A soft package lithium battery carousel type automatic liquid injection machine

Abstract

The application discloses a soft package lithium battery rotary disc type automatic liquid injection machine and belongs to the technical field of lithium ion battery manufacturing equipment, which comprises a rack, the rack is provided with an intelligent detection and control module, a visual detection module and the intelligent detection and control module are integrated in the rotary disc type liquid injection structure, the soft package lithium battery bag opening state recognition and liquid injection process cooperative control can be realized, the automation degree and liquid injection positioning reliability are improved, the bag opening state change and the support load change in the formal support process are associated and judged by establishing the corresponding clamping state reference and the individual support reference of the current soft package lithium battery, and different abnormal states are further recognized by back-off disturbance and reloading when the support response is abnormal, so that the adaptability of the bag opening support process, the abnormal recognition accuracy and the reliability of the subsequent liquid injection operation are improved.

Description

Technical Field

[0001] This invention relates to the field of lithium-ion battery manufacturing equipment technology, and more specifically, to a rotary automatic liquid injection machine for soft-pack lithium batteries. Background Technology

[0002] The production process of pouch lithium batteries typically involves an electrolyte injection process to fill the battery packaging bag with electrolyte. To improve injection efficiency, existing production equipment is increasingly adopting a rotary automatic injection structure. This rotary table drives multiple pouch lithium batteries sequentially through clamping, bag opening, and injection stations, working in conjunction with a linear drive mechanism and injection module to complete continuous operation. Due to the flexible nature of the pouch lithium battery packaging bag, the battery usually needs to be positioned and clamped before injection, and an appropriate opening mechanism is used to create an opening that meets the injection requirements, allowing the injection module to smoothly enter the bag.

[0003] However, pouch lithium batteries can vary in size, packaging bag flexibility, initial bag opening shape, and placement. Even within the same batch, different pouch lithium batteries may exhibit different bag opening degrees when subjected to the same mechanical action. Existing opening methods typically control the opening mechanism's movement based on preset motor operation, pressure block movement position, or fixed load range, making it difficult to specifically adjust the opening process according to the actual deformation response of the pouch lithium battery itself. Insufficient opening may result in an inadequate bag opening, affecting the entry of the liquid injection module; further increasing the opening may lead to a small increase in the bag opening while the mechanical load on the bag continues to increase, thus increasing the risk of bag deformation or even damage.

[0004] Meanwhile, during the process of opening the pouch of a soft-pack lithium battery, various situations such as localized adhesion at the bag opening, localized obstruction of the packaging material, and unstable clamping of the soft-pack lithium battery can all manifest as an abnormally increased opening load or insufficient opening. Judging solely based on the opening load, the position of the clamping block, or the visual opening is insufficient to determine the specific cause of the anomaly. For example, temporary localized obstruction at the bag opening may allow for continued opening after appropriate adjustments, while slippage of the soft-pack lithium battery as a whole requires re-establishing a stable clamping state. Using the same control method for different anomalies can easily lead to repeated opening, excessive compression, or displacement of the liquid injection position.

[0005] Furthermore, existing liquid injection control typically focuses on detecting whether the bag opening has reached a predetermined opening degree and controlling the liquid injection module accordingly. However, it fails to adequately utilize the correlation between changes in mechanical load, bag opening state, and clamping state during the opening process of pouch lithium batteries. This makes it difficult to determine whether the pouch lithium battery remains stably clamped even when the bag opening has reached a certain degree of openness, and whether there are any abnormalities in the opening process. Therefore, establishing corresponding judgment criteria for the opening response of different pouch lithium batteries, further identifying different states such as bag opening obstruction and battery slippage when the opening response is abnormal, and correlating the opening results with subsequent liquid injection permission control are technical problems that need to be further solved in automatic liquid injection equipment for pouch lithium batteries. Summary of the Invention

[0006] To address the shortcomings of existing automatic liquid injection equipment for pouch lithium batteries, which relies primarily on preset strokes, fixed loads, or single visual states for control during the bag opening process, making it difficult to adapt to individual differences in the initial shape, flexibility, and clamping status of different pouch lithium batteries, and to accurately distinguish the causes of abnormalities such as abnormal opening load, partial obstruction of the bag opening, or overall slippage of the pouch lithium battery, this paper proposes a rotary automatic liquid injection machine for pouch lithium batteries. By establishing a clamping state benchmark and an individual opening benchmark corresponding to the current pouch lithium battery, the machine correlates and judges the changes in the bag opening state and the changes in the opening load during the formal opening process. When the opening response is abnormal, it further identifies different abnormal states through backtracking disturbance and reloading, thereby improving the adaptability of the bag opening process, the accuracy of abnormal identification, and the reliability of subsequent liquid injection operations.

[0007] To solve the above problems, the present invention adopts the following technical solution.

