Pole piece conveying method and device, piece stacking system, electronic equipment and storage medium

Abstract

The invention provides a pole piece conveying method and device, a piece stacking system, electronic equipment and a storage medium, and relates to the technical field of battery production. The method is used for a pole piece conveying device and comprises the steps that a pole piece conveying carrier of the pole piece conveying device is controlled to run at a constant speed on a first section of a guide rail, so that the pole piece conveying carrier receives pole pieces; and the pole piece conveying carrier is controlled to operate at the second section of the guide rail in a variable speed mode, and the pole piece conveying carrier at least has a static state in the variable speed operation process so that the pole piece on the pole piece conveying carrier can be taken out in the static state. Based on the design that the guide rail of the pole piece conveying device is divided into the first section and the second section, the multiple pole piece conveying carriers can independently run and move along the guide rail, so that decoupling and flexible scheduling in the conveying process are achieved, the pole piece conveying efficiency is improved, and the production efficiency and stability of the battery lamination process are improved.

Description

Technical Field

[0001] This invention relates to the field of battery manufacturing technology, and more specifically, to an electrode conveying method and apparatus, a stacking system, an electronic device, and a storage medium. Background Technology

[0002] The stacking process of lithium-ion batteries involves alternately stacking positive electrode sheets, negative electrode sheets, and separators to form a cell. This stacking structure directly affects the energy density, cycle life, and safety performance of the battery.

[0003] Currently, in the lamination process, the positive and negative electrode sheets cut on the die-cutting module are typically transported to the lamination module via belt conveyors. The belt conveyor is used to pick up the sheets from the die-cutting module and feed them into the lamination module. However, belt conveyors have an integrated linkage characteristic; their operation must be coordinated with the start and stop rhythms of the die-cutting and lamination modules. Especially when feeding sheets into the lamination module, the belt must pause to ensure smooth lamination. Simultaneously, the belt will pause picking up sheets or adopt a picking rhythm identical to the feeding rhythm. This mutual constraint between electrode sheet transport, feeding, and picking reduces electrode sheet transport efficiency, limits the improvement of lamination efficiency, and makes it difficult to meet the production requirements of high-speed, high-efficiency lamination. Summary of the Invention

[0004] The problem this invention addresses is: how to improve electrode conveying efficiency.

[0005] To address the aforementioned problems, this invention provides an electrode conveying method and apparatus, a stacking system, an electronic device, and a storage medium.

[0006] In a first aspect, the present invention provides an electrode conveying method for an electrode conveying device, the electrode conveying device comprising a guide rail and a plurality of electrode transport carriers movable along the guide rail and used to carry electrodes; the guide rail comprising a first section and a second section; the electrode conveying method comprising: The electrode transport vehicle is controlled to run at a constant speed in the first segment so that the electrode transport vehicle receives the electrode. The electrode transport vehicle is controlled to operate at a second speed change, and the electrode transport vehicle is at least stationary during the speed change operation, so that the electrode on the electrode transport vehicle can be removed in the stationary state.

[0007] Optionally, before the electrode transport vehicle is controlled to run at a constant speed in the first segment, the electrode transport method further includes: Determine the first preset target operating parameters; The control of the electrode transport vehicle to run at a constant speed in the first segment includes: The electrode transport vehicle is controlled to operate in the first segment according to the first preset target operating parameters, so that the electrode transport vehicle runs at a constant speed. And / or, before the electrode transport vehicle is controlled to operate at the second speed change, the electrode transport method further includes: Determine the second preset target operating parameters; The control of the electrode transport vehicle in the second speed-changing operation includes: The electrode transport vehicle is controlled to operate in the second segment according to the second preset target operating parameters, so that the electrode transport vehicle operates at variable speed.

[0008] Optionally, the second section is provided with a wafer transfer station; controlling the electrode transport vehicle to operate at varying speeds in the second section, and ensuring that the electrode transport vehicle is at least stationary during the speed-changing operation, so that the electrode on the electrode transport vehicle is removed in the stationary state, includes: The electrode transport vehicle is controlled to operate at the second speed change in the second stage according to the second preset target operating parameters, and the electrode transport vehicle is stationary at the electrode delivery and transfer station so that the electrode on the electrode transport vehicle can be taken out at the electrode delivery and transfer station.

[0009] Optionally, the second section is further provided with a waste film detection station and an electrode waste discharge station; on the second section, each of the electrode transport vehicles runs sequentially through the waste film detection station, the film delivery and transfer station and the electrode waste discharge station; The control of the electrode transport vehicle to operate at the second speed change, and the electrode transport vehicle being at least stationary during the speed change, so that the electrode on the electrode transport vehicle can be removed in the stationary state, includes: According to the second preset target operating parameters, the electrode transport vehicle is controlled to operate at the second speed change stage, and the electrode transport vehicle transporting normal electrodes is in the stationary state at the electrode delivery and transfer station so that the normal electrodes on the electrode transport vehicle are taken out at the electrode delivery and transfer station; the electrode transport vehicle transporting waste electrodes is in the stationary state at the electrode waste discharge station so that the waste electrodes on the electrode transport vehicle are taken out at the electrode waste discharge station; wherein, the normal electrodes and the waste electrodes are distinguished at the waste electrode detection station.

[0010] Optionally, the second segment includes a feeding segment, a waste discharge segment, and an idle segment, and the first segment, the feeding segment, the wafer transfer station, the waste discharge segment, the electrode waste discharge station, and the idle segment are connected in sequence; the waste wafer detection station is located in the feeding segment; The control of the electrode transport vehicle in the second speed-changing operation includes: According to the second preset target operating parameters, the electrode transport vehicle transporting the normal electrode is controlled to decelerate in the delivery section and accelerate in the waste discharge section and the empty section; the electrode transport vehicle transporting the waste electrode is controlled to decelerate in the delivery section and the waste discharge section and accelerate in the empty section; wherein each electrode transport vehicle operates at intervals in the second section.

[0011] Optionally, the second preset target operating parameters include the target speed of each of the electrode transport vehicles located in the second segment at various positions in the second segment; The step of controlling the electrode transport vehicle to operate at the second speed change segment according to the second preset target operating parameters includes: Control each of the electrode transport vehicles located in the second segment to operate at the corresponding target speed at various positions in the second segment, so as to change speed and operate at intervals in the second segment.

[0012] Optionally, at least the second section includes a speed measuring station for determining the operating speed of the electrode conveying device; controlling the electrode transport vehicle to operate at varying speeds in the second section includes: The operating speed of each electrode transport vehicle is dynamically compensated based on the speed deviation of each of the electrode transport vehicles at the speed measuring station; wherein, the speed deviation is the difference between the operating speed of each of the electrode transport vehicles detected by the speed measuring station and the corresponding target speed.

[0013] Optionally, the first segment and the second segment form a circular path; And / or, multiple spaced-apart electrode transport vehicles are respectively connected to the guide rail via magnetic levitation sliding connection, and the guide rail is used for electromagnetic driving of each electrode transport vehicle to move along the guide rail.

[0014] Optionally, the first segment and the second segment form a circular path; part or all of the first segment is provided with a receiving and transfer station for the electrode transport vehicle to receive the electrode.

[0015] Secondly, the present invention provides an electrode conveying device, comprising a guide rail, a plurality of electrode transport carriers movable along the guide rail and used to carry electrode sheets, a constant speed control unit, and a variable speed control unit: The uniform speed control unit is used to control the electrode transport vehicle to run at a uniform speed in the first section of the guide rail so that the electrode transport vehicle can receive the electrode. The speed control unit is used to control the electrode transport vehicle to operate at a different speed in the second stage of the guide rail, and the electrode transport vehicle is at least stationary during the speed change operation, so that the electrode on the electrode transport vehicle can be taken out in the stationary state.

[0016] Thirdly, the present invention provides a stacking system, including a die-cutting device and an electrode conveying device as described in the second aspect; the die-cutting device is used to manufacture electrodes and transfer the electrodes to the electrode transport carrier of the electrode conveying device.

[0017] Optionally, the stacking system further includes a stacking device for removing the electrode from the electrode transport carrier of the electrode transport device when it is stationary.

[0018] Fourthly, the present invention provides an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the electrode delivery method as described in the first aspect when executing the computer program.

[0019] Fifthly, the present invention provides a computer-readable storage medium storing a computer program that is read and executed by a processor to implement the electrode conveying method as described in the first aspect.

