CN117855620B

CN117855620B - Tab fixing device and tab fixing method

Info

Publication number: CN117855620B
Application number: CN202410266939.6A
Authority: CN
Inventors: 邓明光; 倪大军; 张中正; 李辉发; 张海
Original assignee: Contemporary Amperex Technology Co Ltd
Current assignee: Contemporary Amperex Technology Co Ltd
Priority date: 2024-03-08
Filing date: 2024-03-08
Publication date: 2024-08-16
Anticipated expiration: 2044-03-08
Also published as: CN117855620A

Abstract

The application provides a tab fixing device and a tab fixing method. The tab fixing device includes: the station is used for bearing the battery monomer prefabricated member; bending the tab contact for pressing the tab of the battery cell prefabricated member; the first moving assembly and the second moving assembly are connected with the bent tab contact and used for moving the bent tab contact. The moving directions of the first moving assembly and the second moving assembly are crossed; the controller is electrically connected with the first moving assembly and the second moving assembly respectively. The controller is used for synchronously controlling the first moving assembly and the second moving assembly of the bent tab contact to move together in a first control mode, and synchronously positioning the first moving assembly and the second moving assembly to a preset position in an arc interpolation mode; the controller is used for controlling the second moving assembly and the first moving assembly to move respectively in a second control mode. Therefore, the tab fixing device can accurately control the bent tab contact, and improves the production efficiency and the reliability.

Description

Tab fixing device and tab fixing method

Technical Field

The invention relates to the technical field of lithium battery manufacturing, in particular to a tab fixing device and a tab fixing method.

Background

With the development of battery technology, batteries are applied to more and more fields, and gradually replace traditional petrochemical energy sources in the field of automobile power. The battery may store chemical energy and controllably convert the chemical energy into electrical energy. In a recyclable battery, the active material can be activated by means of charging after discharge and continue to be used.

Batteries often have different models and structures, and thus different batteries often require corresponding production equipment to produce. In the prior art, the pole lug fixing method has the problems of low efficiency, low reliability and the like.

Disclosure of Invention

The application mainly solves the technical problems that the existing tab fixing method is low in efficiency and reliability.

In order to solve the technical problems, the application adopts a technical scheme that: provided is a tab fixing device including:

The station is used for bearing the battery monomer prefabricated member;

bending the tab contact for pressing the tab of the battery cell prefabricated member;

the first moving assembly and the second moving assembly are connected with the bent tab contact and are used for moving the bent tab contact; the moving directions of the first moving assembly and the second moving assembly are crossed;

The controller is electrically connected with the first moving assembly and the second moving assembly respectively;

Wherein the controller includes a first control mode and a second control mode; in the first control mode, the controller is used for synchronously controlling the first moving assembly and the second moving assembly of the bent tab contact to move together, and synchronously positioning the first moving assembly and the second moving assembly to a preset position in an arc interpolation mode; in the second control mode, the controller is configured to control the second moving assembly and the first moving assembly to move respectively.

Through the mode, the first moving assembly and the second moving assembly which are used for synchronously controlling the bending tab contact move together, the controller controls the bending path of the tab in an arc interpolation mode, and the bending tab contact can bend the tab according to the bending path in the process of being close to the battery single prefabricated member.

In an embodiment, in the first control mode, the controller is further operable to:

and synchronously positioning the first moving assembly and the second moving assembly to a preset position by adopting a linear interpolation mode.

Through the mode, the first moving assembly and the second moving assembly can drive the bent tab contact to move relative to the tab of the single battery prefabricated member so as to bend the tab of the single battery prefabricated member.

In an embodiment, in the first control mode, the controller is further configured to:

synchronously positioning the first moving assembly and the second moving assembly to a first preset position in an arc interpolation mode, so that the bent tab contact is controlled to move from a first bending position to a second bending position;

And synchronously positioning the first moving assembly and the second moving assembly from the first preset position to a second preset position in a linear interpolation mode, so that the bent tab contact is controlled to move from the second bent position to a third bent position.

Through the mode, when the first moving assembly and the second moving assembly synchronously move, the efficiency of bending the lug is improved, and the possibility of wrinkling of the lug in the bending process is reduced.