[0008] A rotary automatic liquid injection machine for soft-pack lithium batteries includes a frame, a control module within the frame, a linear module, an adapter at the movable end of the linear module, a liquid injection module mounted on the adapter, a vision detection module mounted at the movable end of the linear module, a limiting turntable within the frame, and multiple opening devices spaced circumferentially at the upper end of the limiting turntable. Each opening device is used to clamp the soft-pack lithium battery and open the bag opening of the soft-pack lithium battery. The frame is equipped with an intelligent detection and control module. By integrating the vision detection module and the intelligent detection and control module into the rotary liquid injection structure, the machine can achieve collaborative control of the soft-pack lithium battery bag opening status and the liquid injection process, improving the degree of automation and the reliability of liquid injection positioning.

[0009] As a further technical solution of the present invention, the opening device includes a base plate, a guide rail on the upper surface of the base plate, a telescopic component on the lower side of the guide rail on the upper surface of the base plate, and a pressing component on the upper surface of the base plate on the movable end of the telescopic component. A pair of pressing blocks are slidably connected inside the guide rail, with the pairs of pressing blocks located on both sides of the soft-pack lithium battery. A screw is threadedly connected to multiple pressing blocks, and the screw has threaded sections with opposite directions corresponding to the pairs of pressing blocks. One end of the screw is connected to the output end of a rotating motor mounted on the guide rail. The battery is clamped by the telescopic component and the pressing component, and the opposing threaded screw synchronously drives the pairs of pressing blocks closer, resulting in more balanced force on both sides of the battery and improving the stability and consistency of the bag opening.

[0010] As a further technical solution of the present invention, the intelligent detection and control module includes a controller, a vision detection module, a clamping load detection unit, a telescopic displacement detection unit, a spreading load detection unit, and a pressing block displacement detection unit.

[0011] The controller is connected to the vision inspection module, telescopic component, rotary motor, linear module, liquid injection module and each detection unit respectively; The visual inspection module is used to acquire visual position data and bag opening status data of the soft-pack lithium battery. The visual position data is used to characterize the position of the soft-pack lithium battery and its bag opening, and the bag opening status data is used to characterize the open state of the bag opening. The clamping load detection unit is used to obtain the clamping load during the process of the telescopic component clamping the soft-pack lithium battery; The telescopic displacement detection unit is used to obtain the extension displacement of the telescopic component; The spread load detection unit is used to obtain the working load of the rotating motor to characterize the spread load applied by the pressure block to the soft-pack lithium battery. The block displacement detection unit is used to obtain the block displacement of the paired blocks; The extension displacement, clamping load, and visual position data together constitute the clamping detection data. By simultaneously acquiring the visual position, clamping load, extension displacement, spreading load, and pressure block displacement, multi-source detection information can be formed, providing a data foundation for clamping status judgment, spreading response analysis, and anomaly identification.

[0012] As a further technical solution of the present invention, the intelligent detection and control module is configured to perform the following steps: S1. During the process of clamping the soft-pack lithium battery with the telescopic component, the clamping state is determined according to the clamping detection data, and a clamping state benchmark corresponding to the current soft-pack lithium battery is established when the clamping state meets the opening requirement. S2. Perform a trial opening on the soft-pack lithium battery, determine the trial opening response based on the changes in the opening load and the bag opening state during the trial opening process, and establish an individual opening benchmark corresponding to the current soft-pack lithium battery based on the trial opening response. S3. Perform formal opening of the soft-pack lithium battery. Determine the current opening response based on the changes in the bag opening state and the opening load during the formal opening process. Compare the current opening response with the individual opening benchmark. Adjust the operating state of the rotating motor according to the comparison result. Determine whether the current opening response deviates from the individual opening benchmark. By establishing the clamping state benchmark and the individual opening benchmark corresponding to the current battery and comparing the formal opening response with them, it is possible to adapt to the individual differences of different soft-pack lithium batteries and reduce the error caused by fixed parameter control.

[0013] As a further technical solution of the present invention, the intelligent detection and control module is also configured to perform the following steps: S4. When the current opening response deviates from the individual opening reference, apply a backlash disturbance to the opening process and reload. Identify the current abnormal state based on the changes in the opening response before and after the disturbance and the changes in the clamping state relative to the clamping state reference, and adjust the subsequent opening control according to the current abnormal state. S5. Determine the liquid injection permission result based on the bag opening state after expansion, the current expansion response, and the change in the clamping state relative to the clamping state reference. Perform liquid injection when the liquid injection conditions are met, and perform corresponding adjustments based on the state item that does not meet the liquid injection conditions when the liquid injection conditions are not met. By implementing back-off disturbance and reloading when the expansion response is abnormal, and combining the abnormality with the change in the clamping state, the accuracy of the abnormality cause judgment can be improved, and the continued expansion or direct liquid injection in the abnormal state can be avoided.

