CN117020295A - Control method and device for cutting off feeding equipment and electronic equipment - Google Patents
Control method and device for cutting off feeding equipment and electronic equipment Download PDFInfo
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- CN117020295A CN117020295A CN202311240484.2A CN202311240484A CN117020295A CN 117020295 A CN117020295 A CN 117020295A CN 202311240484 A CN202311240484 A CN 202311240484A CN 117020295 A CN117020295 A CN 117020295A
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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Abstract
The embodiment of the application provides a control method and device for cutting off feeding equipment and electronic equipment, and relates to the technical field of battery cell preparation. The cutting and feeding equipment comprises an image acquisition unit and a cutter module for cutting and feeding, and the method comprises the following steps: according to the current visual detection data corresponding to the current composite sheet image acquired by the image acquisition unit, calculating to obtain a current target deviation value, wherein the current visual detection data is used for describing the completed cutting and/or feeding conditions, and the target deviation value comprises a target pole piece width deviation value and/or a target cladding deviation value; and adjusting the motion trail of the corresponding cutter module according to the target deviation value so as to realize self-adaptive compensation of cutting and/or feeding. Therefore, the motion trail of the cutter module can be adaptively adjusted, and the sheet width precision and/or the cladding precision of the pole piece are ensured.
Description
Technical Field
The application relates to the technical field of battery cell preparation, in particular to a control method and device for cutting off feeding equipment and electronic equipment.
Background
In the production process of the lithium battery, a given pole piece coil needs to be cut off and fed correspondingly to finish the core making process. At present, parameters such as acceleration, deceleration, time of acceleration, time of deceleration and the like are generally calculated according to an integral cutting and feeding mechanical structure, then acceleration and deceleration of a motion track and a speed change point between an initial position and an end position of each motion executing mechanism are designed according to the parameters and the sheet width of a sheet provided by the process, then a motion cam curve of a sheet feeding and feeding integral is designed based on the obtained motion track planning and speed change points, and finally cutting and feeding are carried out based on the motion cam curve, so that a composite sheet material belt comprising a negative electrode sheet or a positive electrode sheet and a negative electrode sheet is obtained. This approach does not guarantee the last effect achieved, as it does not allow for adaptive adjustment.
Disclosure of Invention
The embodiment of the application provides a control method and device for cutting off feeding equipment, electronic equipment and a readable storage medium, which can adaptively adjust and regulate the movement track of a cutter module, thereby ensuring the sheet width precision and/or cladding precision of a pole piece.
The embodiment of the application can be realized as follows:
In a first aspect, an embodiment of the present application provides a control method of a cut-off feeding apparatus including an image acquisition unit and a cutter module for cutting off and feeding, the method including:
calculating to obtain a current target deviation value according to current visual detection data corresponding to the current composite sheet image acquired by the image acquisition unit, wherein the current visual detection data is used for describing the situation of finished cutting and/or feeding, and the target deviation value comprises a target pole piece width deviation value and/or a target cladding deviation value;
and adjusting the motion trail of the corresponding cutter module according to the target deviation value so as to realize self-adaptive compensation of cutting and/or feeding.
In a second aspect, an embodiment of the present application provides a control device for cutting off a feeding apparatus including an image acquisition unit and a cutter module for cutting off and feeding, the device including:
the deviation calculation module is used for calculating a current target deviation value according to current visual detection data corresponding to the current composite sheet image acquired by the image acquisition unit, wherein the current visual detection data is used for describing the completed cutting and/or feeding conditions, and the target deviation value comprises a target pole piece width deviation value and/or a target cladding deviation value;
And the processing module is used for adjusting the motion trail of the corresponding cutter module according to the target deviation value so as to realize self-adaptive compensation of cutting and/or feeding.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores machine executable instructions executable by the processor, and the processor may execute the machine executable instructions to implement the cut-off feeding control method according to the foregoing embodiment.
In a fourth aspect, embodiments of the present application provide a readable storage medium having stored thereon a computer program which, when executed by a processor, implements a cut-off feed control method as described in the previous embodiments.
According to the control method, the control device, the electronic equipment and the readable storage medium of the cutting and feeding equipment, the cutting and feeding equipment comprises an image acquisition unit and a cutter module used for cutting and feeding, a current target deviation value is calculated based on current visual detection data corresponding to a current composite sheet image acquired by the image acquisition unit, and then the motion track of the corresponding cutter module is adjusted according to the target deviation value, so that self-adaptive compensation of cutting and/or feeding is achieved. The current visual detection data are used for describing the situation of finished cutting and/or feeding, and the target deviation value comprises a target pole piece width deviation value and/or a target cladding deviation value. Therefore, the motion trail of the cutter module can be adaptively adjusted, and the sheet width precision and/or the cladding precision of the pole piece are ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a cut-off feeding apparatus according to an embodiment of the present application;
fig. 2 is a schematic workflow diagram of a cutter module according to an embodiment of the present application;
FIG. 3 is a schematic view of a composite sheet;
fig. 4 is a schematic diagram illustrating an arrangement of a tab detector according to an embodiment of the present application;
fig. 5 is a schematic block diagram of an electronic device according to an embodiment of the present application;
FIG. 6 is a flow chart of a method for controlling a cut-off feeding apparatus according to an embodiment of the present application;
fig. 7 is a schematic diagram of multi-axis coupling of a cutter module according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a visual inspection provided by an embodiment of the present application;
FIG. 9 is one of the flow charts of the sub-steps included in step S110 of FIG. 6;
FIG. 10 is a flow chart of the sub-steps included in step S111 in FIG. 9;
FIG. 11 is a schematic diagram of a stack computing bias principle according to an embodiment of the present application;
FIG. 12 is a flow chart illustrating the sub-steps included in step S112 of FIG. 9;
FIG. 13 is a second flowchart illustrating the sub-steps included in the step S110 in FIG. 6;
FIG. 14 is a block schematic diagram of a control device for cutting off a feeding apparatus according to an embodiment of the present application.
Icon: 10-cutting off the feeding equipment; 101-a first composite sheet strip; 110-a first negative electrode material tape; 115-a second negative electrode strip; 120-a first negative electrode cutter module; 121-DDR motor; 122-a cutter motor; 123-linear motor; 125-a second negative electrode cutter module; 130-a first negative electrode feed roll; 135-a second negative electrode feed roll; 140-a first diaphragm smoothing roller; 145-a second diaphragm smoothing roller; 150-a first separator; 155-a second separator; 160-a first negative electrode grinding roll; 165-a second negative electrode platen roller; 170-tab detector; 201-a second composite sheet strip; 210-a first positive electrode material strip; 215-a second positive electrode material strip; 220-a first positive electrode cutter module; 225-a second positive electrode cutter module; 230-a first positive electrode feeding roller; 235-a second positive electrode feeding roller; 240-a first image acquisition unit; 245-a second image acquisition unit; 250-a first positive electrode grinding roll; 255-a second positive electrode grinding roll; 300-an electronic device; 310-memory; 320-a processor; 400-control means for switching off the feeding device; 410-a deviation calculation module; 420-a processing module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a cutting and feeding apparatus 10 according to an embodiment of the present application. The cutting and feeding device 10 comprises at least one cutter module, and the cutter module is used for cutting the pole piece material belt into pole pieces, so that the pole pieces and the diaphragm are combined together to obtain a first composite piece material belt consisting of the diaphragm and the negative pole piece, or a second composite piece material belt consisting of the diaphragm, the negative pole piece and the positive pole piece. The cut-off feeding apparatus 10 can compensate according to the detected deviation of the sheet width and/or the coating deviation, thereby improving the accuracy of the sheet width and/or the coating accuracy.
