Lithium battery pole piece material roll power-assisted transfer system and control method thereof

Abstract

The invention discloses a lithium battery pole piece material roll power-assisted transferring system and a control method thereof. The transferring system comprises an X-axis track, a Y-axis track, a moving trolley, a rotating mechanism, a lifting mechanism, a transferring clamp and a controller. The transferring clamp comprises a clamp arm rod which is in an L shape; the material shaft comprises a pipe body, two rows of mounting holes are formed in the upper surface of the pipe body in parallel, and mounting through holes are formed in the front end of the upper surface of the pipe body; a plurality of through holes are formed in the bottom surface of the pipe body along the length direction; the bearings are arranged in the mounting holes in the pipe body; a cylinder body of one of the at least three material blocking cylinders is vertically upwards arranged in a mounting through hole at the front end in the pipe body, and a blocking pin shaft is arranged at the output end of the material blocking cylinder; material blocking cylinders are arranged on two sides of the middle part in the pipe body, cylinder bodies vertically and downwards correspond to through holes in the bottom surface of the pipe body, and blocking pin shafts are arranged at output ends of the material blocking cylinders; cylinder bodies of the at least two material inner support tensioning cylinders are vertically and downwards arranged on the two sides of the middle part in the pipe body and correspond to the through holes in the bottom surface of the pipe body, and tensioning blocks are arranged at the output ends of the material inner support tensioning cylinders; and the plurality of material detection switches are arranged on the pipe body at intervals along the axis of the material shaft.

Description

Technical Field

[0001] This invention relates to the field of transfer and assembly technology, and in particular to a lithium battery electrode roll assisted transfer system and its control method. Background Technology

[0002] With the rapid development of the new energy vehicle industry, the demand for power batteries is expanding rapidly. Data shows that China is the world's largest manufacturer and exporter of lithium batteries, accounting for more than 70% of the global lithium battery market. This growth rate is still increasing, and China has been number one for many consecutive years. This has continuously driven the high-end production of lithium battery positive and negative electrodes. Existing electrode rolling technology can no longer meet the needs of the industry. Traditional lithium battery electrode roll operation technology mostly relies on manual labor to pick up, transfer, load and unload electrode rolls, which is labor-intensive and inefficient, and cannot be adapted to large-scale production. The weight of the existing coils ranges from tens of kilograms to hundreds of kilograms. During manual operation, hand contact with the coils can easily cause injury, posing a very high safety hazard. In traditional manual operations, it is easy to cause quality problems such as scratches and wrinkles on the surface of the battery electrode roll, which leads to increased electrode loss rate and affects the product quality of subsequent processes such as stacking and packaging. Existing lithium battery electrode roll transfer technologies are mostly based on single-roll operations. A single closed-loop operation can only complete the operation of a single roll and cannot meet the needs of multi-roll operations in a single closed-loop operation. Existing lithium battery electrode transfer technology suffers from extremely unstable repetitive positioning accuracy and significant deviations during the control processes of picking, loading, unloading, docking, handling, and recycling, making it difficult to achieve precise docking and unmanned operation.

[0003] Existing technologies, such as the "Power Battery Electrode Coil Winding and Feeding Cart" disclosed in Chinese Patent CN201810374846X, the "Automatic Feeding Device and Automatic Feeding Method for Lithium Battery Winding Machine" disclosed in Chinese Patent CN202210673593.2, and the "Feeding Mechanism for Battery Electrode Coil" disclosed in Chinese Patent CN202010997229.2, can perform the handling and transfer of lithium battery electrode coils, but their clamps do not have functions such as coil identification and position alignment, and cannot achieve precise docking and fully automatic cyclic operation.

[0004] The "dual-station material roll handling truss" disclosed in Chinese patent CN202422366633.6 can perform omnidirectional transfer of lithium battery electrode rolls, but its driving method is significantly different from this technology. It lacks 360-degree rotation within the truss and dual-chain servo motor lifting and anti-fall protection in the Z-direction. It does not have Z-direction laser detection and load weighing detection, and it does not have foolproof operation and safety hazard warning. Its material roll clamps do not have material detection and cross laser recognition, and cannot perform multi-roll identification operations. At the same time, its clamps do not have HMI control screen and cross cursor display screen, and do not have functions such as real-time editing and process parameter adjustment. Summary of the Invention

