorithm without relying on the upper system. The wireless communication module 11 is used for inter-unit linkage communication and supports synchronous and asynchronous linkage modes. In synchronous mode, each unit receives a unified trigger signal and the grasping action error is no more than 5ms. In asynchronous mode, each unit executes the action independently according to the preset path and feeds back the working status through the communication module. When a sensor in a certain unit detects that a parameter exceeds the limit, such as pressure exceeding the set threshold or vibration exceeding the safe range, the edge computing control module 10 immediately triggers fault isolation. The unit stops the gripping action and maintains the current clamping state. Other units operate normally, and the fault information is uploaded to the monitoring terminal via the wireless communication module 11 (this terminal is an external supporting industrial control device that can be flexibly placed in the control room, operating table, etc. according to the workshop layout, without the need for fixed assembly with the actuator).

[0063] 2. Working process of the composite energy storage mechanism: When energized, the electromagnetic drive component generates an attractive force, overcoming the spring force of the mechanical energy storage component and the magnetic attraction of the permanent magnet auxiliary energy storage component. The drive clamp remains in an open state. At this time, the spring is compressed to a preset energy storage stroke, and the magnet spacing of the permanent magnet auxiliary energy storage component decreases to a preset distance, accumulating magnetic energy. Simultaneously, the energy recovery component converts the reverse electromotive force of the electromagnetic drive component into direct current through a rectifier bridge, charging the supercapacitor. When de-energized, the electromagnetic drive component loses magnetism, and the elastic potential energy of the spring and the magnetic energy of the permanent magnet are released in tandem. The drive clamp closes rapidly, with a closing response speed meeting the preset response threshold requirement of not less than 50ms (exemplarily implemented as 30ms). The supercapacitor supplies power to the sensing and control module through a voltage regulator module, with a continuous power supply time of not less than 10s, effectively compensating for the force attenuation of the energy storage component.

[0064] 3. Adaptive Interlocking and Self-Locking Mechanism Working Mechanism: The adaptive interlocking and self-locking mechanism is integrated into the clamping shaft of the coordinated clamping adjustment mechanism 7, including a dynamic locking component and multiple independent locking components: The dynamic locking component is a disc spring assembly made of 50CrVA material. The thickness and quantity are designed according to the locking strength requirements. For example, the thickness is 2mm and the quantity is 6 pieces. When the clamp is closed and clamped, the spring assembly is compressed with the clamping force. The greater the clamping force, the greater the preload of the spring assembly and the higher the locking strength. When the clamping force changes within the preset working range, the locking torque is adjusted synchronously and linearly (for example: when the clamping force increases from 100N to 500N, the locking torque increases from 5N·m to 25N·m).

[0065] The aforementioned dynamic locking component works in conjunction with the subsequent multiple independent locking components to achieve the irreversible locking of the present invention: the irreversible locking of the present invention refers to the locking mode in which, after being locked, it cannot be released by itself without external intervention and can only be unlocked when multiple preset unlocking conditions are met.

[0066] The multiple independent locking components include magnetic locking, mechanical locking, and rheological locking units: the magnetic locking is a miniature electromagnetic lock (DS-201 model is selected as an example, and the attraction force is designed according to the locking requirements), which locks when powered on and unlocks when powered off;

[0067] The mechanical locking system is a composite structure of ball joint, wedge, and pawl. The ball joint is made of bearing steel (GCr15) with surface hardening treatment, which can compensate for an angle deviation of ±3°. The wedge is made of wear-resistant alloy, and the wedge angle can be adaptively adjusted within the range of 5°-15° by adjusting the bolt. The pawl engages with the ratchet to achieve mechanical locking. The rheological locking unit uses a magnetorheological fluid device (Lord MRF-132DG type is selected as an example). When energized, the magnetorheological fluid solidifies to provide locking resistance.

