Automated multi-station electrode plate stacking system and stacking method

Abstract

The present invention belongs to the technical field of new energy batteries, and relates to an automated multi-station electrode plate stacking system and a stacking method. The system comprises positive electrode plate stacking assemblies, negative electrode plate stacking assemblies, stacking tables, multi-degree-of-freedom micro-motion tables, N+N groups of visual positioning systems, and multi-mover linear electric motor modules. Each multi-degree-of-freedom micro-motion table is mounted at the bottom of the corresponding stacking table, and the positive electrode plate stacking assembly and the negative electrode plate stacking assembly are closely arranged on two sides of each stacking table respectively. The positive electrode plate stacking assembly and the negative electrode plate stacking assembly each comprise an alignment table and a large-stroke motion table. The multi-mover linear electric motor modules are respectively arranged above the positive electrode plate stacking assemblies and the negative electrode plate stacking assemblies. The present application is applicable to stacking a plurality of battery cells simultaneously, and enables quick transport and alignment of electrode plates by means of the positive electrode plate stacking assemblies and the negative electrode plate stacking assemblies, and the multi-degree-of-freedom micro-motion tables and the multi-mover linear electronic modules are used to realize high-precision staggered stacking of the positive and negative electrode plates, thereby improving the stacking efficiency, precision and flatness of the electrode plates of the battery cells and ensuring the quality of the battery.

Description

Multi-station pole piece automatic stacking system and stacking method TECHNICAL FIELD

[0001] The present application belongs to the technical field of production and preparation of blade battery cell, and particularly relates to a multi-station pole piece automatic stacking system and stacking method. BACKGROUND

[0002] At present, the demand for lithium batteries in the new energy market is increasing year by year. The manufacturing process of the current blade battery cell includes a stacking process of battery pole pieces. In this process, the positive and negative pole pieces are alternately and staggered with the separator to form a Z-shaped stack. This process is repeated multiple times to form a battery cell sheet after a certain number of layers.

[0003] The existing blade battery stacking equipment mostly adopts a single-station mode. Only one pole piece can be transported and placed at a time by the transfer device, and multiple pole pieces cannot be placed on the stacking table at the same time for simultaneous stacking operation. For example, the method proposed in patent CN116864823A. This method can only produce one battery cell at a time, which is high in production cost and slow in speed, and cannot meet the market demand. Later, a scheme for simultaneously stacking multiple cells was proposed, such as patent CN220189720U. However, this scheme has the disadvantages of difficulty in ensuring the flatness of multiple layers of pole pieces and inability to simultaneously correct the deviation of multiple pole pieces. The above problems affect the production efficiency of battery cells. Therefore, there is an urgent need to provide a solution. SUMMARY

[0004] The present application aims to overcome the defects of the prior art and provide a multi-station pole piece automatic stacking system and stacking method.

[0005] To achieve the above-mentioned purpose, the present application adopts the following scheme:

[0006] A multi-station pole piece automatic stacking system, comprising: N groups of positive pole piece stacking assemblies, N groups of negative pole piece stacking assemblies, N groups of stacking tables, N groups of multi-degree-of-freedom micro-motion tables, N+N groups of visual positioning systems, and two groups of multi-motor linear motor modules; wherein,

[0007] The multi-degree-of-freedom micro-motion table is installed at the bottom of the stacking table and is used for adjusting the position and angle of the pole pieces on the stacking table. The positive pole piece stacking assembly and the negative pole piece stacking assembly are closely arranged on both sides of the stacking table. The positive pole piece stacking assembly and the negative pole piece stacking assembly each include a deviation correction table and a large-stroke motion table.

[0008] The deviation rectification table is installed above the large-stroke moving table to rectify the positive and negative plates, the large-stroke moving table reciprocates between the plate taking position and the plate deviation rectification position to carry the positive and negative plates, the two groups of multi-mover linear motor modules are arranged above the positive plate stacking assembly and the negative plate stacking assembly respectively, N groups of vacuum suction cups are arranged below the multi-mover linear motor modules to grab the plates, and the visual positioning system is arranged on the side of the two groups of multi-mover linear motor modules close to the stacking table to collect the plate images to obtain the position and angle deviation of the plates.