In an embodiment, the tab holding device further comprises a sensor; the sensor is electrically connected with the controller and is used for detecting whether the station is provided with a battery monomer prefabricated member or not; wherein, in the second control mode, the controller is further configured to:

In response to detecting that the station is provided with a battery monomer prefabricated member, controlling the second moving assembly to move the bent tab contact from a safe position to a starting position, and controlling the first moving assembly to move the bent tab contact from the starting position to the first bending position; the bent tab contact is arranged at a distance from the initial position to the tab, and is contacted with the tab and starts to bend in the process of moving from the initial position to the first bending position;

and in response to detecting that the station has no battery monomer prefabricated member, controlling the bent tab contact to be kept at the safe position.

Through the mode, the battery monomer prefabricated parts sequentially move to the stations, the bent tab contacts do not interfere with the tabs when in the safety position, the bent tab contacts are contacted with the tabs in the process of moving from the starting position to the first bending position, the tabs start to be bent, and the possibility of generating folds in the bending process of the tabs can be reduced through pre-bending.

In an embodiment, the first moving component is a lifting component and the second moving component is a translation component; the lifting assembly comprises a lifting servo motor, and the translation assembly comprises a translation servo motor; in the second control mode, the controller is further configured to:

controlling the translation assembly to translate the bent tab contact from the safe position to the initial position; the initial position is located above the free end of the tab;

and controlling the lifting assembly to descend the bent tab contact from the initial position to the first bending position.

By the mode, the servo motor can synchronously and accurately control the motion trail of the first moving assembly and the motion trail of the second moving assembly, so that the bending of the tab contact can be accurately controlled. The starting position is located above the free end of the tab, so as to avoid the tab being touched in the process of translating the bent tab contact from the safe position to the starting position.

In an embodiment, the tab fixing device further comprises a range finder; the distance meter is electrically connected with the controller and is used for collecting parameters of the lugs after bending; the controller further includes a detection circuit for:

Controlling the distance meter to collect parameters of the tabs after bending;

judging whether the tab after bending is qualified or not according to the parameters of the tab after bending.

Through the mode, the range finder collects parameters of the tab, and the detection circuit judges whether the tab is bent or not according to the collected parameters.

In an embodiment, the tab fixing device further includes a third moving component for moving the range finder; the bent tab contact of the tab fixing device is provided with a hollowed-out part, and the hollowed-out part is used for exposing a to-be-welded area of the tab after bending and supporting part of the surface of the bottom plate of the tab after bending; the detection circuit is also configured to:

Controlling the third moving assembly to move the range finder to be aligned with the hollowed-out part;

the range finder is controlled to collect data at the bending position of the tab through the hollowed-out part;

And controlling the third moving component to reset the range finder.

Through the mode, the welding assembly can weld the bent tab through the hollowed-out part, and then the tab can reliably keep a bent state.

In an embodiment, the parameters of the tab after bending include: the thickness of the tab, the first distance from the bottom plate of the tab after bending to the range finder and the second distance from the surface of the to-be-welded area of the tab after bending to the range finder are supported.

Through the mode, the thickness of the lug is calculated through the collected data, and the lug bending is judged to be qualified through the thickness of the lug.

In an embodiment, the tab fixing device further comprises a welding assembly; the welding assembly is electrically connected with the controller and is used for welding the bent tab; the detection circuit is also configured to:

controlling the welding assembly to weld the bent tab in response to the tab after bending being qualified;

and controlling the battery monomer prefabricated member to enter the NG blanking port in response to unqualified tab after bending.

Through the mode, the welding assembly welds the tabs after bending.

In an embodiment, the controller is further configured to:

and after the welding assembly finishes welding the tab after bending or in response to disqualification of the tab after bending, controlling the second moving assembly and the first moving assembly of the tab fixing device to move respectively and/or together so as to reset the bent tab contact of the tab fixing device to a safe position.

Through the mode, the controller resets the bent tab contact to the safe position through the first moving assembly and the second moving assembly, and prepares to operate the tab of the next battery monomer prefabricated member.

In an embodiment, the first moving component is a lifting component and the second moving component is a translation component; in a second control mode of the controller, the controller is further configured to:

controlling the translation assembly to translate the bent tab contact to a transition position;

and controlling the lifting assembly to lift the bent tab contact from the transition position to the safety position.

In an embodiment, the tab fixing device further includes a first grating component and a second grating component; the first grating component is electrically connected with the controller and used for determining the positioning of the first moving component; the second grating assembly is electrically connected to the controller for determining the position of the second movable assembly.