[0020] The beneficial effects of the electrode conveying method and apparatus, stacking system, electronic equipment, and storage medium of the present invention are as follows: Based on the design of the electrode conveying device with a first and second section of guide rail, multiple electrode transport carriers can move independently along the guide rail, thereby achieving decoupling and flexible scheduling of the conveying process. In the first section, the electrode transport carrier is controlled to run at a stable speed according to a first preset target operating parameter, so as to keep synchronized with the electrode output cycle of the die-cutting device, ensuring smooth electrode reception and avoiding electrode position displacement or damage caused by speed fluctuations. In the second section, the electrode transport carrier is controlled to run at variable speed according to a second preset target operating parameter, remaining stationary at least at the electrode feeding and transfer station, to ensure that the electrode can be accurately removed by the stacking device, improving the stability and reliability of the electrode removal action, and simultaneously improving the operating efficiency of the electrode transport carrier at other positions in the second section besides the electrode feeding and transfer station. Therefore, this invention not only decouples the electrode assembly and delivery processes, significantly improving the continuity, flexibility, and cycle controllability of electrode assembly, delivery, and stacking, and increasing electrode delivery efficiency, but also reduces the energy consumption and equipment wear of the electrode delivery device, thus comprehensively improving the production efficiency and stability of the battery stacking process. Attached Figure Description

[0021] Figure 1This is a schematic diagram of the structure of the electrode conveying device, the die-cutting device, and the stacking device in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the electrode conveying device, the die-cutting device, and the stacking device in another embodiment of the present invention; Figure 3 This is a structural block diagram of the electrode conveying device in an embodiment of the present invention; Figure 4 This is a schematic diagram of the communication connection between the memory and processor of an electronic device in an embodiment of the present invention. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0024] Combination Figure 1 As shown, an embodiment of the present invention provides an electrode conveying method for an electrode conveying device. The electrode conveying device includes a guide rail and a plurality of electrode transport carriers that can move along the guide rail and are used to carry electrodes. The guide rail includes a first section and a second section.

[0025] The method described in this embodiment can be used to achieve high-efficiency conveying control of electrode conveying devices in battery stacking processes, thereby improving stacking efficiency. The electrode conveying device includes a guide rail and multiple electrode transport carriers that can move independently along the guide rail and carry the electrodes. During electrode conveying, the electrode transport carriers can move independently, avoiding the start-stop coupling problem caused by the constraint of the overall belt movement on all electrodes in belt conveying methods of related technologies. Thus, on the one hand, it ensures that when individual electrodes need to stop at the feeding station to cooperate with the stacking device of the stacking system used by the electrode conveying device, other electrode transport carriers can continue to operate and complete the receiving or intermediate conveying, ensuring the continuity and flexibility of electrode conveying; on the other hand, it also reduces the increased energy consumption and equipment wear caused by frequent belt starts and stops in related technologies, thereby facilitating efficient decoupling and dynamic scheduling between electrode receiving, conveying, and feeding, comprehensively improving the stability of the electrode conveying process and the accuracy of the production cycle.

[0026] Furthermore, the guide rail is equipped with a first section and a second section, which can be used for uniform speed operation and variable speed operation of the electrode conveying device on the guide rail, respectively. This allows for differentiated control of the electrode conveying device at different workstations on the guide rail. For example, in the first section, the electrode transport carrier runs at a stable speed, which can keep synchronized with the output cycle of the die-cutting device of the stacking system used by the electrode conveying device, ensuring that the electrodes can complete the splicing action smoothly and continuously, avoiding splicing failure or electrode damage caused by speed fluctuations. In the second section, the electrode transport carrier can accelerate, decelerate, or stop, so as to accurately stop at the feeding and transfer station (i.e., the station set on the second section that corresponds to the stacking device and is used for feeding the electrode from the electrode transport carrier to the stacking device), and cooperate with the stacking device to complete the high-precision wafer picking operation. In this way, the combined design of the first and second sections not only decouples the splicing and feeding links, but also improves the flexibility and cycle controllability of the entire electrode conveying process, thereby improving the efficiency and stability of the stacking production.

[0027] Electrode delivery methods include: The electrode transport vehicle is controlled to run at a constant speed in the first segment so that it can receive the electrode.

[0028] Specifically, in the first section of the guide rail, based on preset target operating parameters (denoted as the first preset target operating parameters) for controlling the uniform speed operation of the electrode transport carriers in the first section, each electrode transport carrier can be controlled to operate at a uniform speed in the first section. This ensures that the electrodes in the first section can be smoothly connected (e.g., receiving electrodes output from the die-cutting device). In particular, by controlling the electrode transport carriers to maintain a stable speed in the first section, not only can the electrode transport carriers be synchronized with the electrode output cycle of the die-cutting device, ensuring the smooth reception of electrodes, but also electrode offset, slippage, or surface damage caused by speed fluctuations can be avoided.

[0029] The electrode transport vehicle is controlled to operate at a variable speed in the second stage, and the electrode transport vehicle is at least stationary during the variable speed operation, so that the electrode on the electrode transport vehicle can be removed while stationary.

[0030] Specifically, in the second section of the guide rail, the electrode transport carrier can be controlled to operate at varying speeds based on preset target operating parameters (denoted as the second preset target operating parameters). During this variable-speed operation, the electrode transport carrier must maintain a stationary state at least once, during which it feeds electrodes to the stacking device. This ensures that electrodes on the corresponding positions in the second section can be smoothly removed by the stacking device while stationary, guaranteeing precise alignment and stability of the electrode removal operation. At other positions in the second section, the electrode transport carrier can accelerate, decelerate, stop, or partially maintain a constant speed according to production cycle requirements. This adjusts its trajectory and speed curve, facilitating collision avoidance between electrode transport carriers (i.e., spacing between them) while improving the operating efficiency of each carrier and enhancing the flexibility and intelligence of the entire electrode transport process.

[0031] In summary, this embodiment's method is based on a guide rail design with two separate sections for the electrode conveying device. Multiple electrode transport carriers can move independently along the guide rail, thereby achieving decoupling and flexible scheduling of the conveying process. In the first section, the electrode transport carriers are controlled to operate at a stable speed to synchronize with the electrode output cycle of the die-cutting device, ensuring smooth electrode reception and avoiding electrode positional shifts or damage caused by speed fluctuations. In the second section, the electrode transport carriers are controlled to operate at variable speeds, remaining stationary at least at the electrode transfer station to ensure that the electrodes can be accurately removed by the stacking device, improving the stability and reliability of the electrode removal action, and simultaneously increasing the operating efficiency of the electrode transport carriers at other positions in the second section besides the electrode transfer station. Thus, this embodiment's method not only decouples the electrode receiving and delivery stages, significantly improving the continuity, flexibility, and cycle controllability of electrode receiving, conveying, and stacking, and increasing electrode conveying efficiency, but also reduces the energy consumption and equipment wear of the electrode conveying device, comprehensively improving the production efficiency and stability of the battery stacking process.

[0032] Optionally, the electrode transport carrier, while movable relative to the guide rail, can also be used to fix and support the electrode, ensuring that the electrode maintains a stable position and orientation on the electrode transport carrier during the electrode transport process, so as to accurately align with the die-cutting device for electrode attachment, and accurately align with the stacking device for electrode feeding, etc. In some embodiments, the electrode transport carrier can use a method such as vacuum adsorption (negative pressure adsorption) to position the electrode on it.

[0033] Optionally, before the electrode transport vehicle operates at a constant speed in the first stage, the electrode transport method further includes: Determine the first preset target operating parameters.

[0034] Specifically, in order to ensure that the operating status of the electrode transport vehicle in the first stage can accurately match the corresponding electrode transport requirements, a first preset target operating parameter for the electrode transport vehicle to run at a constant speed in the first stage can be determined before the electrode transport vehicle enters the first stage, or before the electrode conveying device is put into use (or starts running).