[0009] Further, a connecting mechanism is arranged between the deviation rectification table and the large-stroke moving table, the connecting mechanism is composed of bolts and a connecting plate, the connecting plate is fixed on the large-stroke moving table through bolt connection, and the deviation rectification table is fixed on the connecting plate through threaded connection.

[0010] Further, the vacuum suction cups are installed at the bottom of the multi-mover linear motor module, the installation position is parallel to the plane of the deviation rectification table, and the vacuum suction cups are used for grabbing and releasing the plates.

[0011] Further, the visual positioning system is installed on the side of the two groups of multi-mover linear motor modules close to the stacking table, and the main light line of the camera is perpendicular to the grabbing plane of the vacuum suction cup.

[0012] The application also provides a multi-station plate automatic stacking method, comprising the multi-station plate automatic stacking system, and the stacking method comprises the following steps:

[0013] S1: N groups of negative plate stacking assemblies are closely arranged, the last process device is arranged at the negative plate taking position, and N negative plates are placed on the deviation rectification tables of the corresponding negative plate stacking assemblies;

[0014] S2: N groups of large-stroke moving tables drive the deviation rectification tables above them to move to the negative plate deviation rectification position;

[0015] S3: the visual positioning system collects the images of the negative plates respectively, calculates the direction deviation of each plate and feeds back to the deviation rectification table, and the deviation rectification table rectifies the direction and angle of the negative plates supported thereby;

[0016] S4: the vacuum suction cups adsorb and fix the plates, the multi-mover linear motor modules drive the plates to move to the plate stacking position, the visual positioning system collects the images of the plates above the stacking table respectively to obtain the position and posture deviation of the plates;

[0017] S5: the visual positioning system feeds back the deviation value to the corresponding multi-degree-of-freedom micro moving table, the multi-degree-of-freedom micro moving table calibrates the position and adjusts the posture of the plates supported thereby, and the vacuum suction cups release the stacked negative plates;

[0018] S6: N sets of positive plate stacking assemblies are closely arranged, and the device in the previous process is placed at the positive plate taking position, and N positive plates are placed on the deviation correction table of the corresponding positive plate stacking assembly;

[0019] S7: The N sets of large-stroke motion tables drive the deviation correction tables above them to support the positive plates and move to the positive plate deviation correction position;

[0020] S8: The vision positioning system acquires images of each plate, calculates the directional deviation of each positive plate, and feeds back to the deviation correction table, which corrects the direction and angle of the positive plate supported by it;

[0021] S9: The vacuum chuck adsorbs and fixes the plate, the multi-motor linear motor module drives it to move to the plate stacking position, and the vision positioning system acquires images of the plates above the stacking table, and obtains the position and attitude deviation of the plates;

[0022] S10: The vision positioning system feeds back the deviation value to the corresponding multi-degree-of-freedom micro-motion table, which corrects the position and adjusts the attitude of the plate supported by it, and the vacuum chuck releases the stacked positive plate.

[0023] Further, the steps between S1 to S5 and the steps between S6 to S10 are alternately performed at the same time to meet the alternating high-speed stacking of positive and negative plates.

[0024] Further, the motion of the large-stroke motion table and the multi-degree-of-freedom micro-motion table is cooperatively controlled, and the position of the initial negative plate at the bottom layer of the battery cell is taken as the positioning reference.

[0025] The multi-station plate automatic stacking system and the stacking method provided by the application are suitable for simultaneously stacking multiple battery cells, and the positive plate stacking assembly and the negative plate stacking assembly are used to realize fast plate handling and deviation correction, and the vision positioning system is used to acquire images of each plate to obtain the position and angle error, so that the multi-degree-of-freedom micro-motion table and the multi-motor linear motor module are used to realize high-precision interleaved stacking of positive and negative plates, thereby significantly improving the efficiency, precision and flatness of the battery cell plate stacking. BRIEF DESCRIPTION OF DRAWINGS

[0026] FIG. 1 is a schematic diagram of the overall structure of the multi-station plate automatic stacking system of the application;