[0014] As a further technical solution of the present invention, the process of establishing the individual expansion benchmark includes: saving multiple sets of expansion load and bag opening state data during the trial expansion process according to the displacement change sequence of the pressure block; forming a response change relationship of the trial expansion stage according to the expansion load change and bag opening state change corresponding to each set of data; and using the response change relationship as the individual expansion benchmark of the current soft-pack lithium battery. By establishing the correspondence between the expansion load change and the bag opening state change according to the displacement sequence of the pressure block, the individual expansion benchmark can reflect the actual mechanical response of the current battery, providing a targeted basis for subsequent adaptive expansion.

[0015] As a further technical solution of the present invention, during the formal opening process, the marginal opening effect is determined based on the bag opening increment and the opening load increment corresponding to the displacement change of the same or similar pressure block. The edge spreading effect corresponding to each block displacement interval is represented as follows: ;in, Indicates the first The edge expansion effect of each pressure block displacement range This indicates the increase in the width of the bag opening within the displacement range of the pressure block. This indicates the corresponding increase in the expansion load. When the marginal expansion effect corresponding to the continuous pressure block displacement range shows a decreasing trend, it is determined that the bag opening effect produced by continuing to increase the expansion action gradually decreases. The operating state of the rotating motor is adjusted according to the marginal expansion effect. By determining the marginal expansion effect through the bag opening increment and the expansion load increment, the decreasing trend of bag opening benefit when the mechanical action is continued can be identified, thereby adjusting the rotating motor in time to reduce excessive pressure on the bag body.

[0016] As a further technical solution of the present invention, the retraction disturbance and reloading process includes: after the current opening response deviates from the individual opening benchmark, pausing the formal opening, controlling the rotating motor to run in the reverse direction, causing the screw to drive the paired pressure blocks to retract a preset disturbance distance, and acquiring the opening load change, bag opening state change and clamping detection data change during the retraction phase; after the retraction is completed, controlling the rotating motor to run in the forward direction, causing the paired pressure blocks to reload, and acquiring the opening response during the reloading phase. By actively controlling the pressure blocks to retract and reload, secondary response information different from continuous unidirectional opening can be obtained, providing a more sufficient basis for judgment to distinguish between partial obstruction of the bag opening, continuous obstruction and battery slippage.

[0017] As a further technical solution of the present invention, the opening response before the anomaly occurs, the response change during the retraction phase, and the opening response during the reloading phase are compared, and the current abnormal state is identified by combining the change in the clamping state relative to the clamping state reference. When the opening degree of the bag mouth decreases after retraction, the opening load decreases synchronously, and the opening response after reloading recovers to a state adapted to the individual opening reference, it is determined that the bag mouth is in a temporary local obstruction state. When the change in the bag mouth state is small after retraction and the opening load increases after reloading while the change in the bag mouth opening is small, it is determined that the bag mouth is in a continuous obstruction state. When visual position data indicates that the overall position of the soft-pack lithium battery has changed, and at least one of the extension displacement and clamping load has changed relative to the clamping state reference, it is determined that the soft-pack lithium battery is in a sliding state. By comparing the opening response before the anomaly, during the retraction phase, and during the reloading phase, and combining the change in the clamping state, corresponding processing can be carried out for different anomaly types, improving the reliability of the opening control and the fault identification capability.

[0018] As a further technical solution of the present invention, the pressing component includes a fixed seat and a buffer pressing block. The fixed seat is mounted on the base plate, and the buffer pressing block is connected to the fixed seat through a compression spring. Side blocks are respectively provided on both sides of the soft-pack lithium battery on the base plate. The fixed seat and the buffer pressing block are connected by a compression spring, which can reduce the clamping impact and adapt to the difference in battery thickness. At the same time, the side blocks restrict lateral movement and improve the stability of the soft-pack lithium battery clamping and positioning.

[0019] Compared with the prior art, the advantages of this invention are: This invention, by incorporating a vision detection module, a clamping load detection unit, a telescopic displacement detection unit, an opening load detection unit, and a pressing block displacement detection unit into a rotary automatic liquid filling machine for soft-pack lithium batteries, enables the equipment to simultaneously acquire multi-source information such as position, force, displacement, and bag opening status during the processes of clamping the soft-pack lithium battery, opening the bag opening, and confirming before liquid filling. This avoids the problem of insufficient adaptability caused by relying solely on fixed stroke, fixed load, or a single vision result for control.

[0020] After the soft-pack lithium battery is clamped, by establishing a clamping state benchmark corresponding to the current soft-pack lithium battery, it is possible to continuously judge whether the battery remains stably clamped during the subsequent opening process. Meanwhile, by tentatively expanding the bag to obtain the correspondence between the expansion load change and the bag opening state change, and based on this, an individual expansion benchmark for the current soft-pack lithium battery is established. This allows the formal expansion process to be adjusted in a targeted manner according to the flexibility of different soft-pack lithium batteries, the initial state of the bag opening, and the force response, thereby improving the adaptability to individual differences.

