Burr detection device and lamination equipment

Abstract

The utility model relates to a burr detection device and lamination equipment. The burr detection device comprises a conveying mechanism, a pre-positioning mechanism, a sheet taking mechanism and a visual detection mechanism. The pole pieces are carried by the conveying mechanism and conveyed to the downstream, and are transferred to the pre-positioning platform by the piece taking mechanism before lamination operation. Then, the visual detection mechanism can obtain image information of the edge of the notch of the pole piece so as to judge whether burrs exceed the standard or not. Unqualified pole pieces detected by burrs are removed, and qualified pole pieces are carried to a lamination table by a lamination manipulator to be laminated. The detection cameras on the two sides can simultaneously acquire the image information of the edges of the two notches of the pole piece, and each detection camera can be driven by the driving assembly to move along the edge of the pre-positioning platform, so that the burr detection speed of the single pole piece is relatively high. After the pole piece is sliced, the operations of conveying, burr detection, lamination and the like can be realized in sequence, and all procedures are coherently connected. Therefore, the burr detection device and the lamination equipment can effectively improve the production efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of lithium battery equipment, in particular to a burr detection device and a lamination device. Background Art

[0002] In the lamination process, burrs may be generated on the edge of the cut during the cutting process of the pole piece, and the burrs on the edge of the pole piece may pierce the diaphragm, causing the positive and negative electrodes to contact and cause a short circuit. In order to improve the product safety of lithium batteries, it is necessary to detect the burrs on the pole piece, and once the pole piece with excessive burrs is found, it needs to be removed in time. However, the common detection method is generally offline detection using a visual microscope, which is cumbersome to operate and seriously affects production efficiency. Utility Model Content

[0003] Based on this, it is necessary to provide a burr detection device and lamination equipment that can effectively improve production efficiency in order to address the above problems.

[0004] A burr detection device, comprising:

[0005] A conveying mechanism capable of carrying and conveying the pole piece;

[0006] A pre-positioning mechanism, including a pre-positioning platform for carrying the pole piece;

[0007] A film taking mechanism capable of transferring the electrode on the conveying mechanism to the pre-positioning platform; and

[0008] Visual inspection mechanisms are arranged on both sides of the pre-positioning platform, each of the visual inspection mechanisms includes a detection camera and a driving component, the detection camera is installed at the driving end of the driving component, and can move along the edge of the pre-positioning platform under the drive of the driving component;

[0009] The detection camera can obtain image information of the pole piece carried on the pre-positioning platform for burr detection.

[0010] In one embodiment, the conveying mechanism is configured as a vacuum belt.

[0011] In one of the embodiments, the surface of the pre-positioning platform can form a negative pressure to adsorb the pole piece carried thereon.

[0012] In one embodiment, the pre-positioning mechanism also includes a correction component and a position detection component. The position detection component can obtain the position information of the pole piece, and the correction component can drive the pre-positioning platform to translate and rotate according to the position information to correct the pole piece carried by the pre-positioning platform.

[0013] In one of the embodiments, the film picking mechanism can make the pole piece stay above the pre-positioning platform during the process of transferring the pole piece, the position detection component can obtain the position information of the pole piece staying above the pre-positioning platform, and the correction component can drive the pre-positioning platform from the origin position to the compensation position according to the position information to receive the pole piece staying above the pre-positioning platform, and drive the pre-positioning platform from the compensation position back to the origin position to correct the pole piece.

[0014] In one embodiment, the film picking mechanism includes a lifting component, a rotating component and a suction cup, the suction cup can absorb the pole piece, the lifting component can drive the suction cup to rise and fall in a direction perpendicular to the bearing surface of the pre-positioning platform, and the rotating component can drive the suction cup to reciprocate between the conveying mechanism and the pre-positioning platform along an axis perpendicular to the bearing surface of the pre-positioning platform.

[0015] In one embodiment, each of the visual inspection mechanisms further includes a light source, the light emitted by the light source can illuminate the pole piece carried on the pre-positioning platform, and the reflected light formed by reflection of the pole piece can be received by the inspection camera.

[0016] In one embodiment, each of the visual inspection mechanisms further includes a prism, wherein the prism is arranged opposite to an edge of the pre-positioning platform, and the optical axis of the inspection camera extends in a direction perpendicular to the bearing surface of the pre-positioning platform, and the reflected light emitted by the pole piece can be refracted by the prism and then received by the inspection camera.