[0005] The purpose of this invention is to provide a lithium battery electrode roll assisted transfer system and its control method, which solves the problems of high labor intensity, low efficiency, poor accuracy and low degree of automation in the existing technology, realizes the integration of lithium battery electrode roll loading, transfer, conveying, docking, unloading, storage and empty material tray recycling, and effectively realizes unmanned operation of the entire lithium battery electrode roll operation.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A lithium battery electrode roll assisted transfer system includes, The X-axis track and the running Y-axis track are equipped with limit trigger switches at both ends of the X-axis track and the Y-axis track; The mobile trolley includes a fixed frame, a traveling trolley mounted on both sides of the upper surface of the fixed frame that can run on a Y-axis track, a Y-axis drive wheel and a servo drive motor, and a Y-axis braking device; a fixed base plate with a central hole is provided under the fixed frame; preferably, a single-line floodlight is provided on the edge of the fixed frame to project a warning frame on the ground, thereby reminding people to avoid it. Slewing mechanism, including, A helical slewing bearing is disposed at the center hole on the fixed base plate, and includes an inner ring and an outer ring; the inner ring is connected to the fixed base plate; the outer ring has a gear along the circumferential direction on its outer wall. A rotary drive motor is vertically mounted on a fixed base plate on one side of the helical gear slewing bearing; its output end is provided with a drive gear that meshes with a gear on the outer ring of the helical gear slewing bearing. Lifting mechanism, including, A flange plate is disposed on the helical tooth slewing bearing and connected to the inner ring of the helical tooth slewing bearing; The fixed base is a tube body, vertically positioned at the center of the bottom surface of the flange plate; a Z-axis laser rangefinder is installed on one outer wall of the fixed base; Two sets of slide rails and their sliders are symmetrically arranged on the inner walls of both sides of the fixed base, and are arranged along the length of the fixed base; the sliders are connected to the inner walls of the fixed base; A lifting seat is provided at the lower end of the slide rail; a weighing sensor is provided on the lifting seat; A lifting drive device, disposed on the flange plate, includes: A servo motor with a holding brake and a worm gear reducer are mounted on one side of a fixed base plate. The worm gear reducer has two output shafts. Two lifting sprockets are respectively set on the two output shafts of the worm gear reducer, and the lower end of the chain on the lifting sprocket is connected to the lifting seat.

[0007] Transfer fixture, including: The clamp arm is L-shaped, with its upper end connected to the lifting seat; the lower part of the clamp arm is provided with mounting holes; handles are provided on both sides of the clamp arm. Material shaft, which includes, The tube body has one end connected to the mounting hole at the bottom of the clamp arm; two rows of mounting holes are arranged parallel to each other along the length direction on the upper surface of the tube body, and a mounting through hole is provided at the front end of the upper surface of the tube body; several through holes are arranged along the length direction on the bottom surface of the tube body; a male and female connector is provided at the front end of the tube body, and a camera and a cross laser are provided on it; correspondingly, a cross cursor display screen is provided at the bottom of the clamp arm. Several bearings are provided with mounting holes on the tube body; At least three material blocking cylinders are disposed inside the pipe body. One material blocking cylinder has its cylinder body vertically upward at the front end of the pipe body, and its output end is provided with a blocking pin, which corresponds to the mounting through hole at the front end of the pipe body. The other at least two material blocking cylinders are disposed on both sides of the middle part of the pipe body, with their cylinder bodies vertically downward and their output ends provided with blocking pins, which correspond to the through holes on the bottom surface of the pipe body. At least two material internal support and tensioning cylinders are arranged vertically downward on both sides of the middle part of the tube body, spaced apart from the material blocking cylinder. Tensioning blocks are provided at their output ends, corresponding to the through holes on the bottom surface of the tube body. Several material detection switches are spaced apart on the upper end face of the tube body along the material shaft axis; preferably, the tube body is provided with receiving holes for the material detection switches. The controller and control panel are located on one side of the clamp arm. The limit trigger switch, servo drive motor, rotary drive motor, weighing sensor, servo motor with brake, Z-axis laser rangefinder, material blocking cylinder, material internal support tensioning cylinder, and material detection switch are electrically connected to the controller.

[0008] Preferably, the clamp arm is further provided with a vector handle and electrically connected to the controller.

[0009] Preferably, a clamp anti-detachment mechanism is also provided, including a T-shaped seat and an anti-detachment pin. The T-shaped seat is disposed on the upper end face of the clamp arm, and the upper part of the T-shaped seat is inserted into the insertion hole at the bottom of the lifting seat. The T-shaped seat and the anti-detachment pin cooperate to prevent the clamp from detaching.