[0068] The triple locking unit is triggered synchronously: after the clamp is closed in place, the electromagnetic lock is energized and locked, the pawl engages with the ratchet, and the magnetorheological fluid device is energized and solidified. The three units work independently, and the failure of any one unit does not affect the overall locking effect. Multiple preset unlocking conditions must be met simultaneously: the power component is energized (the electromagnetic drive component is energized), the control module sends an unlocking signal (the edge computing control module 10 outputs a high level), the battery cell is placed in place (the pressure sensor detection value is not greater than 50N), and the clamping force drops to a safe threshold (the pressure sensor detection value is not greater than 100N). When all four conditions are met, the electromagnetic lock is de-energized, the magnetorheological fluid device is de-energized and liquefied, the drive mechanism drives the pawl to disengage from the ratchet, and the clamp is released.

[0069] 4. Collaborative clamping adjustment mechanism 7 and multi-parameter closed-loop control: The collaborative clamping adjustment mechanism 7 includes a medium energy storage adjustment component, a rigid adaptive component, and a multi-functional contact component: The medium energy storage adjustment component is a miniature cylinder (exemplarily SMCCDJ2B10-15 type, working pressure range 0.3-0.6MPa), which adjusts the clamping force by changing the air pressure inside the cylinder; The rigid adaptive component is an elastic hinge, made of 65Mn material, with deformation designed according to displacement compensation requirements, exemplary not exceeding 2mm, which can compensate for small displacement deviations when the clamp is closed; The surface layer of the multi-functional contact component is made of polytetrafluoroethylene to reduce the coefficient of friction (exemplarily not exceeding 0.1), the middle layer of silicone rubber buffers the impact force, and the bottom conductive cloth conducts static electricity to the grounding terminal (ensuring that the static voltage is not greater than 100V).

[0070] The workflow of the multi-parameter coupled sensing control closed-loop module is as follows: pressure, thickness, vibration, and electrostatic detection components acquire data in real time. The sampling frequency is designed according to the detection accuracy requirements (100Hz for example). The data is transmitted to the edge computing control module 10. The module processes the data based on a multi-parameter coupled analysis model (using a weighted average algorithm, with pressure weight 0.4, thickness weight 0.3, vibration weight 0.2, and electrostatic weight 0.1), and calculates the compensation amount using the clamping force compensation formula. Among these, preset... The minimum effective clamping force (to ensure the battery cell does not come loose) is set to 100N; The maximum safe clamping force (to avoid cell damage) is set at 500N. Both values ​​are based on the structural strength and clamping stability requirements of soft-pack lithium batteries. Those skilled in the art can adjust them flexibly according to the specific specifications of the cell (such as capacity, thickness, and shell material).

[0071] The clamping force compensation formula is as follows:

[0072] ;

[0073] ;

[0074] And satisfy ;

[0075] in, This is a thickness compensation coefficient, with a value ranging from 0.8 to 1.2. The larger the deviation between the thickness detection value and the standard thickness (example 15mm), the closer the coefficient is to 1.2. It is used to compensate for the thickness differences between different batches of battery cells. The friction compensation coefficient is fixed at 1.0, as the friction coefficient of the multi-functional contact component is stable and no additional dynamic adjustment is required. This is the vibration compensation coefficient, with a value ranging from 0.9 to 1.1. The larger the vibration value, the closer the coefficient is to 1.1. The stability of the transfer is improved by increasing the clamping force. This is the electrostatic compensation coefficient, with a value ranging from 0.95 to 1.05. The higher the electrostatic voltage, the closer the coefficient is to 1.05, thus avoiding clamping offset caused by electrostatic discharge. To set the clamping force (example 300N). This is the value detected by the pressure sensor. This is the value detected by the electrostatic sensor. The edge computing module uses this value based on... Output PWM control signal to adjust the air pressure of the medium energy storage regulating component, thereby achieving dynamic closed-loop control of clamping force with a control accuracy of ±5N.