As a possible implementation, the cutting and feeding device 10 may include a cutter module for cutting the negative electrode sheet material strip or the positive electrode sheet material strip. The cutting and feeding device 10 may also include two cutter modules, wherein one cutter module is used for cutting the negative electrode sheet material belt, and sending the cut negative electrode sheet between two layers of diaphragms to obtain a first composite sheet material belt; the other cutter module is used for cutting the positive plate material belt and conveying the cut positive plate to the outer side of one layer of diaphragm to obtain a second composite plate material belt. The use and number of the cutter modules included in the cutting and feeding device may be specifically set in connection with actual demands, and are not specifically limited herein.
The inventor of the present application has found that if only one cutter module is provided for processing the negative electrode sheet material (i.e., the negative electrode sheet material), only one cutter module is provided for processing the positive electrode sheet material (i.e., the positive electrode sheet material), the efficiency is low. In order to improve the efficiency, as shown in fig. 1, in this embodiment, the cutting and feeding device 10 includes two negative electrode cutter modules and two positive electrode cutter modules, where the two negative electrode cutter modules are located at the upstream of the two positive electrode cutter modules, and the two negative electrode cutter modules are symmetrically arranged up and down, and the two positive electrode cutter modules are symmetrically arranged up and down. The feeding action is synchronously cut off by a plurality of cutters, so that the production efficiency of the whole machine can be improved.
Other means may also be included in the cut-and-feed apparatus 10 for effecting the obtaining of the first composite sheet material strip or the second composite sheet material strip.
As shown in fig. 1, the cut-off feeding apparatus 10 may include: first negative electrode material belt 110, second negative electrode material belt 115, first negative electrode cutter module 120, second negative electrode cutter module 125, first negative electrode feed roller 130, second negative electrode feed roller 135, first separator smoothing roller 140, second separator smoothing roller 145, first separator 150, second separator 155, first negative electrode grinding roller 160, second negative electrode grinding roller 165.
The first negative electrode cutter module 120 and the second negative electrode cutter module 125 are vertically symmetrically arranged, the symmetry axis of the first negative electrode cutter module 120 and the second negative electrode cutter module 125 is used as a symmetry axis, and the first negative electrode material belt 110, the second negative electrode material belt 115, the first negative electrode material feeding roller 130, the second negative electrode material feeding roller 135, the first diaphragm smoothing roller 140, the second diaphragm smoothing roller 145, the first diaphragm 150, the second diaphragm 155, the first negative electrode grinding roller 160 and the second negative electrode grinding roller 165 are symmetrically arranged. The first negative electrode material belt 110, the first negative electrode cutter module 120, the first negative electrode feeding roller 130, the first diaphragm smoothing roller 140, the first diaphragm 150 and the first negative electrode grinding roller 160 are located on the same side of the symmetry axis, and the rest is located on the other side.
The first negative electrode tape 110 and the second negative electrode tape 115 provide a cut negative electrode material. The first negative electrode cutter module 120 is configured to cut the first negative electrode material strip 110 to obtain a negative electrode plate, and convey the negative electrode plate to subsequent processing; similarly, the second negative electrode cutter module 125 is configured to cut the second negative electrode material belt 115 to obtain a negative electrode sheet, and convey the negative electrode sheet to a subsequent process.
The first negative electrode feeding roller 130 and the second negative electrode feeding roller 135 are used for avoiding the influence of shaking on feeding precision when the negative electrode piece enters between two layers of diaphragms (namely the first diaphragm 150 and the second diaphragm 155). The first diaphragm smoothing roller 140 and the second diaphragm smoothing roller 145 are used for ensuring that the diaphragms (i.e. the first diaphragm 150 and the second diaphragm 155) cannot wrinkle, and avoiding influencing the stacking quality. A first composite sheet stock tape 101 is obtained after the negative electrode sheet is fed between two separator layers.
In order to ensure the composite effect of the first composite sheet material belt 101, the first negative electrode grinding roller 160 and the second negative electrode grinding roller 165 may be used to further process the first composite sheet material belt 101, so as to ensure the composite effect of the negative electrode sheet and the separator.
As shown in fig. 1, the cut-off feeding apparatus 10 may further include: the first positive electrode material belt 210, the second positive electrode material belt 215, the first positive electrode cutter module 220, the second positive electrode cutter module 225, the first positive electrode feeding roller 230, the second positive electrode feeding roller 235, the first positive electrode grinding roller 250 and the second positive electrode grinding roller 255.
Similarly, the symmetry axis of the first negative electrode cutter module 120 and the second negative electrode cutter module 125 is used as a symmetry axis, and the first positive electrode material belt 210 and the second positive electrode material belt 215, the first positive electrode cutter module 220 and the second positive electrode cutter module 225, the first positive electrode feeding roller 230 and the second positive electrode feeding roller 235, and the first positive electrode grinding roller 250 and the second positive electrode grinding roller 255 are all symmetrically arranged. The first positive electrode material belt 210, the first positive electrode cutter module 220, the first positive electrode feeding roller 230, the first positive electrode grinding roller 250 and the first negative electrode material belt 110 are located at the same side of the symmetry axis, and other devices related to the positive electrode part are located at the other side of the symmetry axis.
The first and second positive electrode strips 210, 215 provide a cut positive electrode material. The first positive electrode cutter module 220 is configured to cut the first positive electrode material belt 210 to obtain a positive electrode sheet, and convey the positive electrode sheet to a subsequent process; similarly, the second positive electrode cutter module 225 is configured to cut the second positive electrode material belt 215 to obtain a positive electrode sheet, and convey the positive electrode sheet to a subsequent process.
The first positive electrode feeding roller 230 and the second positive electrode feeding roller 235 are used for avoiding the influence of shaking on the coating effect when the positive electrode plate enters the diaphragm. In this manner, a positive electrode sheet may be provided on one side of the first composite sheet material strip, resulting in a second composite sheet material strip 201. In order to ensure the composite effect of the second composite sheet material belt 201, the first positive electrode grinding roller 250 and the second positive electrode grinding roller 255 may be used to further process the second composite sheet material belt 201, so as to ensure that the positive electrode sheet, the two-layer separator and the negative electrode sheet are in close contact, and the lamination process cannot fall.
In this embodiment, the two negative electrode cutter modules and the two positive electrode cutter modules can be controlled to alternately feed sheets in any manner, so as to improve the overall efficiency. As shown by the arrow in fig. 1, when one negative electrode cutter module feeds a sheet, the other negative electrode cutter module retreats; when one positive electrode cutter module sends a sheet, the other positive electrode cutter module retreats.
The following will briefly describe how the 4 cutter modules alternately feed the sheet with reference to fig. 1 and 2.