[0027] FIG. 2 is a schematic diagram of the stacking assembly in the multi-station plate automatic stacking system of the application;

[0028] FIG. 3 is a schematic diagram of the cooperative control strategy in the multi-station plate automatic stacking system of the application;

[0029] Reference signs:

[0030] 1, negative multi-mover linear motor module; 2, negative visual positioning system; 3, negative plate stacking assembly; 4, stacking table; 5, positive plate stacking assembly; 6, positive visual positioning system; 7, positive multi-mover linear motor module; 8, multi-degree-of-freedom micro-motion table;

[0031] 201, deviation correction table; 202, large-stroke motion table; DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application will be further described in detail below with the aid of drawings and specific embodiments.

[0033] The technical scheme in the embodiments of the present application will be described clearly and completely below with the aid of drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] Embodiment 1:

[0035] As shown in FIG. 1, the present embodiment provides a multi-station plate automatic stacking system, which comprises N sets of positive plate stacking assembly, N sets of negative plate stacking assembly, N sets of stacking table, N sets of multi-degree-of-freedom micro-motion table, N+N sets of visual positioning system and two sets of multi-mover linear motor module. Taking N as 8, i.e. 8 sets of positive plate stacking assembly 5, 8 sets of negative plate stacking assembly 3, 8 sets of stacking table 4, 8 sets of multi-degree-of-freedom micro-motion table 8, 8 sets of negative visual positioning system 2, 8 sets of positive visual positioning system 6, negative multi-mover linear motor module 1 and positive multi-mover linear motor module 7.

[0036] Any one set of plate stacking assembly comprises a deviation correction table 201 and a large-stroke motion table 202, and the deviation correction table 201 is installed above the large-stroke motion table 202.

[0037] The negative multi-mover linear motor module 1 and the positive multi-mover linear motor module 7 are arranged above the negative plate stacking assembly 3 and the positive plate stacking assembly 5.

[0038] Eight sets of vacuum suction cups are installed below any one set of multi-mover linear motor, which are used to grab the plates supported above the deviation correction table of the corresponding stacking assembly.

[0039] The negative visual positioning system 2 is installed to the right of the negative multi-mover linear motor module 1, and the positive visual positioning system 6 is installed to the left of the positive multi-mover linear motor module 7.

[0040] A connecting mechanism is arranged between the deviation rectifying table and the large-stroke moving table, which is composed of bolts and connecting plates.

[0041] Further, a vacuum chuck is installed at the bottom of the multi-mover linear motor module, and the installation position is parallel to the plane of the deviation rectifying table, which is used for grabbing and releasing the pole piece.

[0042] Further, the visual positioning system is installed on the side of the two sets of multi-mover linear motor modules close to the stacking table, and the main light line of the camera is perpendicular to the vacuum chuck grabbing plane.

[0043] Embodiment 2:

[0044] A stacking method of a multi-station pole piece automatic stacking system, which is suitable for the multi-station pole piece automatic stacking system, comprising the following steps:

[0045] S1: N sets of negative pole piece stacking assemblies 3 are closely arranged, and N negative pole pieces are placed on the deviation rectifying table 201 of the corresponding negative pole piece stacking assembly 3 at the negative pole piece taking position in the previous process device;

[0046] S2: N sets of large-stroke moving tables 202 drive the deviation rectifying tables 201 above to move to the negative pole piece deviation rectifying position;

[0047] S3: The negative visual positioning system 2 respectively acquires the images of each pole piece, calculates the directional deviation of each pole piece, and feeds back to the deviation rectifying table 201, which rectifies the direction and angle of the negative pole piece supported thereby.

[0048] S4: The vacuum chuck adsorbs and fixes the pole piece, the negative multi-mover linear motor module 1 drives it to move to the pole piece stacking position, and the negative visual positioning system 2 respectively acquires the images of the pole pieces above the stacking table to obtain the position and attitude deviation of the pole pieces.

[0049] S5: The negative visual positioning system 2 feeds back the deviation value to the corresponding multi-degree-of-freedom micro moving table 8, which adjusts the position and attitude of the pole piece supported thereby, and the vacuum chuck releases the stacked negative pole piece.