[0076] 5. Wear resistance and self-lubrication of the mechanical locking unit: The ball joint, wedge, and bidirectional ratchet of the mechanical locking unit are all coated with a titanium nitride wear-resistant coating. The thickness is designed according to wear resistance requirements, for example, 5μm, and the surface roughness Ra of the coating is no greater than 0.2μm. Microcapsule-type self-lubricating repair components are embedded in the mounting groove of the above components. The diameter of the microcapsules is designed to be adapted to the installation space (for example, 50-100μm). Polyalphaolefin grease is encapsulated inside. When the wear of the component reaches a preset threshold (for example, 0.05mm) or the coefficient of friction reaches a preset value (for example, 0.3), the microcapsules rupture and release the grease to replenish lubrication and repair minor wear, extending the service life of the component to more than 5 million cycles.

[0077] The workflow is as follows:

[0078] Initialization: The actuator is powered on, the electromagnetic drive component is powered on, the clamp is released, the composite power storage mechanism 6 stores energy, the multi-parameter sensing module performs a self-test, the edge computing control module 10 establishes a connection with the wireless communication module 11, and each unit is in standby mode.

[0079] Gripping preparation: Based on the parameters of the soft-pack lithium battery to be gripped, such as standard thickness and clamping force, preset... , , and the initial values ​​of each compensation coefficient;

[0080] Position adjustment: The first lateral drive component 2 drives the support component 3 to move along the first slide rail 8 to the designated work station, the second lateral drive component 4 drives the longitudinal drive component 5 and the subsequent mechanism to move along the second slide rail 9 to directly above the battery cell, and the longitudinal drive component 5 drives the fixture to descend to the gripping height;

[0081] Clamping and Locking: As the longitudinal drive assembly 5 continues to descend, the clamp adheres to the surface of the battery cell. The multi-parameter sensing module collects data in real time, and the edge computing module adjusts the clamping force according to the compensation formula. Subsequently, the triple locking unit of the adaptive interlocking self-locking mechanism is triggered synchronously to complete the locking;

[0082] Transfer and Placement: Each unit transfers battery cells according to a preset mode (synchronous or asynchronous). If parameters are detected to exceed limits during the transfer process, fault isolation is immediately triggered. After the battery cell is transferred to the target location, multiple unlocking conditions are met, the clamp is released, and placement is completed.

[0083] Emergency power outage: In the event of a sudden power outage, the composite power storage mechanism releases energy to drive the clamp to close and lock quickly, and the supercapacitor supplies power to the sensing module to ensure the safety of the battery cell;

[0084] Energy recovery: When powered on, the energy recovery component continuously recovers the reverse electromotive force to power auxiliary components and reduce energy consumption.

[0085] Application Scenario 1:

[0086] A lithium battery production workshop needs to simultaneously transfer two batches, A and B, of pouch lithium batteries (batch A has a standard thickness of 15mm, and batch B has a standard thickness of 17mm; both have aluminum-plastic film casings). This invention utilizes four modular independent control units for synchronous operation. During operation, the thickness sensor of the multi-parameter sensing module detects the cell thickness in real time: when detecting cells from batch A, the thickness deviation is 0. Take 1.0, The calculated voltage is stable at 300N; when batch B cells were detected, the thickness deviation was 2mm. Automatically adjusted to 1.2. Increase The compensation was adjusted to 360N (still within the safe range of 100N-500N), which prevented the B batch cells from loosening due to increased thickness, while also not exceeding the maximum safe clamping force. Simultaneously, the electrostatic sensor detected an ambient electrostatic voltage of 8kV in the workshop environment. The value was adjusted to 1.05 to further optimize the clamping force distribution; the vibration sensor detected a vibration value of 8g during the transfer process. A value of 1.05 is used to ensure smooth cell transfer without any damage or loosening, thus meeting the precise gripping requirements of different batches of cells.