When the cutting-off feeding device 10 is operated, the two negative electrode cutter modules (namely, the first negative electrode cutter module 120 and the second negative electrode cutter module 125) alternately send the negative electrode sheet between the two diaphragms (namely, the position 1 in fig. 2); two positive electrode cutter modules (i.e., a first positive electrode cutter module 220 and a second positive electrode cutter module 225) alternately send positive electrode sheets to both sides of the negative electrode sheet (i.e., position 2 in fig. 2).
In fig. 2, the upper negative electrode represents the negative electrode sheet cut and conveyed by the first negative electrode cutter module 120, the lower negative electrode represents the negative electrode sheet cut and conveyed by the second negative electrode cutter module 125, the upper negative electrode is adjacent to the lower negative electrode, and the two negative electrode cutter modules alternately convey the negative electrode sheet. Similarly, in fig. 2, the upper positive electrode represents the positive electrode sheet cut and conveyed by the first positive electrode cutter module 220, the lower positive electrode represents the positive electrode sheet cut and conveyed by the second positive electrode cutter module 225, the upper positive electrode may be located at the outer side of the upper negative electrode up separator, and the lower positive electrode may be located at the outer side of the lower negative electrode down separator.
The structure of each cutter module can be the same. One cutter module comprises a motor for driving the sheet, a cutter motor 122 and a linear motor 123. The motor for driving the sheet is used for conveying the sheet material belt forward, and can be specifically set according to actual requirements, for example, the motor is a DDR motor 121.
The following describes the cutting and feeding operation of the single cutter module: the first composite sheet material belt 101 and the second composite sheet material belt 201 are both in uniform motion and can have the same speed; the linear motor 123 is started at the starting position, accelerates to the speed of the composite sheet material belt (namely the speed of the first composite sheet material belt 101 and the second composite sheet material belt 201), keeps constant speed after synchronization, and at the moment, the cutter motor 122 executes pole piece cutting action, and the DDR motor 121 keeps static; after cutting is completed, the linear motor 123 drives the cut pole piece to move, the speed of the composite sheet material belt is accelerated to ensure the accuracy of the feeding position, when the pole piece just enters the material roller, the pole piece starts to decelerate until the feeding end position stops, and at the moment, the cutter motor 122 returns to the original position; meanwhile, after the position of the linear motor 123 reaches the sheet feeding end position, acceleration and retraction are started to the sheet feeding start position, at this time, the DDR motor drives the sheet, and one period of execution of the feeding cutting action is completed. It will be appreciated that in one cycle, the DDR motor 121, the cutter motor 122 and the linear motor 123 are not operated all the time, but are operated for a part of the time and for a part of the time to be stationary, and are returned to the initial position for a next cycle after the completion of the operation.
In this way a composite sheet band is obtained. The second composite sheet strip 201 may include a plurality of composite sheets therein. The structure of the composite sheet in the second composite sheet material belt 201 is shown in fig. 3, the composite sheet comprises two layers of diaphragms, the negative electrode plate is located between the two layers of diaphragms, and the positive electrode plate is located on the outer side of one of the two layers of diaphragms. One end of the composite sheet is provided with a positive electrode lug, and the other end is provided with a negative electrode lug.
In this embodiment, the cut-off feeding apparatus 10 may further include at least one image capturing unit, the specific number of which may be set in connection with the demand. The image capturing unit is configured to capture an image of the first composite sheet material band 101 and/or an image of the second composite sheet material band 201, and may be specifically set according to actual requirements. For example, when the cut-off feeding apparatus 10 is used only to generate the first composite sheet material tape 101, only the image acquisition unit may be provided to acquire an image of the first composite sheet material tape 101.
When the cut-off feeding apparatus 10 is used to generate the second composite sheet material tape 201 based on the positive and negative sheet material tapes, an image acquisition unit may be provided in the cut-off feeding apparatus 10 to acquire an image of the second composite sheet material tape 201. In this case, since the negative electrode tab is also included in the acquired image of the second composite sheet material tape 201, since only the image acquisition unit that acquires the image of the second composite sheet material tape 201 may be provided, there is no need to provide an image acquisition unit that is dedicated to acquiring the image of the first composite sheet material tape 101, thereby saving costs.
Optionally, as shown in fig. 1 and the accompanying drawings, when the cutting and feeding device 10 includes 2 symmetrically arranged negative electrode cutter modules and 2 symmetrically arranged positive electrode cutter modules, the image acquisition units in the cutting and feeding device 10 may also be symmetrically arranged, so as to acquire corresponding images and adjust the tracks of the corresponding cutter modules.
As shown in fig. 1, the cutting and feeding apparatus 10 may include a first image capturing unit 240 and a second image capturing unit 245, where the first image capturing unit 240 and the second image capturing unit 245 are symmetrically disposed with respect to the aforementioned symmetry axis, so as to capture images of the upper and lower sides of the second composite sheet material band 201.
Optionally, the cut-off feeding apparatus 10 may further comprise at least one tab detector 170. As shown in fig. 4, the tab detector 170 may be disposed on a path of the pole piece material belt that is conveyed to the cutter module, and may be used to detect a pole piece width corresponding to the pole piece material belt, so as to ensure a precision of the pole piece width when performing the control of the pole piece width. The number of the tab detectors 170 corresponds to the number of the pole piece material belts, and one tab detector 170 is arranged on the transmission path of at least one pole piece material belt.
The tab detector 170 may be of a U-shaped configuration and the strip of pole piece material may be transported in the void of the U-shaped configuration. The tab detector 170 is configured to detect a position of a tab, so as to determine a tab width corresponding to a tab strip based on the adjacent tab positions.
When the cutting and feeding control is not good, the sheet width precision and the coating precision cannot be ensured. The sheet width precision generally requires that the sheet width of the positive and negative pole pieces cut by the cutter is within the process range, and is generally set to be +/-0.1 mm; the coating precision generally requires that the anode pole piece is coated with the cathode pole piece, so that the anode pole piece is ensured to be positioned in the middle of the cathode pole piece, and the left and right widths of the anode pole piece and the cathode pole piece are within +/-0.1 mm of a set value.
The control mode of the current cutting-off feeding equipment cannot realize self-adaptive adjustment, so that the sheet width precision and the coating precision cannot be ensured. In this embodiment, the motion track of the cutter module may be adaptively adjusted based on the deviation obtained by the image acquisition unit or the image acquisition unit and the tab sensor, so as to ensure the sheet width precision and/or the cladding precision of the pole piece.
Referring to fig. 5, fig. 5 is a block diagram of an electronic device 300 according to an embodiment of the application. The electronic device 300 may be the control means of the cut-off feeding device 10 described above, or may be another device for controlling the cut-off feeding device 10. The electronic device 300 may include a memory 310 and a processor 320. The memory 310 and the processor 320 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
Wherein the memory 310 is used to store programs or data. The Memory 310 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
The processor 320 is used to read/write data or programs stored in the memory 310 and perform corresponding functions. For example, the memory 310 stores a control device 400 for cutting off the feeding apparatus, and the control device 400 for cutting off the feeding apparatus includes at least one software function module which may be stored in the memory 310 in the form of software or firmware (firmware). The processor 320 executes various functional applications and data processing by running software programs and modules stored in the memory 310, such as the control device 400 for cutting off the feeding apparatus in the embodiment of the present application, that is, implements the control method for cutting off the feeding apparatus in the embodiment of the present application.