[0017] In one embodiment, each of the visual inspection mechanisms includes a plurality of the inspection cameras, which are spaced apart along the edge of the pre-positioning platform and can be moved along the edge of the pre-positioning platform respectively under the drive of the driving assembly.

[0018] A lamination device comprises a lamination platform, a lamination robot and a burr detection device as described in any one of the above preferred embodiments; the lamination robot can place the pole piece located on the pre-positioning platform on the lamination platform to perform lamination operation.

[0019] In the above-mentioned burr detection device and lamination equipment, the electrode obtained by slicing is carried by the conveying mechanism and conveyed downstream, and is transferred to the pre-positioning platform by the film-taking mechanism before the lamination operation. Then, the visual inspection mechanism can obtain the image information of the electrode to determine whether the burrs exceed the standard. The electrode pieces that fail the burr detection will be rejected, and the qualified electrode pieces will be transported to the lamination table by the lamination robot for lamination. Since the detection cameras on both sides can simultaneously obtain the image information of the two cut edges of the electrode piece, and each detection camera can move along the edge of the pre-positioning platform under the drive of the driving component, the burr detection speed of a single electrode piece is relatively fast. After slicing, the electrode piece can realize the operations of conveying, burr detection and lamination in turn, and each process is connected and coherent. Therefore, the above-mentioned burr detection device and lamination equipment can effectively improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is a schematic diagram of the structure of a burr detection device in a preferred embodiment of the utility model;

[0022] Figure 2 for Figure 1 A top view of the burr detection device shown;

[0023] Figure 3 for Figure 1 The burr detection device shown in the figure transfers the electrode by the film taking mechanism

[0024] Figure 4 for Figure 1 A schematic diagram of the structure of a visual inspection mechanism in the burr detection device shown;

[0025] Figure 5 for Figure 4 A top view of the detection mechanism shown. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0028] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0031] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0032] See also Figure 1 The utility model provides a burr detection device 10 and a lamination device. The lamination device comprises the burr detection device 10, a lamination table and a lamination manipulator.

[0033] The burr detection device 10 can perform burr detection on the pole pieces required for lamination, and the pole pieces that fail the burr detection will be removed; the lamination robot can carry the pole pieces that pass the burr detection to the lamination table for stacking, thereby obtaining a battery cell. It can be seen that each pole piece 20 laminated on the lamination table will be subjected to burr detection, thereby avoiding the missed detection of pole pieces 20 with excessive burrs, thereby effectively preventing the pole pieces 20 with excessive burrs from flowing out.

[0034] Please also read Figure 2 The burr detection device 10 in the preferred embodiment of the utility model includes a conveying mechanism 100, a pre-positioning mechanism 200, a film taking mechanism 300 and a visual detection mechanism 400.

[0035] The conveying mechanism 100 can carry and convey the electrode sheet 20. The sliced ​​electrode sheet 20 is placed on the conveying mechanism 100 and conveyed downstream by the conveying mechanism 100. Specifically in this embodiment, the conveying mechanism 100 is configured as a vacuum belt. In this way, the electrode sheet 20 can be adsorbed on the surface of the vacuum belt during the conveying process, thereby preventing the electrode sheet 20 from falling off.

[0036] The pre-positioning mechanism 200 includes a pre-positioning platform 210, which is used to carry the electrode. The film taking mechanism 300 can transfer the electrode on the conveying mechanism 100 to the pre-positioning platform 210, so that the electrode 20 can be burred on the pre-positioning platform 210. The pre-positioning platform 210 is generally in the shape of a long strip and extends along the conveying direction of the conveying mechanism 100. The pre-positioning platform 210 is arranged on one side of the conveying mechanism 100 to facilitate the film taking mechanism 300 to transfer the electrode from the conveying mechanism 100 to the pre-positioning platform 210.

[0037] Specifically in this embodiment, the film taking mechanism 300 includes a lifting component (not labeled in the figure), a rotating component (not labeled in the figure) and a suction cup 310. Among them, the suction cup 310 can suck the pole piece 20, the lifting component can drive the suction cup 310 to rise and fall along a direction perpendicular to the bearing surface of the pre-positioning platform 210, and the rotating component can drive the suction cup 310 to reciprocate between the conveying mechanism 100 and the pre-positioning platform 210 along an axis perpendicular to the bearing surface of the pre-positioning platform 210.