[0087] Application Scenario 2:

[0088] A certain energy storage battery assembly line uses the six-unit asynchronous gripping and transfer of battery cells according to this invention. During the gripping of a certain battery cell by the third unit, the pressure sensor suddenly detected a pressure spike to 550N (exceeding the limit). Upon detection of an abnormal bulge in the battery cell casing by the edge computing control module 10, fault isolation was instantly triggered: Unit 3 stopped its transfer operation, and the adaptive interlocking self-locking mechanism maintained a clamping force of 350N to lock the battery cell and prevent it from falling out; the remaining 5 units were unaffected and continued to complete the gripping and transfer according to the preset path. The production line did not stop, and only maintenance personnel needed to handle the abnormal battery cell in Unit 3, ensuring production continuity. During subsequent transfer, a sudden power outage occurred in the workshop. The composite power storage mechanism of all units released energy synchronously, and the clamps quickly closed and locked within 30ms, maintaining the clamping force in the range of 280N-320N; the supercapacitor continuously powered the sensing module, and the fault information and the clamping status of each unit were uploaded to the preset monitoring terminal via the wireless communication module 11 (the terminal location can be arranged as needed, only ensuring the stability of the wireless communication signal and not affecting the core function of this device). During the power outage, no battery cells were damaged or scrapped. After the power was restored, the system automatically restarted and seamlessly connected to subsequent operations.

[0089] This system and actuator can also be directly used for the production and transfer of soft-pack lithium batteries for automobiles (pure electric and hybrid). It is compatible with the gripping, transfer and assembly of power cells. Through multi-parameter closed-loop control and fault isolation design, it can ensure the safety, accuracy and production continuity of cell transfer, and meet the needs of large-scale production of automotive lithium batteries.

[0090] In the description of this invention, it should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions provided in this disclosure can be achieved, and no limitation is imposed herein.

[0091] The above description is merely a preferred embodiment of the present invention and does not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A soft package lithium battery independent control grabbing system, characterized in that: The device comprises at least one modular independent control unit, each of which can independently perform a grabbing action and realize fault isolation, and each independent control unit is integrated with a composite power energy storage mechanism (6), an adaptive interlocking mechanism, a cooperative clamping adjustment mechanism (7), and a multi-parameter coupled sensing control closed-loop module. The composite power energy storage mechanism (6) drives the clamp to remain loose and accumulate energy when powered on, and releases energy to drive the clamp to close and clamp the soft-pack lithium battery quickly when powered off, with a closing response speed not lower than a preset response threshold. The adaptive interlocking mechanism is linked with the clamp, and the locking strength is adaptively adjusted after the clamp is closed and clamped, and irreversible locking is realized through multiple independent locking mechanisms, and the clamp can be unlocked only when the preset multiple unlocking conditions are met. The cooperative clamping adjustment mechanism (7) dynamically adjusts the clamping force to a preset threshold range according to the relevant parameters of the soft-pack lithium battery, and realizes the protection and anti-dropping of the soft-pack lithium battery through a multifunctional contact component. The multi-parameter coupled sensing control closed-loop module realizes adaptive closed-loop regulation and control of the clamping action by real-time acquisition of relevant parameters and sending of control signals based on multi-parameter coupled analysis.

2. The pouch lithium battery independent control grabbing system according to claim 1, wherein: The adaptive interlocking mechanism comprises a dynamic locking component and multiple independent locking components. The dynamic locking component adaptively adjusts the locking strength according to the clamping force, and the greater the clamping force, the higher the locking strength. The multiple independent locking components include magnetic locking, mechanical locking, and rheological locking units, which are triggered synchronously and independently, and the preset multiple unlocking conditions are power supply to the power component, sending of an unlocking signal by the control module, placement of the battery in place, and reduction of the clamping force to a safety threshold, and all four conditions must be met at the same time to unlock.

3. The pouch-lithium-battery independent control grasping system according to claim 1, wherein: The composite power energy storage mechanism (6) comprises an electromagnetic drive component, a mechanical energy storage component, a permanent magnet auxiliary energy storage component, and an energy recovery component; when powered on, the electromagnetic drive component drives the clamp to loosen, simultaneously compresses the mechanical energy storage component to store energy, and accumulates magnetic energy in the permanent magnet auxiliary energy storage component; When powered off, the electromagnetic drive component loses magnetism, the mechanical energy storage component and the permanent magnet auxiliary energy storage component cooperatively release energy to drive the clamp to close, and the energy recovery component recovers the reverse electromotive force to compensate for the force attenuation of the energy storage component and provide short-time power supply for the sensing control module.