[0035] The first preset target operating parameters can be calculated by the control system of the electrode conveying device based on factors such as the output cycle time of the die-cutting device in the stacking system, the safety distance between the electrode transport vehicles, the allowable deviation of the splicing position, and the splicing stability requirements. These parameters include splicing speed, allowable speed fluctuation range, and information on the uniform running trajectory adapted to the first segment. In some embodiments, the first preset target operating parameters can also be preset according to requirements, and then the relevant parameters of the corresponding die-cutting device can be set to match the production rhythm of the die-cutting device with that of the electrode conveying device. For example, the first preset target operating parameters can be preset after unified planning by the stacking system and used as the basis for cycle time coordination between the die-cutting device and the electrode conveying device, so that the electrode output rhythm of the die-cutting device matches the uniform running of the electrode transport vehicle, ensuring the stability of the splicing action.

[0036] Controlling the electrode transport vehicle to run at a constant speed in the first stage includes: The electrode transport vehicle is controlled to operate according to the first preset target operating parameters in the first stage, so that the electrode transport vehicle runs at a constant speed.

[0037] Specifically, based on the first preset target operating parameters, the electrode transport vehicle is controlled to operate according to the first preset target operating parameters in the first stage, so that the electrode transport vehicle operates at a constant speed.

[0038] For example, the first section of the guide rail is provided with a sheet-joining transfer station, which corresponds to the die-cutting device and is used to ensure that the electrode transport carrier accurately receives the electrode from the die-cutting device during the electrode transport process. The electrode transport carrier maintains a uniform speed at the sheet-joining transfer station at a first preset target operating parameter (such as sheet-joining speed) to ensure a smooth transfer of the electrode between the die-cutting device and the electrode transport carrier, avoiding electrode slippage, offset, or warping caused by speed differences or instantaneous fluctuations. In some embodiments, the sheet output speed of the die-cutting device is consistent with or approximately consistent with the sheet-joining speed of the electrode transport carrier at the sheet-joining transfer station to ensure that the electrode can be smoothly and stably output from the die-cutting device to the electrode transport carrier.

[0039] Optionally, the electrode transfer station may be part or all of the first segment. That is, the electrode transfer station may only cover a local area in the first segment (such as near the output end of the die-cutting device) to complete the electrode splicing action in a specific area; or it may cover the entire area of ​​the first segment, so that the entire first segment has splicing capability, thereby providing a longer splicing window for the electrode transport vehicle and improving the stability and fault tolerance of the splicing process.

[0040] Optionally, before the control electrode transport vehicle operates at the second speed change, the electrode transport method further includes: Determine the second preset target operating parameters.

[0041] Specifically, in order to ensure that the operating status of the electrode transport vehicle in the second stage can accurately match the corresponding electrode transport requirements, a second preset target operating parameter for the electrode transport vehicle to operate at variable speed in the second stage can be determined before the electrode transport vehicle enters the second stage, or before the electrode conveying device is put into use (or starts operating).

[0042] The second preset target operating parameters can be calculated by the control system of the electrode conveying device based on factors such as the wafer picking cycle time of the stacking device, the wafer picking window period, the safety distance between electrode transport vehicles, the allowable deviation of the wafer picking position, and the wafer picking stability requirements. For example, the second preset target operating parameters include: the target speed and running acceleration of the electrode transport vehicle at different positions in the second section, the preset dwell time at the wafer delivery and transfer station, the distance parameters between different operating stations, the minimum safety interval threshold for ensuring interval operation, and the maximum allowable rate of change of acceleration for preventing sudden speed changes. The control system can generate a variable speed running trajectory for the electrode transport vehicle in the second section based on the above parameters to ensure that the electrode transport vehicle can smoothly decelerate before reaching the wafer delivery and transfer station and achieve precise stillness at the wafer delivery and transfer station, ensuring stable and accurate wafer delivery (or wafer picking by the stacking device); after completing wafer delivery, it can also smoothly accelerate away according to the preset acceleration, ensuring the orderly operation of each electrode transport vehicle and improving the electrode conveying efficiency and stacking efficiency. In some embodiments, the first preset target operating parameters can be preset according to requirements, and then the relevant parameters of the corresponding stacking device can be set so that the production rhythm of the stacking device is adapted to the electrode conveying device. For example, the second preset target operating parameters can be dynamically updated according to the changes in the current production cycle of the stacking system to adapt to the fluctuation of the die-cutting device cycle and the changes in the electrode picking requirements of the stacking device, thereby improving the overall operating efficiency and control accuracy of the electrode conveying device in the second stage.

[0043] Controlling the electrode transport vehicle during the second stage of variable speed operation includes: The control electrode transport vehicle operates in the second stage according to the second preset target operating parameters, so that the electrode transport vehicle operates at variable speed.

[0044] Specifically, based on the second preset target operating parameters, the electrode transport vehicle is controlled to operate in the second stage according to the second preset target operating parameters, so that the electrode transport vehicle operates at variable speed.

[0045] For example, the second section of the guide rail is equipped with a wafer delivery and transfer station, which corresponds to the stacking device and is used to accurately deliver the electrode from the electrode transport carrier to the stacking device during the electrode transport process. After the electrode transport carrier runs to the second section, its speed can be dynamically adjusted, such as accelerating, decelerating, or stopping, based on preset target operating parameters (i.e., the second preset target operating parameters) used for the control of the second section. Before the electrode transport carrier runs to the wafer delivery and transfer station, it gradually decelerates according to the production cycle requirements; when it reaches the wafer delivery and transfer station, it stops precisely (in a stationary state), so that the electrode it carries can be smoothly removed by the stacking device in a stationary state, ensuring the stability of the wafer delivery process and the high-precision docking of the wafer removal action; after the wafer delivery is completed, the electrode transport carrier resumes acceleration according to the target operating parameters and quickly leaves the wafer delivery and transfer station, avoiding prolonged stay that may interfere with the subsequent transport cycle.

[0046] Optionally, the second section includes a wafer transfer station; controlling the electrode transport vehicle to operate at varying speeds in the second section, and ensuring that the electrode transport vehicle remains stationary at least during the speed-changing operation, so that the electrode on the electrode transport vehicle is removed while stationary, includes: According to the second preset target operating parameters, the electrode transport vehicle is controlled to operate at a variable speed in the second stage, and the electrode transport vehicle is stationary at the electrode delivery and transfer station so that the electrode on the electrode transport vehicle can be taken out at the electrode delivery and transfer station.

[0047] Specifically, the second section of the guide rail is equipped with a wafer delivery and transfer station, which corresponds to the wafer picking position of the stacking device, and is used to achieve precise wafer delivery from the electrode transport carrier to the stacking device. To ensure that the electrode can be safely removed by the stacking device at the appropriate time and in a stable posture, the operation of the electrode transport carrier in the second section is controlled by speed variation, and the electrode transport carrier is required to be stationary at the wafer delivery and transfer station. Based on this, the method of this embodiment controls the electrode transport carrier to operate at variable speed in the second section according to a second preset target operating parameter. For example, when the electrode transport vehicle in the second stage is a certain distance from the electrode transfer station, it begins to decelerate until it reaches the electrode transfer station and comes to a standstill. This ensures that the electrodes on the electrode transport vehicle maintain a stable posture with no relative movement. At this time, the stacking device can accurately position and pick up the electrodes during this static window period through its electrode picking mechanism (such as a vacuum suction cup, clamping mechanism, etc.). After picking up the electrodes, the electrode transport vehicle accelerates again according to the second preset target operating parameters, leaves the electrode transfer station, and enters the subsequent area of ​​the second stage to avoid interfering with the orderly delivery of electrodes by other electrode transport vehicles.

[0048] Thus, based on the variable speed operation of the electrode transport vehicle in the second stage, the electrode feeding process is accurately matched with the action rhythm of the stacking device, thereby ensuring the reliability and stability of electrode feeding (or electrode retrieval).

[0049] Optionally, combined Figure 2 As shown, the second section also includes a waste film inspection station and an electrode waste removal station; on the second section, each electrode transport vehicle passes through the waste film inspection station, the film delivery and transfer station and the electrode waste removal station in sequence.