It should be understood that the structure shown in fig. 5 is merely a schematic diagram of the structure of the electronic device 300, and that the electronic device 300 may further include more or fewer components than those shown in fig. 5, or have a different configuration than that shown in fig. 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 6, fig. 6 is a flow chart of a control method for cutting off a feeding device according to an embodiment of the application. The method can be applied to the cutting and feeding equipment, and the cutting and feeding equipment comprises an image acquisition unit and a cutter module for cutting and feeding. The specific flow of the control method of cutting off the feeding apparatus will be described in detail. In this embodiment, the method may include steps S110 to S120.
Step S110, according to the current visual detection data corresponding to the current composite sheet image acquired by the image acquisition unit, a current target deviation value is calculated.
And step S120, adjusting the motion trail of the corresponding cutter module according to the target deviation value so as to realize self-adaptive compensation of cutting and/or feeding.
In this embodiment, the control unit may be used to perform a control method of cutting off the feeding apparatus. The image acquisition unit can acquire images of the first composite sheet material belt or the second composite sheet material belt, so that a current composite sheet image is obtained. The image acquisition unit can analyze the current composite sheet image so as to obtain current visual detection data, and the visual detection data are sent to the control unit. Or the image acquisition unit can directly send the current composite sheet image to the control unit, and the control unit analyzes the current composite sheet image to obtain current visual detection data. The current visual detection data is used for describing the situation of finished cutting and/or feeding, the finished cutting situation can comprise the width of a cut pole piece, and the finished feeding situation can comprise the corresponding cladding situation of a positive pole piece and a negative pole piece.
The control unit may calculate a current target deviation value according to the obtained current visual detection data. Wherein when the current visual inspection data includes information describing the completed cutting situation, the target deviation value may include a target pole piece width deviation value. When the current visual inspection data includes a description of the completed feeding, the target coating deviation may be included in the target deviation value. The target deviation value is a deviation value which needs to be used when compensation is performed currently.
And under the condition that the target deviation value is obtained, adjusting the movement track of the cutter module corresponding to the target deviation value according to the target deviation value so as to realize the self-adaptive compensation of cutting and/or feeding. For example, when the pole piece corresponding to the target pole piece width deviation value included in the target deviation value is the pole piece cut off by the first negative electrode cutter module, the motion track of the first negative electrode cutter module is adjusted according to the target pole piece width deviation value so as to realize self-adaptive compensation of cutting off. Similarly, when the positive pole piece corresponding to one target coating deviation value included by the target deviation values is the pole piece cut off by the first positive pole cutter module, the motion track of the first positive pole cutter module is adjusted according to the target coating deviation values so as to realize self-adaptive compensation of feeding. That is, the cutter module corresponding to the target deviation value is the cutter module used in the production process of the pole piece corresponding to the target deviation value.
Therefore, the full closed loop can be realized by utilizing the visual detection data, the self-adaptive adjustment of the cutting/feeding position is realized, the coating precision of the anode and the cathode is improved, the core stacking quality is improved, and the like.
In the embodiment of the application, the cutting and feeding action principle of the cutter module can be based on a dynamic cam curve. The dynamic cam curve represents the position relationship between the main shaft and the slave shaft in cam coupling, the cam curve is determined by cam points, and the process of designing the cam curve is to design the cam points. Firstly, according to the mechanical design of a cutter module (the mass of a transmission mechanism, the transmission ratio, the motion stroke of an action executing mechanism, the rated rotation speed, rated moment, acceleration and deceleration stroke, acceleration and deceleration time and the like of a linear motor, a cutter motor and a motor for driving a sheet), the maximum acceleration, the maximum deceleration, the maximum acceleration time, the maximum deceleration time and the like required by each executing mechanism (namely three motors) of the cutter module when each executing mechanism completes the action are calculated, and then, the positions of cam points in three motor dynamic cam curves are respectively designed according to the speed requirement of the whole machine operation of the equipment, the width of a pole piece in a core stacking process, the speed change point of each motor when the cutter module acts and the like. And then, generating a cam table based on the cam point position, and calling the corresponding cam table by the operation of a motor, thereby realizing the purpose that the cutter module moves according to the dynamic cam curve.
The cam points can be fitted into a curve by adopting a mode of five-degree polynomial fitting, namely, the cam curve is obtained by fitting. The linear motor, the cutter motor and the motor for driving the sheet act according to respective cam curves to realize cutting and feeding.
In this embodiment, the cutting and feeding device includes two negative electrode cutter modules and two positive electrode cutter modules, the two negative electrode cutter modules are located at the upstream of the two positive electrode cutter modules, the two negative electrode cutter modules are symmetrically arranged up and down, and the two positive electrode cutter modules are symmetrically arranged up and down. The multiple-axis synchronous coupling control can be performed on the multiple cutter modules respectively, so that the multiple cutter modules alternately feed sheets. The plurality of cutter modules comprise two negative electrode cutter modules and two positive electrode cutter modules, and the plurality of cutter modules are coupled at different positions of the main virtual axis. Therefore, the cutting-off feeding action of the 4 cutter modules can be realized through multi-axis synchronous coupling control, and the efficiency is improved.
The principle of the coupling of the cutter modules will be explained below with reference to fig. 7, taking the above negative electrode cutter module (i.e., the first negative electrode cutter module in fig. 1) as an example. The coupling principle of the 4 cutter modules is consistent, and the positions of the cutter modules are only different from each other. The position of the principal imaginary axis represents the angle of the principal imaginary axis, and the rotation is 0 to 360 degrees. An upper cut-off feed corresponding to 0-180 degrees and a lower cut-off feed corresponding to 180-360 degrees may be provided, wherein the upper cut-off feed represents the cut-off feed of the first negative electrode cutter module and the first positive electrode cutter module in fig. 1, and the lower cut-off feed represents the cut-off feed of the second negative electrode cutter module and the second positive electrode cutter module in fig. 1. In the following description, 3 motors included in one cutter module are: DDR motor, cutter motor and linear electric motor.
In the process of the operation of the main virtual axis, the composite sheet material belt moves at a constant speed, and in order to ensure that the same negative electrode distance (namely the gap distance between two adjacent negative electrode plates at the position 1 of fig. 2) is reserved, the feeding action is cut off, and a flying saw is used, namely the upper negative flying chasing virtual main axis flying saw is used for the main virtual axis. Wherein the crouching is a special electronic cam. Alternate sheet feeding can be realized by controlling the angle of the squat.