[0010] Preferably, the lifting mechanism further includes an upper limit switch and a lower limit switch, which are respectively disposed on the lower and upper parts of one side of the two slide rails and electrically connected to the controller.

[0011] Preferably, the material detection switch is a diffuse reflection detection switch.

[0012] Preferably, a linear floodlight is installed on one side of the fixed frame of the mobile trolley to delineate the equipment operating area on the ground.

[0013] Preferably, a stop block protrudes from the outer wall above the mounting hole of the clamp arm.

[0014] In the transfer system described in this invention: The Manufacturing Execution System (MES) issues a task, the PLC controller of the transfer system receives the task, matches the warehouse location information and machine information to generate the task and execute it. The transfer system controls the moving track (X-axis) and the moving trolley (Y-axis) to move in a horizontal positioning mode, and moves to the waiting area in front of the material rack - high position movement. The lifting mechanism adjusts and lowers in the Z-axis to the material rack to the material picking height.

[0015] The rotary mechanism is driven by a rotary bearing and a gear set, and with the help of a servo encoder, it can achieve precise positioning of the rotation angle.

[0016] The transfer system moves horizontally along the material feeding direction of the machine shaft and docks with the machine shaft. The material shaft is unlocked (unlocking is only allowed after docking is completed, foolproof logic). The tensioning block on the tensioning cylinder of the material shaft retracts, and the blocking pin retracts.

[0017] The control method of the lithium battery electrode roll assisted transfer system of the present invention includes: 1) The Manufacturing Execution System (MES) issues a task, the transfer system controller receives the task, matches the warehouse location information and machine information to generate and execute the task. The transfer system controls the Y-axis track and the trolley to move in a horizontal positioning mode, and moves to the waiting area in front of the material rack - high position movement. The lifting mechanism adjusts in the Z direction and lowers to the material rack to the material picking height. 2) The transfer system requests to enter the material rack area for material retrieval, and the material rack responds through the controller to allow the transfer system to enter; 3) The transfer system moves along the material roll direction to the material rack to pick up the material; the tensioning block on the material inner support tensioning cylinder on the material shaft extends, blocking the pin from extending; at the same time, the lifting mechanism rises and adjusts to the high position to disengage; the transfer system moves in the opposite direction of the material roll to the waiting position in front of the material rack; the material picking is completed; multiple rolls of material can be picked up at once, which can be adjusted according to the needs of the site; 4) The transfer system moves along the horizontal travel channel to the waiting area in front of the machine shaft - high position travel; the lifting mechanism lowers and adjusts to the material shaft docking height; 5) The transfer system enters the machine's operating area and connects to the material shaft - request entry; 6) Verify and confirm machine number, shaft number, and material information; after confirming the machine status, a signal is fed back, allowing the transfer system to enter; 7) The transfer system moves horizontally along the material feeding direction of the machine shaft and docks with the machine shaft. The material shaft is unlocked, the tensioning block on the material inner support tensioning cylinder on the material shaft retracts, and the blocking pin retracts. 8) Once the material shaft docking is complete, the transfer system requests the material to be pushed onto the machine shaft; 9) The machine allows the transfer system to push the material, and the transfer system pushes the material roll on the material shaft into the machine shaft; 10) After the material feeding is completed, the transfer system requests to disengage. After the machine confirms the status, it sends a signal to allow disengagement. The transfer system exits along the X-axis track to the waiting area in front of the machine shaft. The disengagement of the transfer system is complete. If the number of material rolls loaded on the material shaft is greater than or equal to 1, repeat steps 4) to 9) to continue the feeding task. When all material rolls have been transferred, the equipment is ready to return to the origin. 11) Adjust the lifting mechanism to the high position of the travel height; rotate the slewing mechanism 180°, and the transfer system returns to the original position along the Y-axis track; 12) Wait for the next task to be issued and continue to execute the above automatic feeding task.

[0018] Preferably, in step 1), the X and Y axis tracks that move horizontally adopt an absolute positioning method, that is, a combination of a visual barcode reader and a barcode tape; the barcode reader, together with the barcode tape detection, performs coordinate positioning parameters, and together with the servo motor absolute encoder, forms a closed-loop control.