[0038] The lifting component can be driven by a cylinder, and the rotating component can be driven by a motor. The rotating component can be installed on the moving end of the lifting component, and the suction cup 310 can be set on the rotating end of the rotating component through a connecting rod (not shown in the figure). The length of the connecting rod is the rotation radius of the suction cup 310. When transferring the pole piece 20, the rotating component first drives the suction cup 310 to rotate above the conveying mechanism 100, and then the lifting component drives the suction cup 310 to descend until it contacts the pole piece 20 on the conveying mechanism 100 to complete the suction; then, the lifting component drives the suction cup 310 to rise, and the rotating component drives the suction cup 310 to rotate above the pre-positioning platform 210. The lifting component drives the suction cup 310 to descend again until the pole piece 20 contacts or is about to contact the pre-positioning platform 210, and the suction cup 310 releases the pole piece 20.

[0039] Driven by the lifting assembly and the rotating assembly, the suction cup 310 can move within two degrees of freedom with high movement accuracy and efficiency.

[0040] Specifically, in this embodiment, the surface of the pre-positioning platform 210 can form a negative pressure to adsorb the carried pole piece 20. The surface of the pre-positioning platform 210 can form a plurality of adsorption holes with a negative pressure cavity (not shown), and a negative pressure can be formed on the surface of the pre-positioning platform 210 by evacuating the negative pressure cavity. Since the pole piece 20 is adsorbed and fixed on the pre-positioning platform 210, it is possible to avoid the displacement of its position caused by factors such as airflow and vibration, thereby keeping the position of the pole piece 20 stable for burr detection.

[0041] At least two visual inspection mechanisms 400 are provided, which are respectively located on both sides of the pre-positioning platform 210. The pole piece 20 on the pre-positioning platform 210 is consistent with the extension direction of the pre-positioning platform 210, and the two cut edges of the pole piece 20 are located on both sides of the width direction of the pole piece 20. Specifically, the visual inspection mechanism 400 is located on both sides of the width direction of the pre-positioning platform 210, so the visual inspection mechanisms 400 on both sides can respectively obtain image information of the two cut edges of the pole piece 20 on the pre-positioning platform 210 for burr detection.

[0042] Please also read Figure 4Each visual inspection mechanism 400 includes an inspection camera 410 and a drive assembly 420. The inspection camera 410 is installed at the drive end of the drive assembly 420 and can move along the edge of the pre-positioning platform 210 under the drive of the drive assembly 420. The inspection camera 410 can take a picture of the pole piece 20 carrying the pre-positioning platform 210 to obtain image information. By analyzing the image information, it can be determined whether the burr on the edge of the cut of the pole piece 20 exceeds the standard.

[0043] For the pole piece 20 that has passed the burr detection, it can be directly transported from the pre-positioning platform 210 to the lamination table for lamination by the lamination robot. Moreover, since the detection cameras 410 on both sides can simultaneously obtain the image information of the two cut edges of the pole piece 20, and each detection camera 410 can move along the edge of the pre-positioning platform 210 under the drive of the driving component 420, the burr detection speed of a single pole piece 20 is relatively fast. After slicing, the pole piece 20 can realize the operations of conveying, burr detection and lamination in sequence, and each process is connected and coherent, thereby effectively improving the production efficiency.

[0044] Please also read Figure 5 In this embodiment, each visual inspection mechanism 400 includes a plurality of inspection cameras 410 , which are arranged at intervals along the edge of the pre-positioning platform 210 and can be moved along the edge of the pre-positioning platform 210 respectively under the drive of the driving component 420 .

[0045] The functions and structures of the multiple inspection cameras 410 are the same, so the cut edge on each side of the pole piece 20 can be simultaneously imaged by the multiple inspection cameras 410. In this way, the time for burr inspection of a single pole piece 20 can be further shortened, and production efficiency can be further improved.

[0046] The driving assembly 420 may adopt a linear motor, and a plurality of detection cameras 410 are mounted on the driving end of the linear motor. Specifically in the present embodiment, each visual inspection mechanism 400 further includes a support plate 450, which is mounted on the driving end of the driving assembly 420, and the detection camera 410 is mounted on the support plate 450. The support plate 450 provides a larger installation area, which facilitates the installation of components such as the detection camera 410. A plurality of support plates 450 may be provided, and each detection camera 410 is respectively arranged on a corresponding support plate 450.