[0021] Furthermore, by analyzing the relationship between the incremental opening of the bag opening and the incremental expansion load, it is possible to identify the state in which the effective opening effect gradually decreases when the expansion effect is further increased, and to adjust the operating state of the rotating motor in a timely manner to reduce bag deformation or damage caused by excessive compression.

[0022] When the current opening response deviates from the individual opening benchmark, by actively implementing a back-off disturbance and reloading, secondary response information different from continuous unidirectional opening can be obtained. Combined with changes in the clamping state, abnormal states such as temporary local obstruction of the bag opening, continuous obstruction, and overall slippage of the soft-pack lithium battery can be further distinguished, so that corresponding opening or clamping adjustment measures can be taken for different abnormalities.

[0023] Ultimately, the liquid injection permission result is determined based on the bag opening status after expansion, the current expansion response, and the clamping status. This avoids directly performing liquid injection when the bag opening is insufficient, the expansion is abnormal, or the battery position is unstable, thereby improving the accuracy of liquid injection positioning and the reliability of the operation.

[0024] In summary, this invention achieves continuous closed-loop control between clamping detection, individual benchmark establishment, adaptive expansion, anomaly identification, and liquid injection permission, which is beneficial to improving the intelligence, adaptability, and operational stability of automatic liquid injection equipment for soft-pack lithium batteries. Attached Figure Description

[0025] Figure 1 This is a three-dimensional schematic diagram of the entire invention; Figure 2 This is a three-dimensional schematic diagram of the main body of the present invention; Figure 3 This is a three-dimensional schematic diagram of the spreading device and the soft-pack lithium battery of the present invention; Figure 4 This is a three-dimensional schematic diagram of the spreading device of the present invention; Figure 5 This is a partial perspective view of the spreading device of the present invention; Figure 6 This is a schematic diagram of the workflow of the intelligent detection and control module of the present invention.

[0026] Explanation of the labels in the diagram: 1. Frame; 2. Control module; 202. Linear module; 203. Adapter; 204. Vision inspection module; 3. Limiting turntable; 4. Spreading device; 401. Base plate; 402. Guide rail; 403. Telescopic assembly; 404. Pressing assembly; 405. Pressing block; 406. Screw; 407. Rotary motor; 408. Side stop; 5. Soft-pack lithium battery. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1 Please see Figure 1-6 This embodiment provides a rotary automatic liquid injection machine for soft-pack lithium batteries, including a frame 1. The frame 1 is equipped with a control module 2 and a limiting turntable 3. Multiple opening devices 4 are arranged at intervals along the circumference at the upper end of the limiting turntable 3. Each opening device 4 is used to support and clamp the soft-pack lithium battery 5 and open its bag opening.

[0029] The control module 2 includes a linear module 202, with an adapter 203 at its movable end. A liquid injection module is mounted on the adapter 203. A vision inspection module 204 is also mounted on the movable end of the linear module 202. When the limit turntable 3 rotates, it can drive each of the opening devices 4 to enter the corresponding inspection and liquid injection positions in sequence.

[0030] The spreading device 4 includes a base plate 401, with a guide rail 402 at its upper end. A telescopic component 403 is located on the base plate 401 below the guide rail 402, and a pressing component 404 is located on one side of the movable end of the telescopic component 403. The pressing component 404 includes a fixed base and a buffer pressing block, which is connected to the fixed base via a compression spring. When the telescopic component 403 extends, it pushes the soft-pack lithium battery 5 toward the buffer pressing block, forming an elastic clamp through the compression spring. Side stops 408 are respectively provided on both sides of the base plate 401 to reduce the lateral displacement of the soft-pack lithium battery 5.

[0031] A pair of pressure blocks 405 are slidably mounted on the guide rail 402. The pair of pressure blocks 405 are located on both sides of the soft-pack lithium battery 5 and are threadedly connected to the screw 406. The screw 406 has threaded sections with opposite directions of rotation corresponding to the pair of pressure blocks 405, one end of which is connected to the output end of the rotary motor 407. When the rotary motor 407 drives the screw 406 to rotate, the pair of pressure blocks 405 can synchronously move closer or further apart.

[0032] During operation, the soft-pack lithium battery 5 is placed on the opening device 4, and the telescopic component 403 extends and cooperates with the pressing component 404 to clamp it. Then, the rotating motor 407 drives the screw 406 to rotate, causing the paired pressing blocks 405 to synchronously approach and squeeze both sides of the soft-pack lithium battery 5, gradually opening its opening. After the opening is opened, the linear module 202 moves the liquid injection module to the corresponding position at the opening and completes the liquid injection. After the liquid injection is completed, the pressing blocks 405 move away from each other, the telescopic component 403 retracts to release the clamp, and the limiting turntable 3 continues to rotate, allowing the next opening device 4 to enter the working position.