4. The pouch-lithium-battery independent control grasping system of claim 1, wherein: The multi-parameter coupled sensing control closed-loop module comprises pressure, thickness, vibration, and electrostatic detection components, and realizes feedback regulation based on a multi-parameter coupled analysis model, and the feedback regulation logic is realized through a clamping force compensation formula. ； ； and satisfies ; wherein, to compensate the clamping force, , , , are thickness, friction, vibration and electrostatic compensation factors, respectively, is a set threshold value, is a detected value, is an electrostatic potential value, , are upper and lower clamping force threshold values, respectively.

5. The soft-pack lithium battery independent control grabbing system according to claim 1, wherein: The cooperative clamping adjustment mechanism (7) comprises a medium energy storage adjustment component, a rigid adaptive component, and a multifunctional contact component. The medium energy storage adjustment component adjusts the clamping force by changing the medium state, the rigid adaptive component compensates for the clamping displacement deviation, and the multifunctional contact component is a three-layer composite structure, realizing electrostatic discharge, clamping buffer, and anti-slip limiting functions.

6. The pouch-lithium-battery independent control grasping system of claim 1, wherein: Each independent control unit is configured with an edge computing control module (10) and a wireless communication module (11), which can realize multi-parameter coupled analysis and regulation and control locally without relying on an upper system; When multiple units are combined, synchronous, asynchronous, or grouped linkage grabbing is supported, and any unit parameter exceeding the limit triggers fault isolation, maintaining its own clamping state without affecting the operation of other units.

7. The pouch-lithium-battery independent control grasping system of claim 2, wherein: The mechanical locking unit is a ball hinge inclined wedge bidirectional pawl composite structure, the ball hinge compensates for angle deviation, and the inclined wedge wedge angle can be self-adaptively adjusted. The ball hinge, the inclined wedge and the bidirectional pawl of the mechanical locking unit are provided with wear-resistant coating and self-lubricating repair components, when the wear amount or the friction coefficient reaches a preset threshold, the components automatically release lubricating medium and compensate for locking force attenuation.

8. A soft package lithium battery independent control grabbing execution device for realizing the system as claimed in claims 1 to 7, characterized in that, Each unit is provided with a first transverse driving assembly (2) matched with the support assembly (3), and each hardware is assembled according to the following positions; The execution device is based on a base (1) bearing structure, the base (1) is provided with a first sliding rail (8), the first sliding rail (8) is provided with a support assembly (3), the top of the support assembly (3) is provided with a second sliding rail (9), the second sliding rail (9) is provided with a second transverse driving assembly (4), one side of the second transverse driving assembly (4) is provided with a longitudinal driving assembly (5), and the second transverse driving assembly (4) is used for driving the longitudinal driving assembly (5) to move transversely; The lower side of the longitudinal driving assembly (5) is provided with a composite power energy storage mechanism (6), and the lower side of the composite power energy storage mechanism (6) is provided with a cooperative clamping adjustment mechanism (7), and the longitudinal driving assembly (5) is used for driving the composite power energy storage mechanism (6) and the cooperative clamping adjustment mechanism (7) to move longitudinally; The inner side of the cooperative clamping adjustment mechanism (7) is provided with a self-adaptive interlocking self-locking mechanism and a multi-parameter sensing module, the multi-parameter sensing module is a pressure, thickness, vibration and electrostatic detection assembly, and is used for collecting related parameters of the soft package lithium battery; Each modular independent control unit is integrated with an edge computing control module (10) and a wireless communication module (11) and is installed on the support assembly (3). 9.The soft-pack lithium battery independent control grabbing execution device according to claim 8, characterized in that: One side of the support assembly (3) is provided with a first transverse driving assembly (2), and the first transverse driving assembly (2) is used for driving the support assembly (3) to move on the first sliding rail (8) to realize position conversion. 10.The soft-pack lithium battery independent control grabbing execution device according to claim 8, characterized in that: The composite power energy storage mechanism (6) comprises an electromagnetic driving assembly, a mechanical energy storage assembly, a permanent magnet auxiliary energy storage assembly and an energy recovery assembly.

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