[0019] In the control method described in this invention: The transplanting system described in this invention employs a response mode, with mutual confirmation to ensure the accuracy of the program's execution sequence. Multiple logical interlocking functions are incorporated into the program. Signal communication uses a response mode, proceeding sequentially, allowing the next action only when conditions are met, thus preventing anomalies.

[0020] Match storage location information and machine information to generate and execute tasks (using servo drive, read dock and code tape detection to locate coordinate recipe parameters).

[0021] During task execution, the machine number, axis number, and material information will be compared to prevent abnormal alignment and anomalies.

[0022] Multiple sets of diffuse reflection detectors are installed on the material shaft to detect the state of the material on the shaft. A through-beam switch is used for secondary foolproof detection, which is also used for material state detection to prevent diffuse reflection failure. The equipment's blocking and tensioning functions will determine the state of the material on the shaft based on the diffuse reflection switch, thereby realizing automatic blocking extension and retraction, and tensioning extension and retraction.

[0023] The XY direction track system is equipped with an overtravel switch for secondary protection to prevent accidents and risks of the equipment exceeding its travel range. When the overtravel switch is triggered, the equipment will alarm and stop.

[0024] The host is equipped with Z-axis distance detection to detect the absolute height of the fixture lifting and verify it with the servo motor encoder, forming a closed-loop control to prevent the fixture from being accidentally placed and the chain servo from continuing to run.

[0025] An ultrasonic sensor is installed at the front end of the material shaft head for anti-pinch function when the male and female heads are connected.

[0026] A vision camera is installed at the front end of the material shaft head for precise equipment positioning, verification and adjustment, and subsequent periodic calibration of coordinate formula parameters. The weighing sensor is used to perform flexible deflection compensation based on the different weights of materials, thereby improving docking accuracy. On the other hand, it can also implement an overload alarm function. Both the material blocking cylinder and the material internal support tensioning cylinder are equipped with magnetic switches for feedback of cylinder extension and retraction information.

[0027] All servo motors are equipped with position encoders to realize closed-loop control logic for position information.

[0028] The signal communication between the various mechanisms or devices in this invention adopts a response mode, and operates in a step-by-step manner. The next action is allowed only when the conditions are met, so as to avoid the occurrence of abnormalities.

[0029] The material shaft tensioning and anti-detachment measures are only allowed to be released after the equipment reaches the docking position and a signal confirmation is received.

[0030] The lifting mechanism interlocks the Z-axis servo feedback signal and the load cell signal to prevent overload operation or sudden drop caused by abnormal lifting after the fixture gets stuck.

[0031] Task status and material detection are interlocked; photoelectric status must match the current equipment action; an alarm will be triggered if there is an abnormality.

[0032] Ultrasonic detection is used to trigger an alarm when a foreign object obstructs the head of the material shaft, thus preventing impacts and hand pinching.

[0033] Compared with the prior art, the advantages of the present invention are as follows: 1. Facilitates easy installation of lithium electrode sheet rolls, integrating feeding, transfer, conveying, docking, unloading, storage, and empty tray recycling of lithium battery electrode sheet rolls. This achieves fully automated operation, supports roll changing without stopping the machine, significantly improves new energy productivity, and reduces energy consumption. Includes: Overhead Hoist Transfer (OHT); Manufacturing Execution System (MES).

[0034] 2. High positioning accuracy, adaptable to precision displacement requirements. Equipped with a high-precision vision positioning system and laser detection system, it effectively identifies the specific position and parameters of lithium battery electrode rolls from all directions, avoiding electrode information deviation, material roll eccentricity, wrinkles and collision damage, and meeting the precision displacement requirements of lithium battery electrode rolls.

[0035] 3. Excellent safety performance, eliminating safety hazards. It is equipped with double-chain lifting with anti-fall protection, fully enclosed protection, safety door lock, emergency stop button, overload / leakage protection and other multiple safety protection mechanisms to prevent safety accidents such as squeezing and crushing during manual handling and operation.

[0036] 4. Highly adaptable, it can flexibly connect and adapt to various specifications of positive and negative electrode rolls, making it easy to change types. It also supports digital connection with host equipment and can be seamlessly integrated into intelligent lithium battery manufacturing production lines, including storage racks, coating machines, slitting machines, and rolling mills.

[0037] 5. Stable structure and convenient maintenance. It adopts a modular design, which includes steel track transfer, main unit lifting, end effector, electrical control, safety protection, and visual guidance. Each unit operates independently and works together. The structure is compact and the operation is stable. Daily maintenance and upkeep are convenient, reducing equipment failure rate and maintenance costs.