[0033] Example 2 Please see Figure 6 Based on Example 1, this example further describes the intelligent detection and control module and its control process of the rotary automatic liquid injection machine for soft-pack lithium batteries.

[0034] The intelligent detection and control module is used to control the opening device and the liquid injection module according to the clamping state and the opening state of the soft-pack lithium battery. It includes a controller, a vision detection module 204, a clamping load detection unit, a telescopic displacement detection unit, an opening load detection unit, and a pressing block displacement detection unit.

[0035] The controller is connected to the vision inspection module 204, the telescopic component 403, the rotary motor 407, the linear module 202, the liquid injection module, and each detection unit, respectively, and is used to receive detection data and control the actions of each actuator.

[0036] The vision inspection module 204 is used to acquire images of the pouch lithium battery 5 and its opening, and the controller determines the visual position data and opening status data of the pouch lithium battery 5 based on the acquired images. The visual position data is used to characterize at least the placement position of the pouch lithium battery 5 relative to the opening device 4 and the position of the opening; the opening status data is used to characterize the opening state of the opening, and may specifically include the opening width, the center position of the opening, and the changes in the outline of the opening.

[0037] The clamping load detection unit is used to detect the clamping load generated during the process of the telescopic component 403 pushing the soft-pack lithium battery 5 against the pressing component 404; the telescopic displacement detection unit is used to detect the extension displacement of the telescopic component 403. The controller uses the extension displacement, clamping load, and visual position data as clamping detection data to determine whether the soft-pack lithium battery 5 has been stably clamped.

[0038] The load detection unit is used to obtain the working load of the rotating motor 407. In this embodiment, the corresponding load data is generated by detecting the working current of the rotating motor 407, and the load data is used to characterize the mechanical resistance generated by the soft-pack lithium battery 5 on the pressure blocks 405 during the process of the screw 406 driving the paired pressure blocks 405 to approach each other. The pressure block displacement detection unit is used to obtain the pressure block displacement of the paired pressure blocks 405. The pressure block displacement can also be verified according to the rotation amount of the rotating motor 407, the pitch of the screw 406, and the transmission relationship between the pressure block 405 and the screw 406.

[0039] The specific control process is as follows.

[0040] S1. After the soft-pack lithium battery 5 is placed in the spreading device 4, the telescopic component 403 extends and pushes the soft-pack lithium battery 5 toward the pressing component 404. The compression spring in the pressing component 404 is gradually compressed to form a buffer clamp. During the clamping process, the controller continuously acquires the extension displacement, clamping load and visual position data, and uses the above data to form clamping detection data.

[0041] The controller determines whether the pouch lithium battery 5 is within the predetermined clamping area based on visual position data, and simultaneously analyzes the change in clamping load with the extension displacement. When the clamping load shows a continuous increasing trend, and the visual position data indicates that the pouch lithium battery 5 has not shifted significantly, it is determined that the pouch lithium battery 5 has been effectively clamped. The current extension displacement, clamping load, and visual position data, along with their stable range of change, are then recorded to form the current clamping state benchmark for the pouch lithium battery 5. If the extension displacement continues to increase without a corresponding increase in clamping load, it is determined that effective clamping has not yet occurred. If a small extension displacement results in a large clamping load accompanied by an abnormal visual position, subsequent opening is paused and the clamping state is readjusted.

[0042] S2. After the clamping state meets the opening requirements, the controller controls the rotating motor 407 to drive the paired pressure blocks 405 to move closer to each other at low speed through the screw 406, performing a trial opening of the soft-pack lithium battery 5. The movement of the pressure blocks during the trial phase is less than the total movement allowed for formal opening.

[0043] During the trial, the controller synchronously acquires data on the expansion load, block displacement, and bag opening status, and continuously records changes in the expansion load and bag opening status. As the block 405 approaches, when the expansion load gradually increases and the bag opening width increases synchronously, the corresponding changes in expansion load and bag opening status are determined as the trial expansion response. Multiple sets of data are saved according to the order of block displacement changes, forming the response change relationship during the trial phase.

[0044] In a specific data processing method, the tentative expansion process is divided into multiple continuous intervals according to the displacement of the compression block. The individual expansion benchmark of the current soft-pack lithium battery 5 can be expressed as: ;in, This indicates the current individual expansion benchmark for soft-pack lithium batteries 5. Indicates the first The change in block displacement corresponding to each block displacement range This indicates the change in the spreading load within the displacement range of the pressure block. This indicates the change in the width of the bag opening. This indicates the number of displacement intervals formed during the tentative expansion process. By saving each set of data according to the displacement sequence of the compression block, the individual expansion benchmark characterizes the correspondence between the mechanical input, expansion load response, and bag opening response of the current soft-pack lithium battery 5 at different expansion stages.

[0045] Based on this, the controller establishes an individual expansion benchmark for the current soft-pack lithium battery 5, which is used to characterize the correspondence between the expansion load change and the bag opening state change during the gradual approach of the compression block, and serves as a comparison basis for subsequent formal expansion.