[0050] Specifically, considering that the electrode sheets may vibrate or slightly shift during the splicing process due to special circumstances, causing their position to not be completely consistent with the preset splicing path, or that the electrode sheets output by the die-cutting device may have defects such as positional deviation, missing corners, wrinkles, or foreign matter attachment, directly transporting these electrode sheets to the stacking device via the electrode sheet transport carrier can easily lead to abnormal situations such as failed sheet picking, misaligned stacking, and uneven electrode sheet stacking during the subsequent stacking process, and may even lead to a decrease in the quality of the battery cell or the scrapping of the entire cell. To avoid the above situations, a waste sheet detection station and a waste electrode sheet removal station can be set up on the guide rail to realize waste sheet detection and directional, point-to-point rejection of the detected waste sheets, respectively. Furthermore, the waste wafer inspection station and the electrode waste removal station are located in the second section. During the operation of the electrode transport vehicles, each electrode transport vehicle passes through the waste wafer inspection station, the wafer delivery and transfer station, and the electrode waste removal station in sequence. In other words, the wafer receiving and transfer station, the waste wafer inspection station, the wafer delivery and transfer station, and the electrode waste removal station are set up sequentially along the guide rail. On the one hand, the waste wafer inspection and waste removal links are embedded in the second section, which will not interfere with the wafer receiving cycle of the first section, so that the wafer receiving and the continuous output of the die-cutting device remain stable and synchronized, and the wafer receiving is not interrupted due to waste wafer inspection or processing operations. On the other hand, the waste removal link is connected after the wafer delivery (wafer removal by the stacking device), which can ensure that normal electrodes are successfully delivered and removed by the stacking device, while timely removing unqualified electrodes (marked as waste electrodes) at designated points. This achieves accurate separation of normal electrodes and waste electrodes, which not only ensures the high precision and stability of the stacking process, but also effectively improves the yield and production safety of the entire line.

[0051] For example, a vision inspection device is provided at the waste electrode inspection station to detect and identify the position and appearance of the electrodes received by the electrode transport carrier from the die-cutting device in real time. When an electrode position deviation or defect is detected, the electrode is marked as a waste electrode and subsequently rejected at the electrode waste discharge station. A waste electrode processing mechanism (such as an air blowing device or a mechanical rejection device) is provided at the electrode waste discharge station to discharge the waste electrodes arriving at the electrode waste discharge station from the production line, thereby preventing defective electrodes from entering subsequent processes and affecting normal electrode assembly, conveying, and feeding processes, and improving the yield of battery stacked products.

[0052] Optionally, for waste electrodes that only have positional misalignment, a position correction station can be set up in the second stage to guide subsequent position correction processing. For example, after the electrode reaches the position correction station, a corresponding electrode position correction device (such as a controllable push rod structure, lateral movement mechanism, clamping mechanism, or adsorption structure with flexible adsorption adjustment function) can perform position correction operation on it, so that the electrode returns to the set center position and standard posture, thereby ensuring the accuracy and stability of subsequent transfer and feeding processes.

[0053] Controlling the electrode transport vehicle to operate at a second speed change, and ensuring that the electrode transport vehicle remains stationary at least during the speed change operation, so that the electrode on the electrode transport vehicle is removed while stationary, includes: According to the second preset target operating parameters, the electrode transport vehicle is controlled to operate at a variable speed in the second stage. The electrode transport vehicle transporting normal electrodes is stationary at the electrode delivery and transfer station so that the normal electrodes on the electrode transport vehicle can be removed at the electrode delivery and transfer station. The electrode transport vehicle transporting waste electrodes is stationary at the electrode waste discharge station so that the waste electrodes on the electrode transport vehicle can be removed at the electrode waste discharge station. Among them, normal electrodes and waste electrodes are distinguished at the waste electrode detection station.

[0054] Specifically, based on the setup of the waste electrode inspection station and the electrode waste removal station, the quality status of the electrodes can be pre-judged and screened before they are officially sent for delivery. If defects or abnormalities are detected in the electrodes at the waste electrode inspection station, they can be marked as waste electrodes through control logic and transported to the electrode waste removal station by the electrode transport carrier for precise and stationary placement. This, combined with the waste removal device, completes the fixed-point stabilization and precise rejection, thereby preventing unqualified electrodes from affecting battery stacking. For electrodes that are detected as normal, the electrode transport carrier transports them to the electrode delivery and transfer station for precise and stationary placement, and the stacking device completes the electrode delivery. In this way, through the continuous process of detecting, distinguishing, and delivering normal electrodes, and through the continuous process of detecting, distinguishing, and removing waste electrodes, not only is the automatic separation of normal and waste electrodes achieved, but also the problems of electrode picking failure, stacking misalignment, or complete scrapping caused by the mixing of waste electrodes in traditional transportation methods are avoided, ensuring the stability of the stacking process and the overall yield of battery production.

[0055] Since discarded electrodes are not fed into the conveyor, they do not need to stop at the conveyor transfer station but continue moving along the guide rail towards the electrode waste discharge station. This provides space for the subsequent delivery of normal electrodes while avoiding the obstruction and interference caused by discarded electrodes at the conveyor transfer station, shortening the dwell time of discarded electrodes in the transport path, improving waste removal efficiency, and reducing the impact of discarded electrodes on the overall production cycle. Correspondingly, after the electrode transport vehicle delivers normal electrodes at the conveyor transfer station, it does not need to stop when passing the electrode waste discharge station but continues to move along the guide rail, providing space for the operation of subsequent electrode transport vehicles and avoiding collisions between different electrode transport vehicles.

[0056] In this way, the movement trajectories of waste electrodes and normal electrodes on the guide rail are rationally separated: waste electrodes are quickly guided to the waste discharge path after being identified at the waste electrode detection station and are promptly removed; while normal electrodes strictly follow the predetermined rhythm of receiving and feeding to complete the picking and feeding actions, ensuring the stability and efficiency of the stacking process. This not only effectively improves the waste electrode processing efficiency and the overall production line operating efficiency, but also enhances the flexibility and intelligent management capabilities of the electrode conveying process.

[0057] Optionally, the second section includes a feeding section, a waste removal section, and an unloaded section, with the first section, feeding section, wafer transfer station, waste removal section, electrode waste removal station, and unloaded section connected in sequence; the waste wafer detection station is located in the feeding section; Controlling the electrode transport vehicle during the second stage of variable speed operation includes: According to the second preset target operating parameters, the electrode transport vehicle for transporting normal electrodes is controlled to decelerate in the delivery section and accelerate in the waste discharge section and the empty section; the electrode transport vehicle for transporting waste electrodes is controlled to decelerate in the delivery section and the waste discharge section and accelerate in the empty section; wherein, each electrode transport vehicle operates at intervals in the second section.

[0058] Specifically, based on the setup of the waste sheet inspection station and the electrode waste removal station, the second section can be divided into a delivery section, a waste removal section, and an unloaded section. For the entire guide rail, the first section, the delivery section, the delivery transfer station, the waste removal section, the electrode waste removal station, and the unloaded section are connected sequentially, with the waste sheet inspection station located in the delivery section. During the variable-speed operation of the electrode transport vehicle in the second section, based on the second preset target operating parameters, the electrode transport vehicle that has completed the sheet connection in the first section first enters the delivery section of the second section. It then decelerates in the delivery section according to the second preset target operating parameters and performs waste sheet inspection at the corresponding waste sheet inspection station on the delivery section to distinguish between normal electrodes and discarded electrodes. For electrode transport vehicles carrying normal electrodes, they decelerate along the delivery section until they come to a stop at the electrode transfer station to deliver normal electrodes. After delivery, they accelerate and leave the electrode transfer station, subsequently passing through the waste discharge section and the empty section. For electrode transport vehicles carrying waste electrodes, they decelerate along the delivery and waste discharge sections until they come to a stop at the electrode waste discharge station to discharge waste electrodes. After waste discharge, they accelerate and leave the electrode waste discharge station, subsequently passing through the empty section. Moreover, throughout the entire second section, the electrode transport vehicles maintain a constant interval, avoiding collisions caused by speed differences regardless of whether they are in the normal electrode delivery process or the waste electrode discharge process, thus achieving efficient and safe electrode transport scheduling.

[0059] Optionally, the electrode transport vehicle's variable speed operation in the second stage can be uniform variable speed operation. For example, in the normal electrode feeding process, the electrode transport vehicle decelerates uniformly along the feeding section until it comes to a stop at the electrode transfer station, where normal electrode feeding is performed. After feeding, it accelerates uniformly and leaves the electrode transfer station, subsequently passing through the waste discharge section and the empty section. In the waste electrode discharge process, the electrode transport vehicle decelerates uniformly along the feeding and waste discharge sections until it comes to a stop at the waste electrode discharge station, where waste electrode discharge is performed. After discharge, it accelerates uniformly and leaves the waste electrode discharge station, subsequently passing through the empty section. This ensures the smoothness of the variable speed operation of the electrode transport vehicle in the second stage and avoids sudden speed changes affecting the stability of electrode transport.