[0050] S6: N sets of positive pole piece stacking assemblies 5 are closely arranged, and N positive pole pieces are placed on the deviation rectifying table 201 of the corresponding positive pole piece stacking assembly 5 at the positive pole piece taking position in the previous process device;

[0051] S7: N sets of large-stroke moving tables 202 drive the deviation rectifying tables 201 above to move to the positive pole piece deviation rectifying position;

[0052] S8: The positive visual positioning system 6 acquires images of each pole piece respectively, calculates the directional offset of each pole piece and feeds back to the correction table 201, and the correction table 201 corrects the direction and angle of the positive pole piece supported thereby.

[0053] S9: The vacuum chuck adsorbs and fixes the pole piece, and the positive multi-actuator linear motor module 7 drives it to move to the pole piece stacking position, and the positive visual positioning system 6 acquires images of the pole piece above the stacking table 4 to obtain the position and attitude deviation of the pole piece.

[0054] S10: The positive visual positioning system 6 feeds back the deviation value to the corresponding multi-degree-of-freedom micro stage 8, and the multi-degree-of-freedom micro stage 8 corrects the position and adjusts the attitude of the pole piece supported thereby, and the vacuum chuck releases the stacked positive pole piece.

[0055] In some specific embodiments, as shown in FIG. 3, the motion of the pole piece large-stroke motion table and the multi-degree-of-freedom micro stage is cooperatively controlled. First, the position of the initial negative pole piece located at the bottom layer of the battery cell is taken as the positioning reference, the large-stroke motion table realizes large-stroke carrying of the positive and negative pole pieces, the two rows of multi-actuator linear motor modules are controlled to cooperate with the precision vacuum chuck to realize high-speed and high-precision carrying of the positive and negative pole pieces, and at the same time, the camera matrix at the same station cooperates with the correction table and the multi-degree-of-freedom micro stage to correct the position and adjust the attitude of the pole piece, thereby realizing micron-level high-precision motion control, so that the 8-station positive and negative pole pieces are stacked at high speed and high precision at one time.

[0056] In other more specific embodiments, a connecting mechanism is arranged between the correction table 201 and the large-stroke motion table 202, which is composed of a bolt and a connecting plate. The connecting plate is fixed on the large-stroke motion table 202 through bolt connection, and the correction table 201 is fixed on the connecting plate through threaded connection. The multi-actuator linear motor module 1, 7 is correspondingly provided with a vacuum chuck at the bottom, and the installation position is parallel to the plane of the correction table 201, which is used for grabbing and releasing the pole piece. The negative visual positioning system 2 is installed on the right side of the negative multi-actuator linear motor module 1, and the positive visual positioning system 6 is installed on the left side of the positive multi-actuator linear motor module 7. The main light rays of the cameras are perpendicular to the vacuum chuck grabbing plane. The steps between S1 to S5 and the steps between S6 to S10 are alternately and simultaneously performed to meet the alternating high-speed stacking of the positive and negative pole pieces.

[0057] In summary, the multi-station pole piece automatic stacking system provided by the present application is suitable for simultaneously stacking multiple battery cells, realizes rapid carrying and correction of the pole pieces through the positive pole piece stacking assembly and the negative pole piece stacking assembly, realizes high-precision interleaved stacking of the positive and negative pole pieces by using the multi-degree-of-freedom micro stage and the multi-actuator linear motor module, and significantly improves the efficiency, precision and flatness of the pole piece stacking of the battery cell, thereby ensuring the quality of the battery.

[0058] Although the specific embodiments of the present application have been described above, those skilled in the art will understand that these are merely examples, and various modifications or refinements can be made to these embodiments without departing from the principles and the essence of the present application, and these modifications and refinements should also be considered as falling within the scope of protection of the present application. The components not explicitly described in the present application can be implemented using the existing technology.