[0047] In this embodiment, each visual inspection mechanism 400 further includes a light source 430, and the light emitted by the light source 430 can illuminate the pole piece carried on the pre-positioning platform 210, and the reflected light formed by the reflection of the pole piece can be received by the inspection camera 410. The light source 430 can illuminate the cut edge of the pole piece 20, so that the image information obtained by the inspection camera 410 is clearer, which helps to improve the accuracy of burr detection.

[0048] In addition, in this embodiment, each visual inspection mechanism 400 also includes a prism 440, which is arranged opposite to the edge of the pre-positioning platform 210. The optical axis of the inspection camera 410 extends in a direction perpendicular to the bearing surface of the pre-positioning platform 210. The reflected light emitted by the pole piece 20 can be refracted by the prism 440 and then received by the inspection camera 410.

[0049] Generally, in order to obtain image information of the cut edge of the pole piece 20, the lens of the detection camera 410 needs to be oriented toward the cut edge of the pole piece 20, so the detection camera 410 needs to be arranged horizontally, with its optical axis along the Figure 1 Since the prism 440 can refract light, the lens of the detection camera 410 can be angled with the cut edge of the pole piece 20. Specifically, since the prism 440 can refract the reflected light from the cut edge of the pole piece 20 by 90 degrees, the detection camera 410 can be arranged vertically, with its optical axis along Figure 1 Extends in the up-and-down direction shown.

[0050] In this way, the lateral space occupied by the visual inspection mechanism 400 can be reduced. Moreover, the inspection camera 410 can also be conveniently moved up and down, so as to adjust the focal plane and depth of field of the inspection camera 410 to better obtain image information of the cut edge of the pole piece 20.

[0051] Please refer again Figure 1 In this embodiment, the pre-positioning mechanism 200 further includes a deviation correction component 220 and a position detection component 230. The position detection component 230 can obtain the position information of the pole piece 20, and the deviation correction component 220 can drive the pre-positioning platform 210 to translate and rotate according to the position information to correct the deviation of the pole piece 20 carried on the pre-positioning platform 210.

[0052] The deflection correction component 220 can use a motor, a cylinder, etc. to drive the pre-positioning platform 210 to move; the position detection component 230 can use a CCD camera, which can obtain image information of the film-taking mechanism 300 or the pole piece 20 on the pre-positioning platform 210 by taking pictures, and determine whether the position of the pole piece 20 is offset. When the position of the pole piece 20 is offset, the deflection correction component 220 can drive the pre-positioning platform 210 to translate and / or rotate according to the specific offset, so as to correct the position of the pole piece 20 carried on the pre-positioning platform 210.

[0053] It can be seen that the pre-positioning mechanism 200 can also play the role of a traditional deflection correction table, so there is no need to set up a deflection correction mechanism in the lamination equipment. Therefore, the burr detection device 10 can also simplify the process and save equipment.

[0054] For further information, please also refer to Figure 3In this embodiment, the film-taking mechanism 300 can make the pole piece 20 stay above the pre-positioning platform 210 during the process of transferring the pole piece 20, the position detection component 230 can obtain the position information of the pole piece 20 staying above the pre-positioning platform 210, and the correction component 220 can drive the pre-positioning platform 210 to move from the origin position to the compensation position according to the position information to receive the pole piece 20 staying above the pre-positioning platform 210, and drive the pre-positioning platform 210 from the compensation position back to the origin position to correct the pole piece.

[0055] During the process of transferring the pole piece 20, the film taking mechanism 300 first transfers the pole piece 20 to the top of the pre-positioning platform 210 and makes the pole piece 20 not contact the pre-positioning platform 210. At this time, the position detection component 230 can obtain the position information of the pole piece 20 to determine whether the pole piece 20 is offset. Assuming that the pole piece 20 is offset and the offset is a (a is a vector), the correction component 220 can drive the pre-positioning platform 210 to move the offset a to reach the compensation position. Next, the film taking mechanism 300 places the pole piece 20 on the driving pre-positioning platform 210, and the correction component 220 drives the pre-positioning platform 210 to move the offset -a and return to the origin position. In this way, the pole piece 20 will move the offset -a with the pre-positioning platform 210, thereby offsetting the original offset and completing the correction.

[0056] Moreover, by correcting the pole piece 20 by first offsetting the pre-positioning platform 210 and then returning it, it can be ensured that the pre-positioning platform 210 is always at the origin position when the visual inspection mechanism 400 performs burr inspection. This makes it convenient to calibrate the focal plane of the inspection camera 410 in advance so that the inspection camera 410 can better focus on the cut edge of the pole piece 20.