[0046] S3. After establishing the individual opening benchmark, the controller controls the rotary motor 407 to continue driving the screw 406 to rotate, causing the paired pressure blocks 405 to continue to move closer. During the formal opening process, the controller continuously acquires the bag opening status, opening load, and pressure block displacement, and determines the current opening response based on the changes in the bag opening status and opening load, and then compares it with the individual opening benchmark.

[0047] When the bag opening continues to increase and the change in the expansion load is adapted to the individual expansion benchmark, the current operating state is maintained; when the expansion load continues to increase, and the bag opening increment corresponding to the same or similar pressure block displacement gradually decreases, it is determined that the marginal expansion effect is decreasing, indicating that the mechanical action generated by continuing to increase the pressure block displacement is gradually changing from effective expansion to bag compression. At this time, the operating speed of the rotating motor 407 is reduced, and the necessity of continuing to expand is judged according to the bag opening status.

[0048] In a specific data processing method, the first The edge spreading effect corresponding to each block displacement interval can be expressed as: ;in, Indicates the first The edge expansion effect of each pressure block displacement range This indicates the increase in the width of the bag opening within that range. This indicates the corresponding increase in the expansion load. Under the condition of increased expansion load, The larger the value, the greater the effect of the increased spreading load on the bag opening; when the continuous pressure block displacement range corresponds to... A downward trend indicates that the bag opening effect produced by a unit of expansion load is gradually decreasing. The controller can also convert the data obtained during the formal expansion phase... Compare the trend of change with the corresponding expansion stage in the individual expansion benchmark to determine whether the current mechanical action is gradually changing from effective bag opening expansion to bag compression.

[0049] In this embodiment, the controller divides the formal opening process into continuous pressure block displacement intervals according to the displacement change of the pressure block 405, and calculates the edge opening effect corresponding to each pressure block displacement interval in turn. When the edge opening effect corresponding to three consecutive pressure block displacement intervals is less than the edge opening effect of the previous pressure block displacement interval, and the edge opening effect corresponding to the third pressure block displacement interval decreases by a preset decrease ratio relative to the edge opening effect of the first pressure block displacement interval among the three consecutive pressure block displacement intervals, the controller determines that the edge opening effect is showing a continuous downward trend. In this embodiment, the preset decrease ratio can be set to 15%. After determining that the edge opening effect is showing a continuous downward trend, the controller reduces the operating speed of the rotating motor 407; if the edge opening effect of two consecutive pressure block displacement intervals continues to decrease after reducing the operating speed, the controller stops increasing the pressure block displacement and determines whether to end the formal opening based on the current bag opening state.

[0050] When the bag opening condition meets the liquid injection requirements, and the improvement in bag opening caused by further increasing the displacement of the pressure block is small, stop rotating motor 407 and maintain the pressure block position. When the correspondence between the change in the expansion load and the change in the bag opening condition deviates significantly from the individual expansion reference, it is determined that the current expansion response has deviated and enters S4.

[0051] S4. When the current opening response deviates from the individual opening benchmark, the controller first pauses the formal opening and controls the rotating motor 407 to run in reverse, so that the screw 406 drives the paired pressure blocks 405 to retract a preset disturbance distance. At the same time, the controller acquires the changes in the opening load decrease, the changes in the bag opening state recovery, and the changes in the clamping detection data.

[0052] In this embodiment, the preset disturbance distance is determined based on the displacement range of the pressure block 405 during the formal opening process, specifically taking 1 to 3 times the current pressure block displacement range length. This ensures that after the pressure block 405 retracts, it can relieve the partial opening effect at the current abnormal position, while keeping the soft-pack lithium battery 5 bag opening in a partially closed state. Preferably, the preset disturbance distance is twice the current pressure block displacement range length. For example, when the length of the displacement range of a single pressure block during the formal opening process is 0.2 mm, the controller controls the paired pressure blocks 405 to retract by 0.4 mm. If the bag opening width has recovered to the bag opening state corresponding to the tentative opening stage during the retraction process, the retraction stops, and the actual retraction distance at that moment is taken as the current disturbance distance.

[0053] After the retraction is completed, the rotating motor 407 is controlled to run forward, causing the pressure block 405 to reload at a speed lower than before the anomaly, and the changes in the expansion load and the bag opening status are reacquired. The controller compares the expansion response before the anomaly, during the retraction phase, and during the reloading phase, and compares the difference between the current clamping state and the clamping state baseline.

[0054] When the opening of the bag decreases after retraction, the expansion load decreases synchronously, and the expansion response recovers to near the individual expansion benchmark after reloading, it is judged as a temporary local obstruction, and the expansion continues at a low speed; when the change in the state of the bag opening is small after retraction, and the expansion load still increases rapidly after reloading while the change in the opening of the bag opening is small, it is determined that the bag opening is continuously obstructed and the expansion effect is stopped.