Claims

1. A multi-station pole piece automated stacking system, characterized by, The stacking system comprises N sets of positive electrode sheet stacking assemblies, N sets of negative electrode sheet stacking assemblies, N sets of stacking tables, N sets of multi-degree-of-freedom micro-motion tables, N+N sets of visual positioning systems and two sets of multi-motor linear motor modules. The multi-degree-of-freedom micro-motion table is installed at the bottom of the stacking table and is used for adjusting the position and angle of the electrode sheet on the stacking table. The two sets of multi-motor linear motor modules are arranged above the positive electrode sheet stacking assembly and the negative electrode sheet stacking assembly respectively, and N sets of vacuum suction cups are arranged below the multi-motor linear motor modules correspondingly, and are used for grabbing the electrode sheet.

2. The multi-station pole piece automated stacking system of claim 1, wherein, A connecting mechanism is arranged between the deviation rectifying table and the large-stroke motion table, and the connecting mechanism is composed of a bolt and a connecting plate.

3. The multi-station pole piece automated stacking system of claim 1, wherein, The multi-motor linear motor module is arranged below the vacuum suction cup, and the installation position is parallel to the plane of the deviation rectifying table, and is used for grabbing and releasing the electrode sheet.

4. The multi-station pole piece automated stacking system of claim 1, wherein, The visual positioning system is arranged on the side of the two sets of multi-motor linear motor modules close to the stacking table, and the main light line of the camera is perpendicular to the grabbing plane of the vacuum suction cup.

5. A multi-station pole piece automated stacking method, characterized by, The stacking method comprises the following steps: S1: N sets of negative electrode sheet stacking assemblies are arranged closely, and the device in the previous process is arranged at the negative electrode sheet taking position, and N negative electrode sheets are placed on the deviation rectifying tables of the corresponding negative electrode sheet stacking assemblies; S2: N sets of large-stroke motion tables drive the deviation rectifying tables above them to move the supported negative electrode sheets to the negative electrode sheet deviation rectifying position; S3: the visual positioning system acquires the images of the negative electrode sheets respectively, calculates the directional deviation of each electrode sheet and feeds back to the deviation rectifying table, and the deviation rectifying table rectifies the direction and angle of the supported negative electrode sheet; S4: the vacuum suction cup adsorbs and fixes the electrode sheet, the multi-motor linear motor module drives it to move to the electrode sheet stacking position, and the visual positioning system acquires the images of the electrode sheets above the stacking table to obtain the position and attitude deviation of the electrode sheets; S5: the visual positioning system feeds back the deviation value to the corresponding multi-degree-of-freedom micro-motion table, the multi-degree-of-freedom micro-motion table adjusts the position and attitude of the supported electrode sheet, and the vacuum suction cup releases the stacked negative electrode sheet; S6: N sets of positive electrode sheet stacking assemblies are arranged closely, and the device in the previous process is arranged at the positive electrode sheet taking position, and N positive electrode sheets are placed on the deviation rectifying tables of the corresponding positive electrode sheet stacking assemblies; S7: N sets of large-stroke motion tables drive the deviation rectifying tables above them to move the supported positive electrode sheets to the positive electrode sheet deviation rectifying position. S8: The visual positioning system acquires images of each pole piece respectively, calculates the direction offset of each positive pole piece and feeds back to the correction table, and the correction table corrects the direction and angle of the positive pole piece supported thereby; S9: The vacuum chuck adsorbs and fixes the pole piece, and the multi-mover linear motor module drives it to move to the pole piece stacking position. The visual positioning system acquires images of the pole piece above the stacking table respectively, and obtains the position and attitude deviation of the pole piece; S10: The visual positioning system feeds back the deviation value to the corresponding multi-degree-of-freedom micro-motion table, and the multi-degree-of-freedom micro-motion table corrects the position and adjusts the attitude of the pole piece supported thereby, and the vacuum chuck releases the stacked positive pole piece.

6. The method of claim 5, wherein, The steps between S1 to S5 and the steps between S6 to S10 are alternately and simultaneously performed to meet the alternating high-speed stacking of positive and negative pole pieces.

7. The method of claim 5, wherein, The movement of the large-stroke motion table and the multi-degree-of-freedom micro-motion table is cooperatively controlled, and the position of the initial negative pole piece at the bottom layer of the battery cell is taken as the positioning reference.

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