[0038] 6. The fixture is equipped with material detection and cross laser recognition, which can perform multi-roll operation on one fixture. Each operation can be closed-loop and can adapt to 1 to 3 rolls, increasing efficiency by 3 times. Attached Figure Description

[0039] Figure 1 Three-dimensional representation of an embodiment of the present invention Figure 1 ; Figure 2 Three-dimensional representation of an embodiment of the present invention Figure 2 ; Figure 3 This is a perspective view of the mobile trolley and lifting mechanism in an embodiment of the present invention; Figure 4 The three-dimensional lifting mechanism in the embodiment of the present invention Figure 1 ; Figure 5 The three-dimensional representation of the lifting mechanism (without the outer shell) in an embodiment of the present invention. Figure 2 ; Figure 6 The three-dimensional representation of the lifting mechanism (without the outer shell) in an embodiment of the present invention. Figure 2 ; Figure 7 This is a perspective view of the transfer fixture in an embodiment of the present invention; Figure 8 This is an exploded perspective view of the transfer fixture in an embodiment of the present invention; Figure 9 This is a schematic diagram showing the usage state of the transfer fixture in an embodiment of the present invention; Figure 10 This is a top view of the transfer fixture in an embodiment of the present invention; Figure 11 for Figure 9 AA section view; Figure 12 This is a schematic diagram of the usage state of an embodiment of the present invention. Figure 1 ; Figure 13 This is a schematic diagram of the usage state of an embodiment of the present invention. Figure 2 ; Figure 14 The three-dimensional XY axis track in the embodiment of the present invention Figure 1 ; Figure 15 The three-dimensional XY axis track in the embodiment of the present invention Figure 2 . Detailed Implementation

[0040] See Figures 1-15 The lithium battery electrode roll assisted transfer system of the present invention includes, The X-axis track and the running Y-axis track are equipped with limit trigger switches at both ends of the X-axis track and the Y-axis track; The mobile trolley 1 includes a fixed frame 101, a traveling trolley 102 disposed on both sides of the upper end face of the fixed frame 101 and capable of running on the Y-axis track, a Y-axis drive wheel 103 and a servo drive motor 104, and a Y-axis braking device 105; a fixed base plate 106 with a central hole is provided under the fixed frame 101; preferably, a linear floodlight 7 is provided on one side frame of the fixed frame 101. Rotating mechanism 2 includes, A helical slewing bearing 21 is disposed at the center hole on the fixed base plate 106, and includes an inner ring 2101 and an outer ring 2102; the inner ring 2101 is connected to the fixed base plate 106; the outer wall of the outer ring 2102 is provided with gears along the circumferential direction. A rotary drive motor 22 is vertically mounted on a fixed base plate 106 on one side of the helical gear slewing bearing 21; its output end is provided with a drive gear 23 that meshes with a gear on the outer wall of the outer ring 2102 of the helical gear slewing bearing 21. Lifting mechanism 3 includes, Flange plate 31 is disposed on the helical tooth slewing bearing 21 and connected to the outer ring of the helical tooth slewing bearing 21; The fixing seat 32 is a tube body, which is vertically set at the center of the bottom surface of the flange plate 31; a Z-axis laser rangefinder 11 is provided on the outer wall of the upper side of the fixing seat 32. Two slide rails 33 and their sliders are symmetrically arranged on the inner walls of both sides of the fixed base 32, and are arranged along the length of the fixed base 32; the sliders are connected to the inner walls of the fixed base 32. The lifting seat 34 is located at the lower end of the slide rail 33; a weighing sensor 8 is installed on the lifting seat 34 to detect the load weight, and the overload alarm will be displayed on the HMI control screen. A lifting drive device 35 is mounted on the flange plate 31, and includes, The servo motor 351 with a brake and the worm gear reducer are mounted on one side of the fixed base plate 106. The worm gear reducer has two output shafts. Two lifting sprockets 352 are respectively installed on the two output shafts of the worm gear reducer, and the lower end of the chain 353 on the lifting sprockets 352 is connected to the lifting seat 34. Transfer fixture 4 includes: The clamp arm 41 is L-shaped, and its upper end is connected to the lifting seat 34; the lower part of the clamp arm 41 is provided with mounting holes 411; handles 5 are provided on both sides of the clamp arm 41. Material shaft 42, which includes, The tube body 421 has one end connected to the mounting hole 411 at the lower part of the clamp arm 41; two rows of mounting holes 4211 are arranged parallel to each other along the length direction on the upper surface of the tube body 421, and a mounting through hole 4212 is provided at the front end of the upper surface of the tube body 421; several through holes 4213 are provided along the length direction on the bottom surface of the tube body 421; a male and female connector 48 is provided at the front end of the tube body 421, and a camera and a cross laser 9 are provided on it; correspondingly, a cross cursor display screen 10 is provided at the lower part of the clamp arm 41. Several bearings 422 are provided in mounting holes 4211 on the tube body 421; At least three material blocking cylinders 43 and 43' are disposed inside the tube body 421. One material blocking cylinder 43 has its cylinder body vertically upward at the front end of the tube body 421, and its output end is provided with a blocking pin 44, which corresponds to the mounting through hole 4212 at the front end of the tube body 421. The other at least two material blocking cylinders 43' are disposed on both sides of the middle part of the tube body 421, with their cylinder bodies vertically downward and their output ends provided with blocking pins 44', which correspond to the through hole 4213 on the bottom surface of the tube body 421. At least two material internal support tensioning cylinders 45 are arranged vertically downward on both sides of the middle part of the tube body 421, spaced apart from the material blocking cylinder 43'. Tensioning blocks 46 are provided at their output ends, corresponding to the through holes 4213 on the bottom surface of the tube body 421. A plurality of material detection switches 47 are spaced apart on the tube body 421 along the axis of the material shaft 42; preferably, the tube body 421 is provided with receiving holes 4214 for the material detection switches 47. The controller 6 and control panel (HMI control panel) are located on one side of the clamp arm 41. The drive motor 104, rotary drive motor 22, lifting drive device 35, material blocking cylinders 43 and 43', material internal support tensioning cylinder 45, and material detection switch 47 are electrically connected to the controller 6.