[0055] When visual position data indicates a change in the overall position of the pouch lithium battery 5, and at least one of the extension displacement or clamping load changes relative to the clamping state reference, it is determined that the pouch lithium battery 5 has slipped. The current opening is stopped and the clamping state of the telescopic component 403 is readjusted. After re-establishing stable clamping, a trial opening is performed again.

[0056] S5. After the bag opening is completed, the controller determines the liquid injection permission result based on the bag opening status, the current opening response, and the change in the clamping status relative to the clamping status reference. When the bag opening status meets the liquid injection requirements, the current opening response is compatible with the individual opening reference, and the clamping status does not change abnormally, a liquid injection permission result is generated.

[0057] Subsequently, the visual inspection module 204 acquires the center position and outline of the bag opening, determines the target injection position of the injection module based on the actual position of the bag opening, and controls the linear module 202 to move the adapter 203 and the injection module to the corresponding position to complete the injection. When the bag opening status does not meet the requirements, the opening control is re-entered; if the current opening response is abnormal, S4 is re-executed; if the clamping status is abnormal, the clamping is readjusted first, and then the trial opening and formal opening are re-executed. In this embodiment, when the bag opening state does not meet the liquid injection requirements but the clamping state is still within the normal range of change corresponding to the clamping state reference, the controller returns to S3 and continues to perform formal opening from the current pressure block position. The controller also readjusts the operating state of the rotating motor (407) according to the bag opening state change and the current opening response. If the current opening response deviates from the individual opening reference again during the continued formal opening process, the controller enters S4 again to perform back disturbance and reload. The controller also re-identifies the current abnormal state according to the opening response change before and after the disturbance.

[0058] When the clamping state changes abnormally relative to the clamping state reference, the controller prioritizes handling the clamping abnormality, stops the current opening process, and controls the pressure block 405 to release part of the opening effect. Then, the clamping state of the telescopic component 403 is readjusted. After a stable clamping is re-established, a trial opening is performed again from S2 to re-establish the individual opening reference corresponding to the adjusted clamping state, before proceeding to S3 to perform the formal opening. When the bag opening state does not meet the liquid injection requirements and the clamping state changes abnormally at the same time, clamping state adjustment is also prioritized. After the clamping state is restored and the individual opening reference is re-established, the bag opening state is then controlled for opening. If the liquid injection conditions still cannot be met after a preset number of clamping adjustments or backlash disturbances, the controller stops the current liquid injection action of the soft-pack lithium battery 5 and identifies it as an abnormal workpiece to avoid continuous repeated opening that could damage the bag.

[0059] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concepts, should be covered within the scope of protection of the present invention.

Claims

1. A rotary automatic liquid injection machine for soft-pack lithium batteries, comprising a frame, wherein a control module is provided within the frame, the control module includes a linear module, an adapter is provided at the movable end of the linear module, and a liquid injection module is installed on the adapter, characterized in that: The linear module is equipped with a vision inspection module at its movable end. The frame is equipped with a limiting turntable. The upper end of the limiting turntable is provided with multiple opening devices at circumferential intervals. Each opening device is used to clamp the soft-pack lithium battery and open the bag opening of the soft-pack lithium battery. The frame is equipped with an intelligent detection and control module.

2. The rotary automatic liquid injection machine for soft-pack lithium batteries according to claim 1, characterized in that: The spreading device includes a base plate, a guide rail on the upper surface of the base plate, a telescopic component on the lower side of the guide rail on the upper surface of the base plate, a pressing component on the upper surface of the base plate on the movable end of the telescopic component, a pair of pressing blocks slidably connected inside the guide rail, the pairs of pressing blocks being located on both sides of the soft-pack lithium battery, a screw threadedly connected to multiple pressing blocks, the screw having threaded sections with opposite directions corresponding to the pairs of pressing blocks, and one end of the screw being connected to the output end of a rotating motor mounted on the guide rail.

3. The rotary automatic liquid injection machine for soft-pack lithium batteries according to claim 2, characterized in that: The intelligent detection and control module includes a controller, a vision detection module, a clamping load detection unit, a telescopic displacement detection unit, an opening load detection unit, and a pressure block displacement detection unit. The controller is connected to the vision inspection module, telescopic component, rotary motor, linear module, liquid injection module and each detection unit respectively; The visual inspection module is used to acquire visual position data and bag opening status data of the soft-pack lithium battery. The visual position data is used to characterize the position of the soft-pack lithium battery and its bag opening, and the bag opening status data is used to characterize the open state of the bag opening. The clamping load detection unit is used to obtain the clamping load during the process of the telescopic component clamping the soft-pack lithium battery; The telescopic displacement detection unit is used to obtain the extension displacement of the telescopic component; The spread load detection unit is used to obtain the working load of the rotating motor to characterize the spread load applied by the pressure block to the soft-pack lithium battery. The block displacement detection unit is used to obtain the block displacement of the paired blocks; The extension displacement, clamping load, and visual position data together constitute the clamping detection data.