In order to ensure the alternating precision of the two negative electrode cutter modules and distinguish the feeding cutter groups, the sheet feeding positions of the two negative electrode cutter modules are required to be adjusted, and a multi-axis coupling mode is adopted, namely an upper negative virtual main axis multi-axis coupling upper negative flying virtual main axis and an upper negative phase virtual main axis. The coupling upper negative flight virtual main shaft ensures that the pole pieces are fed into the composite sheet material belt when the negative electrode spacing is reserved, namely, when the main virtual shaft is correspondingly cut off for feeding at 0-180 degrees and correspondingly cut off for feeding at 180-360 degrees, the upper and lower flight angles are 180 degrees different, and the reserved negative electrode spacing is consistent. The upper negative phase virtual main shaft is coupled to distinguish the upper negative electrode cutting feeding or the lower negative electrode cutting feeding. The upper and lower negative phase virtual principal axes (the lower negative phase virtual principal axis corresponds to the phase virtual principal axis in the coupling schematic diagram corresponding to the second negative cutter module) are separated by a distance of one negative pole piece width, and the upper and lower positive cutter modules (i.e. the two positive cutter modules) are separated by a distance of one positive pole piece width.
The upper negative alignment virtual axis gear is coupled with the upper negative virtual main axis and is executed in synchronization with the upper negative alignment virtual main axis, and the upper negative alignment virtual axis means that when the equipment is stopped and then operated, the position positioning can be completed through the virtual axis without the action of a hardware motor. The upper negative linear motor, the upper negative cutter motor and the upper negative DDR motor (namely the upper negative driving piece DDR motor in fig. 7) are respectively coupled with the upper negative counterpoint virtual shaft through cams, and the feeding cutting-off purpose is realized according to the designed dynamic cam curve.
In the production process, as shown in fig. 2, the upper negative electrode plate corresponds to the upper positive electrode plate, and in the multi-spindle coupling design of the upper positive electrode cutter module (i.e., the first positive electrode cutter module) and the upper negative electrode cutter module (i.e., the first negative electrode cutter module), the phase virtual spindle is different from the positive electrode feeding roller to the negative electrode feeding roller in fig. 1. Meanwhile, the positive and negative electrode feeding rollers are 1:1 is coupled to the main virtual shaft and operates synchronously.
Wherein, one of the first negative electrode feeding roller and the second negative electrode feeding roller is a driving roller, and the other is a driven roller; and one of the first positive electrode feeding roller and the second positive electrode feeding roller is a driving roller, and the other is a driven roller. The cathode feeding rollers related to the feeding rollers of the coupling main virtual shaft are driving rollers in the first cathode feeding roller and the second cathode feeding roller, and the anode feeding rollers related to the coupling are driving rollers in the first anode feeding roller and the second anode feeding roller.
Optionally, the current visual detection data includes size information of a pole piece included in the composite piece, and the target deviation value includes a target pole piece width deviation value. As a possible implementation manner, the target visual pole piece width deviation value can be calculated according to the information and the corresponding target pole piece width, and the target visual pole piece width deviation value is directly used as the target pole piece width deviation value to perform the adaptive compensation of the pole width.
As shown in fig. 8, the current visual detection data may include positive electrode piece size information and negative electrode piece size information in the composite sheet, where the positive electrode piece size information includes: a detected positive electrode upper side piece width a and a detected positive electrode lower side piece width b; the size information of the negative electrode plate comprises: detected anode upper side piece width c, detected anode lower side piece width b. A chip width deviation value can be calculated according to the following formula:
the target pole piece width of the positive pole piece and the target pole piece width of the negative pole piece are set based on technological parameters. The sheet width deviation value calculated based on the formula can be directly used as a target visual pole piece sheet width deviation value, and the target visual pole piece sheet width deviation value can be obtained by combining other processes.
As another possible implementation, the current target pole piece width deviation value may be obtained in the manner described in fig. 9. Referring to fig. 9, fig. 9 is a schematic flow chart of the sub-steps included in step S110 in fig. 6. In this embodiment, step S110 may include sub-steps S111 to S113.
And a substep S111, for each cutter module corresponding to the composite sheet manufacturing process corresponding to the current visual detection data, determining a target visual pole piece width deviation value corresponding to the pole piece cut by the cutter module according to the current visual detection data.
In this embodiment, the current visual inspection data includes size data of one composite sheet. The size data of the composite sheet comprises the size information of the negative electrode sheet or comprises the size information of the positive electrode sheet and the size information of the negative electrode sheet. The size information of the negative electrode plate is used for calculating the width of the negative electrode plate, and the size information of the positive electrode plate is used for calculating the width of the positive electrode plate. And the cutter module corresponding to the composite sheet manufacturing process corresponding to the current visual detection data is used for generating the cutter module used in the composite sheet manufacturing process.
As shown in fig. 2, in the production process of the composite sheet including the upper positive electrode and the lower negative electrode, the first negative electrode cutter module and the first positive electrode cutter module are used, so that the movement track of the first negative electrode cutter module and the movement track of the first positive electrode cutter module can be adjusted according to the cutting and feeding conditions of the composite sheet. In the same way, in the production process of the composite sheet comprising the lower negative electrode and the lower positive electrode, the second negative electrode cutter module and the second positive electrode cutter module are used, and then the movement track of the second negative electrode cutter module and the movement track of the second positive electrode cutter module can be adjusted according to the cutting and feeding conditions of the composite sheet.
The target visual pole piece width deviation value corresponding to the pole piece cut out by each cutter module used in the production process of the composite piece can be calculated according to the size data of the composite piece and the corresponding target pole piece width included in the current visual detection data.
Alternatively, the target visual pole piece width deviation value may be obtained as shown in fig. 10. Referring to fig. 10, fig. 10 is a flow chart illustrating the sub-steps included in step S111 in fig. 9. In this embodiment, sub-step S111 may include sub-steps S1111 through S1113.
And step S1111, calculating a first pole piece width corresponding to the cutter module according to the size data of the composite piece included in the current visual detection data.
And sub-step S1112, calculating to obtain a first current pole piece width deviation value corresponding to the composite piece corresponding to the current visual detection data according to the first pole piece width and the corresponding target pole piece width.
And substep S1113, calculating a target visual pole piece width deviation value corresponding to the cutter module according to the first current pole piece width deviation value.
In this embodiment, for each cutter module corresponding to the composite sheet corresponding to the current visual detection data in the manufacturing process of the composite sheet, 1 first pole piece width corresponding to the cutter module may be calculated according to the size data of the composite sheet included in the current visual detection data. The first pole piece width is an average value of the upper and lower widths detected visually.
For example, assuming that the cutter module is an anode cutter module, the first pole piece width of the anode can be calculated according to the anode pole piece size information in the size data of the composite piece, as shown in fig. 8, and the first pole piece width of the anode can be an average value of a and b. The first pole piece width of the negative pole can also be calculated according to the size information of the negative pole piece in the size data of the composite piece, as shown in fig. 8, and the first pole piece width of the positive pole can be the average value of c and d.
Under the condition that the first pole piece width corresponding to the pole piece cut by one cutter module is obtained, a first current pole piece width deviation value corresponding to the cutter module can be calculated according to the target pole piece width corresponding to the first pole piece width.