[0060] Optionally, the electrode transport vehicle's variable-speed operation in the second stage can also be dynamically adjusted by a corresponding control system within the limits of a second preset target operating parameter. For example, the second preset target operating parameter includes basic operating constraints such as the target speed range, acceleration / deceleration range, allowable stopping error, and interval maintenance threshold for the second stage of variable-speed operation. Within the above parameter range, the control system refines the instantaneous trajectory of the electrode transport vehicle based on real-time operating conditions without altering the overall speed planning principle determined by the second preset target operating parameter.

[0061] For example, the control system can collect information in real time such as the current position, current speed, acceleration, distance between the electrode transport vehicle and the vehicles in front and behind, waste film detection results, and changes in the wafer picking cycle of the stacking device. Within the basic operating range defined by the second preset target operating parameters, the control system can calculate the minute adjustments to the instantaneous speed and acceleration of each electrode transport vehicle to maintain a safe distance between vehicles, maintain the smoothness of uniform speed change operation, and adapt to changes in the wafer picking cycle of the stacking device.

[0062] Optionally, the second preset target operating parameters include the target speed of each electrode transport vehicle located at various positions in the second segment; Controlling the electrode transport vehicle to operate at variable speed in the second stage according to the second preset target operating parameters includes: Control each electrode transport vehicle located in the second section to run at a corresponding target speed at various positions in the second section, so as to change speed and run at intervals in the second section.

[0063] Specifically, to ensure that the operation of the electrode transport vehicles in the second section precisely matches the wafer picking rhythm (or waste removal rhythm) of the stacking system, the second preset target operating parameters include the target speed of each electrode transport vehicle at various positions in the second section. This target speed can be calculated by the control system based on factors such as the wafer picking rhythm of the stacking device (or the completion time window for electrode waste removal), the safety distance requirements between electrode transport vehicles, and electrode stability requirements. During electrode transport, the control system controls the speed of the electrode transport vehicles in the second section based on the aforementioned second preset target operating parameters, ensuring that they operate at the target speed corresponding to each position in the second section, thus achieving variable speed operation in the second section.

[0064] Furthermore, considering the presence of normal and waste electrodes, the target speeds of electrode transport vehicles carrying different types of electrodes at the same location on the second section may differ. For example, for electrode transport vehicles carrying normal electrodes, the target speed curves at various locations on the second section are set to decelerate in the feeding section and reach zero at the corresponding location interval of the electrode transfer station, allowing the stacking device to complete electrode picking while stationary at the transfer station. After leaving the transfer station, the vehicle accelerates in the waste removal and empty sections to leave the transfer station as quickly as possible, providing space for subsequent electrode transport and thus improving overall transport efficiency. For electrode transport vehicles carrying waste electrodes, the target speed curves at various locations on the second section are set to decelerate in the feeding and waste removal sections until reaching zero at the corresponding location of the electrode waste removal station, completing waste electrode rejection. After waste removal, the vehicle accelerates in the empty section to provide path resources for subsequent electrode transport vehicles.

[0065] In summary, based on the preset target speed, the orderly operation of each electrode transport vehicle in the second stage can be ensured, and effective collision avoidance between the vehicles can be achieved. The target speeds at each location can be preset before the electrode transport vehicles enter the second stage, or planned by the control system before the electrode conveying device is put into use (or begins operation); alternatively, the target speed of subsequent electrode transport vehicles at a certain location in the second stage can be dynamically adjusted based on the real-time speed of the vehicles that have already passed that location. For example, when the control system detects a slight speed deviation in a preceding electrode transport vehicle due to its own or external factors, the control system can fine-tune the target speed of subsequent electrode transport vehicles in real time, increasing or decreasing the speed of the subsequent vehicles at the corresponding location to maintain the required safe distance between the preceding and subsequent electrode transport vehicles. In this way, by dynamically correcting the target speed in real time, all electrode transport vehicles in the second section can form an adaptive, stable, and collision-free operating queue, achieving high-precision scheduling of complex operating states in the second section (including electrode delivery, waste discharge, empty return, etc.), and improving the reliability, flexibility, and stability of the overall production cycle of the transport process.

[0066] Optionally, at least the second section includes a speed measuring station for determining the operating speed of the electrode conveying device; controlling the variable speed operation of the electrode transport vehicle in the second section includes: The operating speed of the electrode transport vehicles is dynamically compensated based on the speed deviation of each vehicle at the speed measuring station; where the speed deviation is the difference between the operating speed of each electrode transport vehicle detected at the speed measuring station and the corresponding target speed.

[0067] Specifically, to further improve the operational stability and speed control accuracy of the electrode transport vehicle in the second section, at least one speed measuring station is provided in the second section to determine the operating speed of the electrode conveying device. This speed measuring station can be equipped with a non-contact speed sensor, such as a laser speed sensor, photoelectric encoder, magnetic encoder, or a speed recognition device based on a vision algorithm, to detect in real time the actual operating speed of the electrode transport vehicle currently passing through the speed measuring station.

[0068] During the second-stage speed change operation of the electrode transport vehicle, the operating speed of the vehicle can be dynamically compensated based on real-time speed data detected by the speed measuring station. Specifically, the control system can obtain the target speed that each electrode transport vehicle should reach at various positions in the second stage, and compare the actual operating speed detected by the speed measuring station with the target speed to determine the speed deviation (i.e., the difference between the actual operating speed and the target speed). According to the magnitude and direction of the speed deviation, the control system can output speed correction commands to the drive module of the corresponding electrode transport vehicle, such as adjusting the current amplitude of the drive motor or drive coil, changing the acceleration setting, or adjusting the braking output, to compensate for the current speed deviation and gradually bring the operating speed of the electrode transport vehicle back to the target speed at the corresponding position. For example, when the speed measuring station detects that the actual operating speed of a certain electrode transport vehicle at that station is lower than the target speed, the control system can increase the drive current of that vehicle to achieve acceleration compensation; conversely, when the actual speed is higher than the target speed, the drive current can be reduced or the braking output can be increased to achieve deceleration compensation. Through the aforementioned dynamic compensation, the electrode transport vehicle can accurately execute the preset target speed curve in the second stage. Especially when it involves multi-stage scheduling such as deceleration of the delivery section, deceleration of the waste discharge section, and acceleration of the empty section, it can still maintain a highly consistent motion trajectory and speed stability.

[0069] In this way, by setting up the speed measurement station and the dynamic speed compensation mechanism based on speed deviation, not only can the speed deviation caused by factors such as drive error and load difference be reduced, but also the speed deviation of each electrode transport vehicle can be ensured to strictly correspond to the corresponding target speed curve. This ensures the stability of the overall operation of the second stage, the consistency of the cycle time, and the safe interval between each electrode transport vehicle, thereby further improving the stability and reliability of the electrode conveying and stacking process.

[0070] Optionally, one or more speed measurement stations can be set in the second section.

[0071] Specifically, to further improve the speed control accuracy and trajectory tracking capability of the electrode transport vehicle in the second stage, one or more speed measurement stations can be set up in the second stage according to its length, operational complexity, and speed adjustment requirements. For example, a single speed measurement station can be set up at a corresponding key location in the second stage, such as near the end of the delivery segment or the front of the waste discharge segment, to detect the actual operating speed of the electrode transport vehicle passing through that location, thereby achieving single-point calibration of its overall speed deviation. Alternatively, multiple speed measurement stations can be set up at multiple key locations in the second stage, such as at the delivery segment inlet, delivery segment outlet (near the delivery transfer station), waste discharge segment inlet, and empty section inlet. Multiple speed measurement stations can monitor the actual speed of the electrode transport vehicle at different operating positions, enabling the control system to acquire speed deviations segment by segment and perform multi-segment dynamic compensation, achieving higher control accuracy and smoother speed transition than single-point speed measurement.

[0072] Optionally, the guide rail is in the form of Figure 1 , Figure 2 The ring-shaped structure shown, or other closed-track structures such as elliptical, square, rectangular, polygonal, or irregular closed curve structures, are used to achieve the cyclic operation of the electrode transport vehicle; alternatively, the guide rail can also have an open-track structure, such as a straight line, a broken line, or other continuous curve structure, to meet the electrode transport requirements under different equipment layouts. If the guide rail adopts an open-track structure, and if the electrode transport vehicle needs to be used cyclically, the transfer of the electrode transport vehicle can be achieved through an additional return mechanism, such as transferring the electrode transport vehicle leaving the second section to the first section for splicing.