[0057] In the above-mentioned burr detection device 10 and lamination equipment, the sliced ​​pole piece 20 is carried by the conveying mechanism 100 and conveyed downstream, and is transferred to the pre-positioning platform 210 by the fetching mechanism 300 before the lamination operation. Then, the visual inspection mechanism 400 can obtain the image information of the edge of the cut of the pole piece 20 to determine whether the burr exceeds the standard. The pole piece 20 that fails the burr detection will be removed, and the qualified pole piece 20 will be transported to the lamination table by the lamination robot for lamination. Since the detection cameras 410 on both sides can simultaneously obtain the image information of the two cut edges of the pole piece 20, and each detection camera 410 can move along the edge of the pre-positioning platform 210 under the drive of the driving component 420, the burr detection speed of a single pole piece 20 is relatively fast. After slicing, the pole piece 20 can realize the operations of conveying, burr detection and lamination in sequence, and each process is connected and coherent. Therefore, the above-mentioned burr detection device 10 and lamination equipment can effectively improve production efficiency.

[0058] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A burr detection device, characterized in that: include: A conveying mechanism capable of carrying and conveying the pole piece; A pre-positioning mechanism, including a pre-positioning platform for carrying the pole piece; A film taking mechanism capable of transferring the electrode on the conveying mechanism to the pre-positioning platform; and Visual inspection mechanisms are arranged on both sides of the pre-positioning platform, each of the visual inspection mechanisms comprises a detection camera and a driving component, the detection camera is installed at the driving end of the driving component, and can move along the edge of the pre-positioning platform under the drive of the driving component; The detection camera can obtain image information of the pole piece carried on the pre-positioning platform for burr detection.

2. The burr detection device according to claim 1, characterized in that: The conveying mechanism is configured as a vacuum belt.

3. The burr detection device according to claim 1, characterized in that: The surface of the pre-positioning platform can form negative pressure to absorb the carried pole piece.

4. The burr detection device according to claim 1, characterized in that: The pre-positioning mechanism also includes a correction component and a position detection component. The position detection component can obtain the position information of the pole piece. The correction component can drive the pre-positioning platform to translate and rotate according to the position information to correct the pole piece carried on the pre-positioning platform.

5. The burr detection device according to claim 4, characterized in that: The film-picking mechanism can make the pole piece stay above the pre-positioning platform during the process of transferring the pole piece, the position detection component can obtain the position information of the pole piece staying above the pre-positioning platform, and the correction component can drive the pre-positioning platform from the origin position to the compensation position according to the position information to receive the pole piece staying above the pre-positioning platform, and drive the pre-positioning platform from the compensation position back to the origin position to correct the pole piece.

6. The burr detection device according to claim 1, characterized in that: The film picking mechanism includes a lifting component, a rotating component and a suction cup. The suction cup can absorb the pole piece. The lifting component can drive the suction cup to rise and fall in a direction perpendicular to the bearing surface of the pre-positioning platform. The rotating component can drive the suction cup to reciprocate between the conveying mechanism and the pre-positioning platform along an axis perpendicular to the bearing surface of the pre-positioning platform.

7. The burr detection device according to claim 1, characterized in that: Each of the visual inspection mechanisms also includes a light source, the light emitted by the light source can illuminate the pole piece carried on the pre-positioning platform, and the reflected light formed by reflection of the pole piece can be received by the inspection camera.

8. The burr detection device according to claim 1, characterized in that: Each of the visual inspection mechanisms also includes a prism, which is arranged opposite to the edge of the pre-positioning platform. The optical axis of the inspection camera extends in a direction perpendicular to the bearing surface of the pre-positioning platform. The reflected light emitted by the pole piece can be refracted by the prism and received by the inspection camera.

9. The burr detection device according to claim 1, characterized in that: Each of the visual inspection mechanisms includes a plurality of the inspection cameras, which are arranged at intervals along the edge of the pre-positioning platform and can be moved along the edge of the pre-positioning platform respectively under the drive of the driving component.

10. A lamination device, characterized in that: It comprises a lamination table, a lamination robot and a burr detection device as described in any one of claims 1 to 9; the lamination robot can place the pole piece located on the pre-positioning platform on the lamination table to perform lamination operations.

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