For example, the cutter module is an anode cutter module, and the first current pole piece width deviation value corresponding to the anode pole piece can be calculated according to the calculated first pole piece width of the anode and the target pole piece width of the anode pole piece. Similarly, the cutter module is a negative electrode cutter module, and a first current pole piece width deviation value corresponding to the negative electrode piece can be obtained through calculation according to the calculated first pole piece width of the negative electrode and the target pole piece width of the negative electrode piece. Wherein, the target pole piece width of the positive pole piece is smaller than that of the negative pole piece. The calculating process of the sheet width deviation value of the first current pole piece can be obtained according to the sheet width deviation value calculating formula.
Optionally, the first current pole piece width deviation value can be directly used as the target visual pole piece width deviation value corresponding to the cutter module. Thus, the target visual pole piece width deviation value can be obtained rapidly.
Optionally, the first current pole piece width deviation value and the plurality of first historical pole piece width deviation values corresponding to the cutter module can be calculated to obtain the target visual pole piece width deviation value. The first historical pole piece width deviation value is obtained based on the historical composite piece image through calculation, and the calculation process is the same as that of the first current pole piece width deviation value. Optionally, taking the average value of the first current pole piece width deviation value and the plurality of historical pole piece width deviation values corresponding to the cutter module as the target visual pole piece width deviation value.
Optionally, the target visual pole piece width deviation value may also be determined according to whether current visual detection data is available. The current visual inspection data may be a result obtained by other processing, which is not specifically limited herein. For example, when the pole piece in the composite sheet is curled, the visual detection data corresponding to the composite sheet is not available.
And under the condition that the current visual detection data is available, calculating to obtain the target visual pole piece width deviation value according to at least one first historical pole piece width deviation value corresponding to the cutter module and the first current pole piece width deviation value. Alternatively, at least one first historical pole piece width deviation value and an average value of the first current pole piece width deviation values may be used as the target visual pole piece width deviation value. The visual detection data corresponding to the used first historical pole piece width deviation values are available, all the first historical pole piece width deviation values can be used, and M-1 latest first historical pole piece width deviation values can be used, wherein M is a preset value larger than 2.
And under the condition that the current visual detection data is unavailable, calculating to obtain the target visual pole piece width deviation value according to at least one first historical pole piece width deviation value corresponding to the cutter module. For example, an average value of M latest first historical pole piece width deviation values is taken as a target visual pole piece width deviation value.
The method for obtaining the target visual pole piece width deviation value based on a certain number of pole piece width deviation values is based on a stacking method to determine the pole piece width deviation value used for calculating the target visual pole piece width deviation value.
As shown in fig. 11, the stack method is used to average the 5 pieces of deviation data, namely the target visual pole piece width deviation value delta vis . Stacking mode: firstly judging the visual feedback data of the current slice, and assuming that the current detection slice NG (i.e. unavailable), not taking the slice width deviation data of the slice, and continuously using the last compensation value, namely taking the average value of the historical 5-slice deviation data as the target visual slice width deviation value delta vis . Assuming the current slice OK (i.e. available), the slice deviation data is put into the last one of the stacks, the first one of the stacks is cleared, so that the average value of the current second to six slices of deviation data in the stacks is used as the target visual slice width deviation value delta vis 。
And S112, aiming at each cutter module corresponding to the composite sheet corresponding to the current visual detection data in the manufacturing process, obtaining a target strip polar sheet width deviation value corresponding to the cutter module.
And the target strip polar piece width deviation value corresponding to each cutter module can be obtained in any mode according to each cutter module corresponding to the manufacturing process of the composite piece corresponding to the current visual detection data. The target material belt pole piece width deviation value represents the corresponding piece width deviation of the pole piece material belt corresponding to the cutter module. The target material belt pole piece width deviation value can be manually input and measured, can be sent by other equipment, can be obtained by detection, and can be obtained by other modes.
As a possible implementation manner, the cutting and feeding device may further include a tab detector, where the tab detector may be configured as shown in the figure, and the target strip tab width deviation value may be obtained in the manner shown in fig. 12. The setting position of the tab detector is fixed. Referring to fig. 12, fig. 12 is a flowchart illustrating the sub-steps included in step S112 in fig. 9. In this embodiment, sub-step S112 may include sub-steps S1121 through S1122.
And step 1121, obtaining a second pole piece width of at least one pole piece, which is obtained by the tab detector and is conveyed to the pole piece of the cutter module, of the pole piece material belts corresponding to the cutter modules.
And step S1122, calculating to obtain the target strip pole piece width deviation value according to the obtained second pole piece width and the corresponding target pole piece width.
In this embodiment, the second tab width is obtained based on a position of the DDR motor for driving the tab in the cutter module when the tab is detected by the tab sensor. When the tab passes through the tab detector, one side passing through the tab detector is a rising edge, and the other side passing through the tab detector is a falling edge. The angle of the DDR motor in the cutter module corresponding to the same pole piece material belt can be recorded when the pole lug detector detects the rising edge, and then the second pole piece width is calculated based on the recorded angle of the DDR motor adjacent to the first pole piece material belt. Similarly, it is also possible to record when a falling edge is detected and then obtain a second slice segment based on the same manner. The DDR motor angle when specifically recording whether rising edge or falling edge is detected can be set in combination with actual requirements.
Optionally, the target strip pole piece width deviation value may be calculated according to the newly obtained second pole piece width and the corresponding target pole piece width. And calculating an average value according to the obtained second pole piece widths, and then calculating the target strip pole piece width deviation value based on the average value and the corresponding target pole piece width. The plurality of second pole piece widths obtained above may be the latest predetermined number of second pole piece widths, or may be all the obtained second pole piece widths.
And S113, calculating to obtain a target pole piece width deviation value used when the cutter module performs the piece width compensation according to the target visual pole piece width deviation value and the target material belt pole piece width deviation value corresponding to each cutter module.
Optionally, for each cutter module, the sum of the target visual pole piece width deviation value and the target strip pole piece width deviation value corresponding to the cutter module can be used as the corresponding target pole piece width deviation value.
Optionally, the target pole piece width deviation value delta l The calculation process of (2) can be expressed by the following formula:
wherein i is the number of production sheets, l i Is the corresponding position of the rising edge (or the falling edge) of the current pole piece, l i-1 Is the corresponding position of the rising edge (or the falling edge) of the last pole piece, w st For the corresponding target pole piece width delta vis The width deviation value of the target visual pole piece is obtained.
Optionally, after the target pole piece width deviation value is obtained, the motion track of the DDR motor for driving the piece in the corresponding cutter module can be adjusted according to the target pole piece width deviation value so as to modify the end position of the DDR motor, thereby ensuring that the pole piece width cut by the cutter module is within +/-0.1 mm of the set process parameter. That is, after the target pole piece width deviation value is obtained, the cutter module can execute the modified movement track, so that the width of the pole piece can be adjusted in a timely and self-adaptive manner.
Optionally, the calculated deviation value of the sheet width of the target pole piece can be compensated into a dynamic cam curve of the DDR motor, and the self-adaptive adjustment of the sheet width is realized by modifying the end position of the DDR motor, so that the alignment degree of the stacked cores is improved. The end position of the DDR motor, namely the position where the cutter motor starts to cut, is larger, and the cutter motor cuts more backward, so that the width of the sheet is larger; and vice versa. Therefore, the width of the pole piece cut by the cutter module can be adjusted by modifying the end position of the DDR motor.