[0073] Optionally, combined Figure 1 , Figure 2 As shown, the first and second segments form a circular path.

[0074] Specifically, to further improve the efficiency of electrode conveying and optimize the cyclic scheduling capability of the electrode transport vehicle in the electrode conveying device, the guide rail is preferably a circular guide rail, that is, the first and second sections form a circular path. This circular path can be circular, elliptical, rectangular, or other continuous closed circular track structures. In this way, after receiving electrodes at the receiving and transfer station in the first section, the electrode conveying device moves to the delivery and transfer station in the second section for delivery. The electrode transport vehicle, then in an unloaded state, continues to run along the circular path, returning to the receiving and transfer station via the receiving path, thus achieving a cyclic scheduling from receiving—delivering—returning—re-receiving. This circular path design not only ensures that the electrode transport vehicle can work continuously and cyclically, but also avoids the problem of needing an additional return mechanism in a linear conveying structure, significantly improving the overall space utilization and operational efficiency of the conveying device.

[0075] Optionally, multiple spaced electrode transport carriers are magnetically levitated and slidably connected to a guide rail, which is used to electromagnetically drive each electrode transport carrier to move along the guide rail.

[0076] For electrode conveying devices, a fixed guide rail structure can be adopted, and multiple electrode transport carriers can move independently along the guide rail, thereby achieving decoupling and flexible scheduling of the conveying process. Each electrode transport carrier can be independently driven and controlled (e.g., using electromagnetic drive, servo motor drive, or linear motor drive), and its precise position, speed, and acceleration can be independently adjusted through a corresponding control system.

[0077] In this embodiment, the electrode transport carrier is preferably driven by electromagnetic drive. For example, multiple electrode transport carriers arranged at intervals are respectively connected to a guide rail by magnetic levitation sliding connection. The guide rail is used to electromagnetically drive each electrode transport carrier to move along the guide rail. In this way, magnetic levitation electrode feeding is realized, overcoming the problems of high energy consumption, high noise, inability to adapt to high-speed operation, low electrode feeding efficiency, low production efficiency, high maintenance complexity, and low safety of traditional belt conveyor methods.

[0078] For example, the guide rail is an electromagnetic guide rail, and multiple electrode transport carriers are provided. Each electrode transport carrier is slidably connected to the electromagnetic guide rail via magnetic levitation. The electromagnetic guide rail is used to drive each electrode transport carrier to move along the electromagnetic guide rail. That is, by controlling the electromagnetic field set on the electromagnetic guide rail corresponding to the electrode transport carrier, each electrode transport carrier can independently slide (or move) smoothly along the electromagnetic guide rail, and the electrode transport carrier and the electromagnetic guide rail do not contact each other, thereby achieving frictionless and efficient conveying, minimizing energy loss and reducing mechanical wear. In this way, since there is no contact between the electrode transport carrier and the electromagnetic guide rail, the friction loss caused by traditional mechanical contact is avoided, which not only improves operating efficiency, but also reduces heat accumulation and equipment wear caused by friction. Moreover, the movement of each electrode transport carrier can be controlled independently, so it can be flexibly adjusted according to different needs of the production line, ensuring accurate electrode transfer and meeting the requirements of high-speed, large-volume stacking processes, thereby improving the overall efficiency of electrode transfer and stacking processes. Furthermore, the electrode transport carriers are spaced apart to avoid mutual interference and collisions, thereby improving the production yield. By adjusting the intensity and direction of the electromagnetic field at different positions on the electromagnetic rail, each electrode transport carrier can be independently controlled to accelerate, decelerate, or maintain a constant speed. This facilitates precise positioning (position control) of the electrodes during transport, ensuring that each electrode arrives at the designated position precisely according to the predetermined trajectory and rhythm. While enabling operations such as accurate electrode receiving from the die-cutting device and accurate electrode stacking device, this effectively prevents electrode offset, stacking errors, or misalignment during transport.

[0079] The electromagnetic rail and electrode transport carrier form a linear motor, driving the electrode transport carrier along the electromagnetic rail. An array of electromagnets on the electromagnetic rail generates a controllable magnetic field, which counteracts the gravity of the electrode transport carrier through the Lorentz force, thus suspending the electrode transport carrier relative to the electromagnetic rail. In this way, the electromagnetic rail and electrode transport carrier achieve high-speed, high-precision transport of the electrode transport carrier (or electrodes) through non-contact levitation and drive (supporting high-speed response and closed-loop servo control, such as positioning accuracy up to 1μm). Compared to traditional belt conveyors, this method offers advantages such as high speed (due to the absence of mechanical friction, the electrode transport carrier can move at extremely high speeds, meeting the demands of high-speed production lines and significantly improving production efficiency), high precision (precise electromagnetic field control enables high-precision control of electrode positions, ensuring accurate alignment of each electrode during transport, avoiding errors and offsets in belt conveyors, and improving the accuracy and consistency of the stacking process), and low energy consumption (the absence of contact friction between the electrode transport carrier and the electromagnetic rail greatly reduces the impact of mechanical friction). It boasts advantages such as energy loss, high cleanliness (i.e., frictionless and dust-free magnetic levitation feeding; that is, by eliminating the traditional vacuum adsorption conveying method, wear of belt surface coating, electrode wear, and foreign dust generation can be significantly reduced during the conveying process), low maintenance cost (i.e., no maintenance or belt replacement is required), high production quality (i.e., the high quality of magnetic levitation feeding lays the foundation for high quality of stacking and battery production), and high safety (i.e., the high quality and high precision of magnetic levitation feeding effectively avoid safety hazards such as equipment collisions, sheet damage, or production line shutdowns caused by electrode misalignment, abnormal stacking, or jamming, reducing equipment failure rate and human intervention frequency, and improving the overall stability and safety assurance capability of the production line operation). It is especially suitable for the manufacturing of ultra-thin electrodes for next-generation power batteries.

[0080] Optionally, the first segment and the second segment form a circular path; part or all of the area of ​​the first segment is provided with a receiving and transfer station for the electrode transport vehicle to receive the electrode.

[0081] Specifically, to further enhance the stability and flexible scheduling capability of the electrode assembly process, the first and second sections of the guide rail together form a continuous closed loop path. This loop path can be circular, elliptical, rectangular, or other closed trajectories, enabling multiple electrode transport vehicles to continuously circulate on the loop path, achieving continuous flow of electrode assembly, transport, delivery, and return to the assembly position. In this loop path, the assembly and transfer station is located in a portion of the first section or covers the entire first section.

[0082] If the entire area of ​​the first section is equipped with a splicing and transfer station, splicing operations can be carried out throughout the entire first section, providing a maximized splicing window period. This ensures that the electrode transport vehicle is always in a splicing-ready state after entering the first section. In other words, the electrode transport vehicle can be matched with the electrode output of the die-cutting device at any position in the first section, thereby significantly improving the fault tolerance and stability of the splicing process.

[0083] If a portion of the first segment is designated as a splicing and transfer station, splicing operations can be performed at certain locations within the first segment. The remaining locations can be used to provide a buffer running path for the electrode transport vehicle before and / or after splicing. Specifically, when the buffer area is set before the splicing operation, the electrode transport vehicle can adjust its running speed according to the first preset target running parameters and stabilize to the splicing speed before reaching the splicing and transfer station. This reduces problems such as electrode instability, slippage, or inaccurate splicing caused by sudden speed changes, improving the reliability and adaptability of the splicing action. Similarly, when the buffer area is set after the splicing and transfer station, the electrode transport vehicle can remain in the first segment and maintain a constant speed after successful splicing. This ensures that the electrode transport vehicle continues to run smoothly after splicing, providing a more stable attitude foundation for the subsequent speed-changing operation of the electrode transport vehicle in the second segment. This avoids attitude disturbances and micro-displacements caused by the electrode transport vehicle immediately entering a speed-changing state after splicing.

[0084] In summary, by setting the splicing and transfer station in part or all of the first section and making the first and second sections form a circular path, it is helpful to improve the reliability and stability of the splicing operation.