[0041] Preferably, the clamp arm 41 is further provided with a vector handle 14, which is electrically connected to the controller.

[0042] Preferably, a clamp anti-detachment mechanism 12 is also provided, including a T-shaped seat 121 and an anti-detachment pin 122. The T-shaped seat 121 is disposed on the upper end face of the clamp arm 41, and the upper part of the T-shaped seat 121 is inserted into the insertion hole 341 at the bottom of the lifting seat 34. The T-shaped seat and the anti-detachment pin cooperate to prevent the clamp from detaching.

[0043] Preferably, the lifting mechanism 3 further includes an upper limit switch 36 and a lower limit switch 37, which are respectively disposed on the lower and upper parts of one side of the two slide rails 33 and electrically connected to the controller 6.

[0044] Preferably, a stop block 412 protrudes from the outer wall above the mounting hole 411 of the clamp arm 41.

[0045] The control method of the lithium battery electrode roll assisted transfer system of the present invention includes: 1) The Manufacturing Execution System (MES) issues a task, the transfer system controller receives the task, matches the warehouse location information and machine information to generate and execute the task. The transfer system controls the Y-axis track and the trolley to move in a horizontal positioning mode, and moves to the waiting area in front of the material rack - high position movement. The lifting mechanism adjusts in the Z direction and lowers to the material rack to the material picking height. 2) The transfer system requests to enter the material rack area for material retrieval, and the material rack responds through the controller to allow the transfer system to enter; 3) The transfer system moves along the material roll direction to the material rack to pick up the material; the tensioning block on the material inner support tensioning cylinder on the material shaft extends, blocking the pin from extending; at the same time, the lifting mechanism rises and adjusts to the high position to disengage; the transfer system moves in the opposite direction of the material roll to the waiting position in front of the material rack; the material picking is completed; multiple rolls of material can be picked up at once, which can be adjusted according to the needs of the site; 4) The transfer system moves along the horizontal travel channel to the waiting area in front of the machine shaft - high position travel; the lifting mechanism lowers and adjusts to the material shaft docking height; 5) The transfer system enters the machine's operating area and connects to the material shaft - request entry; 6) Verify and confirm machine number, shaft number, and material information; after confirming the machine status, a signal is fed back, allowing the transfer system to enter; 7) The transfer system moves horizontally along the material feeding direction of the machine shaft and docks with the machine shaft. The material shaft is unlocked, the tensioning block on the material inner support tensioning cylinder on the material shaft retracts, and the blocking pin retracts. 8) Once the material shaft docking is complete, the transfer system requests the material to be pushed onto the machine shaft; 9) The machine allows the transfer system to push the material, and the transfer system pushes the material roll on the material shaft into the machine shaft; 10) After the material feeding is completed, the transfer system requests to disengage. After the machine confirms the status, it sends a signal to allow disengagement. The transfer system exits along the X-axis track to the waiting area in front of the machine shaft. The disengagement of the transfer system is complete. If the number of material rolls loaded on the material shaft is greater than or equal to 1, repeat steps 4) to 9) to continue the feeding task. When all material rolls have been transferred, the equipment is ready to return to the origin. 11) Adjust the lifting mechanism to the high position of the travel height; rotate the slewing mechanism 180°, and the transfer system returns to the original position along the Y-axis track; 12) Wait for the next task to be issued and continue to execute the above automatic feeding task.