It can be understood that when the cutter feeding device includes two positive electrode cutter modules and 2 negative electrode cutter modules as shown in fig. 1, the end position of the DDR motor in each cutter module can be modified according to the target pole piece width deviation value corresponding to each cutter module, so as to realize the piece width adaptive compensation.
Optionally, when the cutting feeding device is used for generating the second composite sheet material belt including the positive and negative electrode sheets, the current visual detection data may further include edge distance data, and correspondingly, the target deviation value includes a target cladding deviation value. The edge distance data is used for describing the distance between two adjacent edges in one composite sheet, wherein one edge of the two adjacent edges is the edge of the positive electrode sheet, and the other edge is the edge of the negative electrode sheet.
As shown in fig. 8, the edge distance data includes: the detected positive and negative spacing e on the left side of the upper part, the detected positive and negative spacing f on the left side of the lower part, the detected positive and negative spacing g on the right side of the upper part, and the detected positive and negative spacing h on the right side of the lower part.
The target coating deviation value can be obtained in the manner shown in fig. 13, and adaptive compensation is performed based on the target coating deviation value, so that the coating accuracy is ensured. Referring to fig. 13, fig. 13 is a second schematic flow chart of the sub-steps included in step S110 in fig. 6. In this embodiment, the step S110 may include sub-steps S115 to S116.
And step S115, calculating a current coating value according to the edge distance data in the current visual detection data aiming at each positive electrode cutter module for cutting and conveying the positive electrode plate.
And step S116, calculating the target coating deviation value according to the current coating value and the target coating value or according to the current coating value, the target coating value and at least one historical coating deviation value.
In this embodiment, for each positive electrode cutter module, referring to fig. 8, according to the edge distance data in the current visual detection data, the current coating value may be calculated according to the following formula:
optionally, under the condition that the current coating value including the coating value 1 and the coating value 2 is obtained, a difference value may be directly calculated according to the coating value 1, the coating value 2 and the target coating value, and the difference value is used as the target coating deviation value, where the target coating value is a positive and negative electrode coating standard value set based on the process parameter. The calculation process of the above difference can be expressed as:
alternatively, in the case of obtaining the difference value in the above manner, the target coating deviation value may be calculated based on the difference value and at least one historical coating deviation value. The historical coating deviation value is obtained based on the historical coating value corresponding to the positive electrode cutter module and the target coating value, and the calculation mode of the historical coating deviation value is the same as the calculation process of the difference value. Alternatively, the average of the difference and the at least one historical coating offset value may be used as the target coating offset value. Alternatively, the at least one historical coating bias value may be all of the obtained historical coating bias values; the latest N-1 historical coating deviation values can also be obtained, wherein N is a preset value larger than 2, for example, N is 10, namely, the latest 10 coating deviation values are obtained in a stacking mode.
Optionally, the motion track of the linear motor for conveying the positive pole piece in the corresponding positive pole cutter module can be adjusted according to the target coating deviation value, so that the feeding position can be adjusted in a self-adaptive mode.
Optionally, the target coating deviation value can be compensated to the positive phase virtual main shaft (i.e. the phase virtual main shaft corresponding to each of the first positive cutter module and the second cutter module), and the purpose of increasing or decreasing the feeding stroke (i.e. adjusting the feeding time) of the linear motor is achieved by modifying cam curves of the linear motor, the cutter motor and the DDR motor. Wherein, linear electric motor feed stroke indicates: the distance from the feeding start position to the feeding end position of the linear motor is the length distance.
In this embodiment, based on the sheet width deviation obtained by the tab detector and the visual feedback data obtained in real time, a complete closed loop can be completed, so as to realize self-adaptive sheet width adjustment of the cutter feeding device, improve sheet width precision, and ensure tab centering, core stacking alignment and the like. Meanwhile, the cutter module adopts a multi-shaft synchronous coupling operation control mode, so that synchronous cutting-off and feeding actions of multiple cutters are realized, and the production efficiency of the whole machine can be improved.
In order to perform the corresponding steps in the above embodiments and the various possible ways, an implementation of the control device 400 of the cut-off feeding apparatus is given below, alternatively, the control device 400 of the cut-off feeding apparatus may employ the device structure of the electronic apparatus 300 shown in fig. 5 and described above. Further, referring to fig. 14, fig. 14 is a block diagram of a control device 400 for cutting off a feeding apparatus according to an embodiment of the application. It should be noted that, the basic principle and the technical effects of the control device 400 for cutting off the feeding apparatus provided in this embodiment are the same as those of the foregoing embodiment, and for brevity, reference may be made to the corresponding contents of the foregoing embodiment. The cutting and feeding apparatus includes an image collecting unit and a cutter module for cutting and feeding, and the control device 400 of the cutting and feeding apparatus may include: the deviation calculation module 410 and the processing module 420.
The deviation calculating module 410 is configured to calculate a current target deviation value according to current visual detection data corresponding to the current composite image acquired by the image acquisition unit. The current visual detection data are used for describing the situation of finished cutting and/or feeding, and the target deviation value comprises a target pole piece width deviation value and/or a target cladding deviation value.
The processing module 420 is configured to adjust a motion track of the corresponding cutter module according to the target deviation value, so as to implement adaptive compensation for cutting and/or feeding.
In this embodiment, the cutting and feeding device includes two negative electrode cutter modules and two positive electrode cutter modules, the two negative electrode cutter modules are located at the upstream of the two positive electrode cutter modules, the two negative electrode cutter modules are symmetrically arranged up and down, and the two positive electrode cutter modules are symmetrically arranged up and down. The square processing module 420 is further configured to: and respectively carrying out multi-axis synchronous coupling control on the plurality of cutter modules so as to enable the plurality of cutter modules to alternately feed sheets. The plurality of cutter modules comprise two negative electrode cutter modules and two positive electrode cutter modules, and the plurality of cutter modules are coupled at different positions of the main virtual axis.
Alternatively, the above modules may be stored in the memory 310 shown in fig. 5 or solidified in an Operating System (OS) of the electronic device 300 in the form of software or Firmware (Firmware), and may be executed by the processor 320 in fig. 5. Meanwhile, data, codes of programs, etc. required to execute the above-described modules may be stored in the memory 310.
The embodiment of the application also provides a readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the control method for cutting off the feeding device.
In summary, the embodiment of the application provides a control method, a device, an electronic device and a readable storage medium for cutting-off feeding equipment, wherein the cutting-off feeding equipment comprises an image acquisition unit and a cutter module for cutting off and feeding, a current target deviation value is calculated based on current visual detection data corresponding to a current composite sheet image acquired by the image acquisition unit, and then a motion track of the corresponding cutter module is adjusted according to the target deviation value, so that self-adaptive compensation of cutting-off and/or feeding is realized. The current visual detection data are used for describing the situation of finished cutting and/or feeding, and the target deviation value comprises a target pole piece width deviation value and/or a target cladding deviation value. Therefore, the motion trail of the cutter module can be adaptively adjusted, and the sheet width precision and/or the cladding precision of the pole piece are ensured.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only of alternative embodiments of the present application and is not intended to limit the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A control method of a cut-off feeding apparatus, wherein the cut-off feeding apparatus includes an image acquisition unit and a cutter module for cutting off and feeding, the method comprising:
calculating to obtain a current target deviation value according to current visual detection data corresponding to the current composite sheet image acquired by the image acquisition unit, wherein the current visual detection data is used for describing the situation of finished cutting and/or feeding, and the target deviation value comprises a target pole piece width deviation value and/or a target cladding deviation value;
and adjusting the motion trail of the corresponding cutter module according to the target deviation value so as to realize self-adaptive compensation of cutting and/or feeding.