[0085] Optionally, to ensure smooth speed changes in the electrode transport vehicle during the variable speed section and to avoid sudden speed changes affecting the stability of electrode transport, it is preferable that the electrode transport vehicle moves at a uniform speed within each speed change interval in the variable speed section. Specifically, after the electrode transport vehicle enters the variable speed section, the corresponding control system can divide the operation of the electrode transport vehicle throughout the entire variable speed section into multiple continuous speed change intervals, and set a linear acceleration or deceleration within each speed change interval, making the speed change process of the electrode transport vehicle continuous and predictable. In this way, electrode jitter, deviation, or instability caused by instantaneous speed changes can be effectively avoided, thereby improving the stability and accuracy of the electrodes in the conveying, unloading, and waste removal processes.

[0086] For example, to ensure the stable continuous output of electrode sheets (i.e., electrode production by the die-cutting device), the die-cutting device produces electrodes and passes them through a production belt at a constant speed and size. Electrodes are transported to the electrode transport vehicle located at the electrode transfer station; to ensure that the electrodes can be smoothly and accurately transferred to the corresponding electrode transport vehicle at the electrode transfer station, the operating speed of the electrode transport vehicle at the electrode transfer station is [not specified]. The speed of the sheet-making belt of the die-cutting device needs to be adjusted. Maintaining consistency (i.e.) = The speeds are in the same direction and equal in magnitude, thus achieving speed matching and avoiding problems such as electrode misalignment, warping, or adsorption failure during the splicing process caused by inconsistent speeds. Correspondingly, at the position corresponding to the wafer fabrication belt and the wafer transfer station (denoted as the wafer unloading transfer station of the wafer fabrication belt), there are... This means that the wafer conveyor belt moves synchronously with the corresponding electrode transport vehicle located at the wafer receiving and transfer station, ensuring that the electrode transport vehicle smoothly receives the electrode without impact or deviation.

[0087] For example, the second preset target operating parameter includes the speed of the electrode transport vehicle at any position. (Its value may vary dynamically depending on the location; for example, at the splicing and transfer station, the splicing speed limit must be met, i.e.) The first running speed of the die-cutting device's sheet conveyor belt at the sheet loading and transfer station (Equal). For electrode transport vehicles on the bonding path (e.g., empty section), if the current second travel distance of the electrode transport vehicle from the bonding transfer station is... And it is required to pass through the preset second target time. If the motion is uniformly accelerated, then the initial velocity during this process is... The final velocity is ,exist: , Simplifying, we get: , This formula can be used to dynamically calculate the electrode transport vehicle at a specific initial position (i.e., the corresponding second travel distance) on the electrode splicing path, to ensure it operates at a specified pace (i.e., The initial operating speed required to reach the splicing and transfer station and achieve speed synchronization. In practical applications, the current position information of the electrode transport vehicle can be obtained in real time, and its target operating parameters can be calculated by combining the above model (formula) to generate corresponding drive commands. This guides the battery rail to drive the electrode transport vehicle as needed, thereby achieving the speed of the electrode transport vehicle at the corresponding position.

[0088] Similarly, for an electrode transport vehicle on a delivery path (such as a fragment delivery path), if the current travel distance of the electrode transport vehicle from the first travel distance to the wafer transfer station is... And it is required that it be completed within the preset first target time. If the journey is completed using uniformly accelerated motion (ensuring continuous and controllable dynamic trajectory of the electrode transport vehicle to significantly improve positioning accuracy and stability during electrode transport), then the initial velocity during this process is: The final velocity is ,exist: , Due to the limitations of the wafer feed speed. =0 (meaning the speed of the electrode transport vehicle is 0 when it pauses at the electrode transfer station to deliver the electrode), simplifying to: , This formula can be used to dynamically calculate the time required for each electrode transport vehicle on the delivery path to travel at a specific initial position (i.e., the corresponding first travel distance) to ensure it operates at a specified pace (i.e., ...). The initial running speed required to reach the wafer transfer station. In practical applications, the current position information of the electrode transport vehicle can be obtained in real time, and its target operating parameters can be calculated by combining the above model (formula) to generate corresponding drive commands. This guides the battery rail to drive the electrode transport vehicle as needed, thereby achieving the speed of the electrode transport vehicle at the corresponding position.

[0089] Optionally, each electrode transport carrier can be independently numbered to facilitate independent operation control, so that the operating position, speed, acceleration and deceleration parameters of each electrode transport carrier can adapt to changes in the production cycle. That is, the electrode transport carrier transports electrodes in accordance with the production cycle of stacking, thereby achieving higher production efficiency, greater flexibility and adaptability (adapting to frequent switching of different transport products).

[0090] Optionally, the first travel distance from each electrode transport vehicle on the delivery path to the delivery transfer station, and the second travel distance from each electrode transport vehicle on the receiving path to the receiving transfer station, can be determined based on the spacing between each electrode transport vehicle and the width of each transported electrode position (i.e., its dimension along the transport direction, which can be taken as the dimension of the electrode transport vehicle along the transport direction). Usually, the width of each position is the same. Therefore, by obtaining the spacing between each electrode transport vehicle and the spacing between the corresponding station (such as the delivery transfer station and the receiving transfer station) and its adjacent electrode transport vehicle, combined with the width of the position, the corresponding travel distance can be determined.

[0091] Combination Figure 3 As shown, another embodiment of the present invention provides an electrode conveying device, including a guide rail, a plurality of electrode transport carriers movable along the guide rail and used to carry electrodes, a uniform speed control unit, and a variable speed control unit: The uniform speed control unit is used to control the electrode transport vehicle to run at a uniform speed in the first section of the guide rail so that the electrode transport vehicle can receive the electrode. The speed control unit is used to control the electrode transport carrier to operate at a different speed in the second stage of the guide rail, and the electrode transport carrier must be stationary at least during the speed change operation so that the electrode on the electrode transport carrier can be removed while stationary.

[0092] The electrode conveying device of this embodiment is used to implement the electrode conveying method described above. Its advantages over the prior art are the same as the advantages of the electrode conveying method described above compared to the prior art, and will not be repeated here.

[0093] Another embodiment of the present invention provides a stacking system, including a die-cutting device and the above-described electrode conveying device; the die-cutting device is used to manufacture electrodes and transfer the electrodes to the electrode transport carrier of the electrode conveying device.

[0094] In this embodiment, the aforementioned electrode conveying device is applied to a stacking system, which is used at least for cell production in the battery manufacturing process. The stacking system also includes a die-cutting device for manufacturing electrodes and transferring the electrodes to the electrode transport carrier of the electrode conveying device, so that the electrodes can be transferred to subsequent production processes via the electrode conveying device.

[0095] For example, the die-cutting apparatus includes a die-cutting mechanism, a sheet conveying mechanism, etc. The die-cutting mechanism is used to continuously die-cut the electrode master roll to form positive and negative electrode sheets that meet the requirements of the lamination process; the sheet conveying mechanism is used to stably transport the die-cut output electrode sheets to the electrode conveying device. The electrode conveying device can use a sheet conveying belt for electrode conveying. When the sheet conveying belt transports the electrode sheets to the position corresponding to the receiving and transfer station of the electrode conveying device, the sheet conveying belt releases the sheets, and the electrode conveying device receives the sheets through the electrode transport carrier.

[0096] Optionally, the stacking system also includes a stacking device for removing electrodes from a stationary electrode transport carrier of the electrode transport device.

[0097] In this embodiment, the stacking device of the stacking system is used to remove the electrode sheets from the stationary electrode transport carrier in the electrode sheet conveying device to achieve precise stacking of the electrode sheets. Thus, through the cooperation between the die-cutting device, the electrode sheet conveying device, and the stacking device, a continuous production chain from electrode sheet forming and precise conveying to precise stacking can be formed. This achieves full automation and efficient flow of the electrode sheet process from sheet making to stacking, avoiding problems such as electrode sheet misalignment, damage, or uneven stacking caused by manual intervention. It also ensures the uniformity of electrode sheet conveying cycle time, feeding stability, and stacking accuracy, thereby significantly improving the production efficiency, consistency, and yield of battery cell stacking.