[0046] Preferably, in step 1), the X and Y axis tracks that move horizontally adopt an absolute positioning method, that is, a combination of a visual barcode reader and a barcode tape; the barcode reader, together with the barcode tape detection, performs coordinate positioning parameters, and together with the servo motor absolute encoder, forms a closed-loop control.

Claims

1. A lithium battery electrode roll assisted transfer system, comprising, The X-axis track and the running Y-axis track are characterized by limit trigger switches at both ends of the X-axis track and the Y-axis track. It also includes a mobile trolley, which includes a fixed frame, a traveling trolley disposed on both sides of the upper end face of the fixed frame and capable of running on the Y-axis track, a Y-axis drive wheel and a servo drive motor, and a Y-axis braking device; a fixed base plate with a central hole is provided under the fixed frame; preferably, a single-line floodlight is provided on the frame of the fixed frame. Slewing mechanism, including, A helical slewing bearing is disposed at the center hole on the fixed base plate, and includes an inner ring and an outer ring; the inner ring is connected to the fixed base plate; the outer ring has a gear along the circumferential direction on its outer wall. A rotary drive motor is vertically mounted on a fixed base plate on one side of the helical gear slewing bearing; its output end is provided with a drive gear that meshes with a gear on the outer ring of the helical gear slewing bearing. Lifting mechanism, including, A flange plate is disposed on the helical tooth slewing bearing and connected to the inner ring of the helical tooth slewing bearing; The fixed base is a tube body, vertically positioned at the center of the bottom surface of the flange plate; a Z-axis laser rangefinder is installed on one outer wall of the fixed base; Two sets of slide rails and their sliders are symmetrically arranged on the inner walls of both sides of the fixed base, and are arranged along the length of the fixed base; the sliders are connected to the inner walls of the fixed base; A lifting seat is provided at the lower end of the slide rail; a weighing sensor is provided on the lifting seat; A lifting drive device, disposed on the flange plate, includes: A servo motor with a holding brake and a worm gear reducer are mounted on one side of a fixed base plate. The worm gear reducer has two output shafts. Two lifting sprockets are respectively installed on the two output shafts of the worm gear reducer, and the lower end of the chain on the lifting sprockets is connected to the lifting seat; Transfer fixture, including: The clamp arm is L-shaped, with its upper end connected to the lifting seat; the lower part of the clamp arm is provided with mounting holes; handles are provided on both sides of the clamp arm. Material shaft, which includes, The tube body has one end connected to the mounting hole at the bottom of the clamp arm; two rows of mounting holes are arranged parallel to each other along the length direction on the upper surface of the tube body, and a mounting through hole is provided at the front end of the upper surface of the tube body; several through holes are arranged along the length direction on the bottom surface of the tube body; a male and female connector is provided at the front end of the tube body, and a camera and a cross laser are provided on it; correspondingly, a cross cursor display screen is provided at the bottom of the clamp arm. Several bearings are provided with mounting holes on the tube body; At least three material blocking cylinders are disposed inside the pipe body. One material blocking cylinder has its cylinder body vertically upward at the front end of the pipe body, and its output end is provided with a blocking pin, which corresponds to the mounting through hole at the front end of the pipe body. The other at least two material blocking cylinders are disposed on both sides of the middle part of the pipe body, with their cylinder bodies vertically downward and their output ends provided with blocking pins, which correspond to the through holes on the bottom surface of the pipe body. At least two material internal support and tensioning cylinders are arranged vertically downward on both sides of the middle part of the tube body, spaced apart from the material blocking cylinder. Tensioning blocks are provided at their output ends, corresponding to the through holes on the bottom surface of the tube body. Several material detection switches are spaced apart on the upper end face of the tube body along the material shaft axis; preferably, the tube body is provided with receiving holes for the material detection switches. The controller and control panel are located on one side of the clamp arm. The limit trigger switch, servo drive motor, rotary drive motor, weighing sensor, servo motor with brake, Z-axis laser rangefinder, linear floodlight, cross laser, material blocking cylinder, material internal support tensioning cylinder, and material detection switch are electrically connected to the controller.