2. The method according to claim 1, wherein, in the case that the target deviation value includes the target pole piece width deviation value, the calculating to obtain the current target deviation value according to the current visual detection data corresponding to the current composite piece image acquired by the image acquisition unit includes:
determining a target visual pole piece width deviation value corresponding to a pole piece cut by the cutter module according to the current visual detection data aiming at each cutter module corresponding to the composite piece in the manufacturing process corresponding to the current visual detection data;
Obtaining a target strip pole piece width deviation value corresponding to each cutter module in the manufacturing process of the composite piece corresponding to the current visual detection data, wherein the target strip pole piece width deviation value represents a piece width deviation corresponding to a pole piece strip corresponding to the cutter module;
and calculating to obtain the target pole piece width deviation value used when the cutter module performs the piece width compensation according to the target visual pole piece width deviation value and the target material belt pole piece width deviation value corresponding to each cutter module.
3. The method according to claim 2, wherein the current visual inspection data includes size data of a composite sheet, the determining, for each cutter module corresponding to the composite sheet corresponding to the current visual inspection data in the manufacturing process, a target visual pole piece width deviation value corresponding to a pole piece cut by the cutter module according to the current visual inspection data includes:
calculating a first pole piece width corresponding to the cutter module according to the size data of the composite piece included in the current visual detection data;
calculating to obtain a first current pole piece width deviation value corresponding to the composite piece corresponding to the current visual detection data according to the first pole piece width and the corresponding target pole piece width;
And calculating to obtain a target visual pole piece width deviation value corresponding to the cutter module according to the first current pole piece width deviation value.
4. The method according to claim 3, wherein, in the case where the current visual inspection data is available, the calculating, according to the first current pole piece width deviation value, a target visual pole piece width deviation value corresponding to the cutter module includes:
calculating to obtain the target visual pole piece width deviation value according to at least one first historical pole piece width deviation value corresponding to the cutter module and the first current pole piece width deviation value, wherein the first historical pole piece width deviation value is obtained based on a historical composite piece image;
under the condition that the current visual detection data is unavailable, determining a target visual pole piece width deviation value corresponding to a pole piece cut by the cutter module according to the current visual detection data aiming at each cutter module corresponding to the composite piece corresponding to the current visual detection data in the manufacturing process, and further comprising:
and calculating to obtain the target visual pole piece width deviation value according to at least one first historical pole piece width deviation value corresponding to the cutter module.
5. The method according to claim 2, wherein the cutting and feeding device further includes a tab detector, and the obtaining, for each cutter module corresponding to the composite sheet corresponding to the current visual inspection data in the manufacturing process, a target strip tab width deviation value corresponding to the cutter module includes:
aiming at the pole piece material belts corresponding to the cutter modules, obtaining a second pole piece width of at least one pole piece which is obtained by the pole lug detector and is conveyed to the cutter modules, wherein the second pole piece width is obtained based on the position of the DDR motor used for driving the pole piece in the cutter modules when the pole lugs are detected by the pole lug sensor;
and calculating to obtain the target strip pole piece width deviation value according to the obtained second pole piece width and the corresponding target pole piece width.
6. The method according to claim 1, wherein, in the case that the target deviation value includes the target coating deviation value, the calculating to obtain the current target deviation value according to the current visual detection data corresponding to the current composite sheet image acquired by the image acquisition unit includes:
calculating a current cladding value according to edge distance data in the current visual detection data aiming at each positive electrode cutter module for cutting and conveying positive electrode plates, wherein the edge distance data is used for describing the distance between two adjacent edges in a composite plate, one edge of the two adjacent edges is the edge of the positive electrode plate, and the other edge is the edge of the negative electrode plate;
And calculating to obtain the target coating deviation value according to the current coating value and the target coating value or according to the current coating value, the target coating value and at least one historical coating deviation value, wherein the historical coating deviation value is obtained based on the historical coating value and the target coating value corresponding to the positive electrode cutter module.
7. The method according to any one of claims 1 to 6, wherein,
when the target deviation value includes the target pole piece width deviation value, the adjusting the motion track of the corresponding cutter module according to the target deviation value to realize the self-adaptive compensation of cutting off includes:
adjusting the motion track of the DDR motor for driving the sheet in the corresponding cutter module according to the target pole piece width deviation value so as to modify the end position of the DDR motor;
when the target deviation value includes the target coating deviation value, the adjusting the motion track of the corresponding cutter module according to the target deviation value to realize the self-adaptive compensation of the feeding includes:
and adjusting the motion track of a linear motor for conveying the positive pole piece in the corresponding positive pole cutter module according to the target coating deviation value so as to adaptively adjust the feeding position.
8. The method of any one of claims 1-6, wherein the cutoff feeding device comprises two negative electrode cutter modules and two positive electrode cutter modules, the two negative electrode cutter modules being located upstream of the two positive electrode cutter modules, the two negative electrode cutter modules being symmetrically disposed up and down, the two positive electrode cutter modules being symmetrically disposed up and down, the method further comprising:
and respectively carrying out multi-axis synchronous coupling control on the plurality of cutter modules so as to enable the plurality of cutter modules to alternately send sheets, wherein the plurality of cutter modules comprise two negative electrode cutter modules and two positive electrode cutter modules, and the plurality of cutter modules are coupled at different positions of a main virtual axis.
9. A control device for cutting off a feeding device, wherein the cutting off feeding device comprises an image acquisition unit and a cutter module for cutting off and feeding, the device comprising:
the deviation calculation module is used for calculating a current target deviation value according to current visual detection data corresponding to the current composite sheet image acquired by the image acquisition unit, wherein the current visual detection data is used for describing the completed cutting and/or feeding conditions, and the target deviation value comprises a target pole piece width deviation value and/or a target cladding deviation value;
And the processing module is used for adjusting the motion trail of the corresponding cutter module according to the target deviation value so as to realize self-adaptive compensation of cutting and/or feeding.
10. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor, the processor executable instructions to implement the method of controlling a cut-off feeding device of any one of claims 1-8.
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|---|---|---|---|
| CN202311240484.2A CN117020295A (en) | 2023-09-22 | 2023-09-22 | Control method and device for cutting off feeding equipment and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311240484.2A CN117020295A (en) | 2023-09-22 | 2023-09-22 | Control method and device for cutting off feeding equipment and electronic equipment |
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| CN117020295A true CN117020295A (en) | 2023-11-10 |
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| CN202311240484.2A Pending CN117020295A (en) | 2023-09-22 | 2023-09-22 | Control method and device for cutting off feeding equipment and electronic equipment |
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| CN (1) | CN117020295A (en) |
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