[0098] For example, the stacking device includes a wafer picking mechanism, a stacking mechanism, and a pressing mechanism. The wafer picking mechanism can be located at a position corresponding to the wafer feeding and transfer station of the electrode conveying device, and is used to accurately approach and pick up the electrode it carries when the electrode transport vehicle moves to the wafer feeding and transfer station and enters a stationary state. The stacking mechanism and the pressing mechanism are used to stack and press the electrode picked up by the wafer picking mechanism into shape.

[0099] Combination Figure 4 As shown, another embodiment of the present invention provides an electronic device, including a memory and a processor; Memory, used to store computer programs; A processor, used to implement the electrode delivery method as described in the first aspect when executing a computer program.

[0100] Alternatively, an electronic device includes a memory 401 and a processor 402 coupled to the memory 401; the memory 401 is configured to store a computer program; the processor 402 is configured to perform the following operations when the computer program is executed: The electrode transport vehicle of the control electrode transport device runs at a constant speed in the first section of the guide rail so that the electrode transport vehicle receives the electrode; The electrode transport vehicle is controlled to operate at a variable speed in the second stage of the guide rail, and the electrode transport vehicle is at least stationary during the variable speed operation, so that the electrode on the electrode transport vehicle can be removed while stationary.

[0101] The electronic device in this embodiment can be used to implement the above-described electrode conveying method. Its advantages over the prior art are the same as those of the above-described electrode conveying method over the prior art, and will not be repeated here.

[0102] Another embodiment of the present invention provides a computer-readable storage medium storing a computer program, which is read and executed by a processor to implement the electrode conveying method as described in the first aspect.

[0103] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: The electrode transport vehicle of the control electrode transport device runs at a constant speed in the first section of the guide rail so that the electrode transport vehicle receives the electrode; The electrode transport vehicle is controlled to operate at a variable speed in the second stage of the guide rail, and the electrode transport vehicle is at least stationary during the variable speed operation, so that the electrode on the electrode transport vehicle can be removed while stationary.

[0104] The technical solutions of the embodiments of the present invention, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, external hard drives, ROM, RAM, magnetic disks, or optical disks.

[0105] The computer-readable storage medium of this embodiment can be used to implement the above-described electrode transport method. Its advantages over the prior art are the same as those of the above-described electrode transport method over the prior art, and will not be repeated here.

[0106] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An electrode conveying method, used in an electrode conveying device, characterized in that, The electrode conveying device includes a guide rail and multiple electrode transport carriers movable along the guide rail and used to carry electrode sheets; the guide rail includes a first section and a second section; the electrode conveying method includes: The electrode transport vehicle is controlled to run at a constant speed in the first segment so that the electrode transport vehicle receives the electrode. The electrode transport vehicle is controlled to operate at a second speed change, and the electrode transport vehicle is at least stationary during the speed change operation, so that the electrode on the electrode transport vehicle can be removed in the stationary state.

2. The electrode conveying method as described in claim 1, characterized in that, Before the electrode transport vehicle is controlled to run at a constant speed in the first segment, the electrode transport method further includes: Determine the first preset target operating parameters; The control of the electrode transport vehicle to run at a constant speed in the first segment includes: The electrode transport vehicle is controlled to operate in the first segment according to the first preset target operating parameters, so that the electrode transport vehicle runs at a constant speed. And / or, before the electrode transport vehicle is controlled to operate at the second speed change, the electrode transport method further includes: Determine the second preset target operating parameters; The control of the electrode transport vehicle in the second speed-changing operation includes: The electrode transport vehicle is controlled to operate in the second segment according to the second preset target operating parameters, so that the electrode transport vehicle operates at variable speed.

3. The electrode conveying method as described in claim 2, characterized in that, The second section is equipped with a wafer transfer station; controlling the electrode transport vehicle to operate at varying speeds in the second section, and ensuring that the electrode transport vehicle is at least stationary during the speed-changing operation, so that the electrode on the electrode transport vehicle is removed during the stationary state, includes: The electrode transport vehicle is controlled to operate at the second speed change in the second stage according to the second preset target operating parameters, and the electrode transport vehicle is stationary at the electrode delivery and transfer station so that the electrode on the electrode transport vehicle can be taken out at the electrode delivery and transfer station.

4. The electrode conveying method as described in claim 3, characterized in that, The second section also includes a waste film inspection station and an electrode waste discharge station; on the second section, each of the electrode transport vehicles passes sequentially through the waste film inspection station, the film delivery and transfer station and the electrode waste discharge station; The control of the electrode transport vehicle to operate at the second speed change, and the electrode transport vehicle being at least stationary during the speed change, so that the electrode on the electrode transport vehicle can be removed in the stationary state, includes: The electrode transport vehicle is controlled to operate at the second speed change stage according to the second preset target operating parameters, and the electrode transport vehicle transporting normal electrodes is in the stationary state at the electrode delivery and transfer station so that the normal electrodes on the electrode transport vehicle are taken out at the electrode delivery and transfer station; the electrode transport vehicle transporting waste electrodes is in the stationary state at the electrode waste discharge station so that the waste electrodes on the electrode transport vehicle are taken out at the electrode waste discharge station; wherein, the normal electrodes and the waste electrodes are distinguished at the waste electrode detection station.

5. The electrode conveying method as described in claim 4, characterized in that, The second section includes a feeding section, a waste discharge section, and an idle section. The first section, the feeding section, the wafer transfer station, the waste discharge section, the electrode waste discharge station, and the idle section are connected in sequence. The waste wafer detection station is located in the feeding section. The control of the electrode transport vehicle in the second speed-changing operation includes: According to the second preset target operating parameters, the electrode transport vehicle transporting the normal electrode is controlled to decelerate in the delivery section and accelerate in the waste discharge section and the empty section; the electrode transport vehicle transporting the waste electrode is controlled to decelerate in the delivery section and the waste discharge section and accelerate in the empty section; wherein each electrode transport vehicle operates at intervals in the second section.

6. The electrode conveying method according to any one of claims 2-5, characterized in that, The second preset target operating parameters include the target speed of each of the electrode transport vehicles located in the second segment at various positions in the second segment; The step of controlling the electrode transport vehicle to operate at the second speed change segment according to the second preset target operating parameters includes: Control each of the electrode transport vehicles located in the second segment to operate at the corresponding target speed at various positions in the second segment, so as to change speed and operate at intervals in the second segment.

7. The electrode conveying method as described in claim 6, characterized in that, At least in the second section, a speed measuring station is provided for determining the operating speed of the electrode conveying device; controlling the electrode transport vehicle to operate at varying speeds in the second section includes: The operating speed of each electrode transport vehicle is dynamically compensated based on the speed deviation of each of the electrode transport vehicles at the speed measuring station; wherein, the speed deviation is the difference between the operating speed of each of the electrode transport vehicles detected by the speed measuring station and the corresponding target speed.

8. The electrode conveying method as described in claim 1 or 2, characterized in that, The first segment and the second segment form a circular path; And / or, multiple spaced-apart electrode transport vehicles are respectively connected to the guide rail via magnetic levitation sliding connection, and the guide rail is used for electromagnetic driving of each electrode transport vehicle to move along the guide rail.

9. The electrode conveying method as described in claim 1 or 2, characterized in that, The first segment and the second segment form a circular path; part or all of the first segment is provided with a receiving and transfer station for the electrode transport vehicle to receive the electrode.

10. An electrode conveying device, characterized in that, Includes a guide rail, multiple electrode transport carriers movable along the guide rail for carrying electrode sheets, a constant speed control unit, and a variable speed control unit: The uniform speed control unit is used to control the electrode transport vehicle to run at a uniform speed in the first section of the guide rail so that the electrode transport vehicle can receive the electrode. The speed control unit is used to control the electrode transport vehicle to operate at a different speed in the second stage of the guide rail, and the electrode transport vehicle is at least stationary during the speed change operation, so that the electrode on the electrode transport vehicle can be taken out in the stationary state.

11. A stacking system, characterized in that, It includes a die-cutting device and an electrode conveying device as described in claim 9; the die-cutting device is used to manufacture electrode sheets and transfer the electrode sheets to the electrode transport carrier of the electrode conveying device.

12. The stacking system as claimed in claim 11, characterized in that, It also includes a stacking device for removing the electrode from the electrode transport carrier of the electrode conveying device when it is stationary.

13. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the electrode delivery method as described in any one of claims 1-9 when executing the computer program.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is read and executed by a processor to implement the electrode conveying method as described in any one of claims 1-9.

Images