2. The lithium battery electrode roll assisted transfer system as described in claim 1, characterized in that, The clamp is also provided with an anti-detachment mechanism, including a T-shaped seat and an anti-detachment pin. The T-shaped seat is located on the upper end face of the clamp arm, and the upper part of the T-shaped seat is inserted into the insertion hole at the bottom of the lifting seat.

3. The lithium battery electrode roll assisted transfer system as described in claim 1 or 2, characterized in that, The lifting mechanism also includes an upper limit switch and a lower limit switch, which are respectively located on the lower and upper parts of one side of the two slide rails and electrically connected to the controller.

4. The lithium battery electrode roll assisted transfer system as described in claim 1, 2, or 3, characterized in that, The clamp arm is also equipped with a vector handle, which is electrically connected to the controller.

5. The lithium battery electrode roll assisted transfer system as described in claim 1 or 5, characterized in that, A stop block is protruding from the outer wall above the mounting hole of the clamp arm.

6. The lithium battery electrode roll assisted transfer system as described in claim 1, characterized in that, The material detection switch mentioned above is a diffuse reflection detection switch.

7. The control method for the lithium battery electrode roll assisted transfer system as described in any one of claims 1 to 6, characterized in that, include: 1) The Manufacturing Execution System (MES) issues a task, the transfer system controller receives the task, matches the warehouse location information and machine information to generate and execute the task. The transfer system controls the Y-axis track and the trolley to move in a horizontal positioning mode, and moves to the waiting area in front of the material rack - high position movement. The lifting mechanism adjusts in the Z direction and lowers to the material rack to the material picking height. 2) The transfer system requests to enter the material rack area for material retrieval, and the material rack responds through the controller to allow the transfer system to enter; 3) The transfer system moves along the material reel direction to the material rack to pick up the material; the tensioning block on the material inner support tensioning cylinder on the material shaft extends, blocking the pin from extending; at the same time, the lifting mechanism rises and adjusts to the high position to disengage; the transfer system moves in the opposite direction of the material reel to the waiting position in front of the material rack; the material picking is completed. Multiple rolls of material can be taken at once, and adjustments can be made according to on-site needs; 4) The transfer system moves along the horizontal travel channel to the waiting area in front of the machine shaft - high position travel; the lifting mechanism lowers and adjusts to the material shaft docking height; 5) The transfer system enters the machine's operating area and connects to the material shaft - request entry; 6) Verify and confirm machine number, shaft number, and material information; After the machine confirms its status, a signal is fed back, allowing the transfer system to enter; 7) The transfer system moves horizontally along the material feeding direction of the machine shaft and docks with the machine shaft. The material shaft is unlocked, the tensioning block on the material inner support tensioning cylinder on the material shaft retracts, and the blocking pin retracts. 8) Once the material shaft docking is complete, the transfer system requests the material to be pushed onto the machine shaft; 9) The machine allows the transfer system to push the material, and the transfer system pushes the material roll on the material shaft into the machine shaft; 10) After the material feeding is completed, the transfer system requests to disengage. After the machine confirms the status, it sends a signal to allow disengagement. The transfer system exits along the X-axis track to the waiting area in front of the machine shaft. The disengagement of the transfer system is complete. If the number of material rolls loaded on the material shaft is greater than or equal to 1, repeat steps 4) to 9) to continue the feeding task. When all material rolls have been transferred, the equipment is ready to return to the origin. 11) Adjust the lifting mechanism to the high position of the travel height; rotate the slewing mechanism 180°, and the transfer system returns to the original position along the Y-axis track; 12) Wait for the next task to be issued and continue to execute the above automatic feeding task.

8. The control method of the lithium battery electrode roll assisted transfer system as described in claim 7, characterized in that, Step 1) The horizontally moving X and Y axis tracks adopt absolute positioning, that is, a combination of vision code reader and code tape; the code reader and code tape detection are used to locate the coordinate formula parameters, and the absolute encoder of the servo motor is used to form a closed loop control.

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