4. The rotary automatic liquid injection machine for soft-pack lithium batteries according to claim 3, characterized in that: The intelligent detection and control module is configured to perform the following steps: S1. During the process of clamping the soft-pack lithium battery with the telescopic component, the clamping state is determined according to the clamping detection data, and a clamping state benchmark corresponding to the current soft-pack lithium battery is established when the clamping state meets the opening requirement. S2. Perform a trial opening on the soft-pack lithium battery, determine the trial opening response based on the changes in the opening load and the bag opening state during the trial opening process, and establish an individual opening benchmark corresponding to the current soft-pack lithium battery based on the trial opening response. S3. Perform formal opening of the soft-pack lithium battery. Determine the current opening response based on the changes in the bag opening state and the opening load during the formal opening process. Compare the current opening response with the individual opening benchmark. Adjust the operating state of the rotating motor based on the comparison result. Determine whether the current opening response deviates from the individual opening benchmark.

5. The rotary automatic liquid injection machine for soft-pack lithium batteries according to claim 4, characterized in that: The intelligent detection and control module is also configured to perform the following steps: S4. When the current opening response deviates from the individual opening reference, apply a backlash disturbance to the opening process and reload. Identify the current abnormal state based on the changes in the opening response before and after the disturbance and the changes in the clamping state relative to the clamping state reference, and adjust the subsequent opening control according to the current abnormal state. S5. Determine the liquid injection permission result based on the bag opening state after the bag is fully opened, the current opening response, and the change in the clamping state relative to the clamping state reference; perform liquid injection when the liquid injection conditions are met, and perform corresponding adjustments based on the state item that does not meet the liquid injection conditions when the liquid injection conditions are not met.

6. The rotary automatic liquid injection machine for soft-pack lithium batteries according to claim 4, characterized in that: The process of establishing the individual expansion benchmark includes: saving multiple sets of expansion load and bag opening status data during the trial expansion process according to the displacement change sequence of the pressure block; forming the response change relationship of the trial expansion stage based on the expansion load change and bag opening status change corresponding to each set of data; and using the response change relationship as the individual expansion benchmark of the current soft-pack lithium battery.

7. The rotary automatic liquid injection machine for soft-pack lithium batteries according to claim 6, characterized in that: During the formal expansion process, the marginal expansion effect is determined based on the bag opening increment and expansion load increment corresponding to the displacement changes of the same or similar pressure blocks. The edge spreading effect corresponding to each block displacement interval is represented as follows: ;in, Indicates the first The edge expansion effect of each pressure block displacement range This indicates the increase in the width of the bag opening within the displacement range of the pressure block. This indicates the corresponding increase in the expansion load; when the edge expansion effect corresponding to the continuous block displacement interval shows a decreasing trend, it is determined that the bag opening effect produced by continuing to increase the expansion effect gradually decreases, and the operating state of the rotating motor is adjusted according to the edge expansion effect.

8. The rotary automatic liquid injection machine for soft-pack lithium batteries according to claim 5, characterized in that: The retraction disturbance and reloading process includes: after the current opening response deviates from the individual opening benchmark, pausing the formal opening, controlling the rotating motor to run in the reverse direction, causing the screw to drive the paired pressure blocks to retract a preset disturbance distance, and acquiring the opening load change, bag opening state change and clamping detection data change during the retraction phase; after the retraction is completed, controlling the rotating motor to run in the forward direction, causing the paired pressure blocks to reload, and acquiring the opening response during the reloading phase.

9. A rotary automatic liquid injection machine for soft-pack lithium batteries according to claim 8, characterized in that: The opening response before the anomaly occurs, the response changes during the retraction phase, and the opening response during the reloading phase are compared, and the current abnormal state is identified by combining the change in the clamping state relative to the clamping state reference. When the opening degree of the bag decreases after retraction, the opening load decreases synchronously, and the opening response after reloading returns to a state adapted to the individual opening reference, it is determined that the bag opening is in a temporary local obstruction state. When the change in the bag opening state is small after retraction and the opening load increases after reloading while the change in the bag opening is small, it is determined that the bag opening is in a continuous obstruction state. When visual position data indicates that the overall position of the soft-pack lithium battery has changed, and at least one of the extension displacement or clamping load has changed relative to the clamping state reference, it is determined that the soft-pack lithium battery is in a sliding state.

10. A rotary automatic liquid injection machine for soft-pack lithium batteries according to claim 2, characterized in that: The pressure-blocking assembly includes a fixed base and a buffer pressure block. The fixed base is mounted on the base plate, and the buffer pressure block is connected to the fixed base via a compression spring. Side blocks are respectively provided on both sides of the soft-pack lithium battery on the base plate.

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