By the mode, the grating component is used for feeding back real-time position information of the servo shaft with high precision, and the full-closed loop feedback ensures accurate positioning position.

In order to solve the technical problems, a second technical scheme provided by the application is as follows: provided is a tab fixing method, comprising:

Starting a shaft synchronization function;

the bending tab contact is controlled to start to press from the first bending position so as to bend the tab;

The step of controlling the bending tab contact to start to press from the first bending position so as to bend the tab comprises the following steps: synchronously controlling the first moving assembly and the second moving assembly of the bent tab contact to move together, and controlling the bending path of the tab in an interpolation mode; the step of controlling the bending path of the tab by adopting an interpolation mode comprises the step of synchronously positioning the first moving assembly and the second moving assembly to a preset position by adopting an arc interpolation mode; the moving directions of the first moving assembly and the second moving assembly are crossed.

The method can be used for synchronously controlling the first moving assembly and the second moving assembly of the bent tab contact to move together, the controller controls the bending path of the tab in an arc interpolation mode, and the bent tab contact can bend the tab according to the bending path in the process of approaching to the battery single prefabricated member.

In an embodiment, the step of controlling the bending path of the tab by adopting an interpolation manner further includes:

And synchronously positioning the first moving assembly and the second moving assembly to another preset position by adopting a linear interpolation mode.

In an embodiment, the step of controlling the bending path of the tab by adopting an interpolation mode includes:

Synchronously positioning the first moving assembly and the second moving assembly to a first preset position in an arc interpolation mode, so that the control bending tab contact moves from the first bending position to the second bending position;

and synchronously positioning the first moving assembly and the second moving assembly from the first preset position to a second preset position in a linear interpolation mode, so that the control bending tab contact moves from the second bending position to a third bending position.

Through the mode, when the first moving assembly and the second moving assembly move simultaneously, the efficiency of bending the lug is improved, and the possibility of wrinkling of the lug in the bending process is reduced.

In an embodiment, the step of S2 controlling the tab bending contact to start pressing from the first bending position to bend the tab further includes:

Detecting whether a station has a battery monomer prefabricated member or not;

In response to detecting that the station is provided with a battery monomer prefabricated member, controlling the second moving assembly to move the bent tab contact from a safe position to a starting position, and controlling the first moving assembly to move the bent tab contact from the starting position to the first bending position by S01A 1; the bent tab contact is arranged at a distance from the initial position to the tab, and is contacted with the tab and starts to bend in the process of moving from the initial position to the first bending position;

Through the mode, the battery monomer prefabricated parts sequentially move to the stations, when the lug contact is at the safe position, the lug of the battery monomer prefabricated part is not interfered with other parts, the lug contact is contacted with the lug in the process of moving from the initial position to the first bending position, the lug starts to be bent, and the possibility of generating folds of the lug in the bending process can be reduced through pre-bending.

In an embodiment, the first moving component is a lifting component and the second moving component is a translation component;

The step of controlling the second moving assembly to move the bent tab contact from the safe position to the initial position comprises the following steps: the translation assembly is controlled to translate the bent tab contact from the safe position to the initial position; the initial position is located above the free end of the tab;

The step of controlling the first moving component to move the bent tab contact from the initial position to the first bent position includes: and controlling the lifting assembly to descend the bent tab contact from the initial position to the first bending position.

In an embodiment, the step of controlling the tab bending contact to start pressing from the first bending position to bend the tab further includes:

Controlling a range finder to collect parameters of the tabs after bending;

In an embodiment, the step of S3 controlling the distance meter to collect parameters of the tab after bending includes:

Controlling a third moving assembly to move the range finder to a bending position aligned with the tab;

controlling the range finder to collect data at the bending position of the tab;

And controlling the third moving component to reset the range finder.

Controlling a welding assembly to weld the bent tab in response to the tab after bending being qualified;

Through the mode, the welding assembly welds the tabs after bending.

In an embodiment, after the step of welding the tab after bending by the welding component or in response to the tab after bending being failed, the second moving component and the first moving component are controlled to move respectively and/or together to reset the bent tab contact to the safety position.

In an embodiment, the first moving component is a lifting component and the second moving component is a translation component; the step of resetting the bent tab contact to the safe position comprises the steps of:

Closing the shaft synchronization function;

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

Fig. 1 is a schematic view of a battery cell preform used in an embodiment of the present application;

FIG. 2 is a schematic view of a portion of the battery cell preform of FIG. 1;

FIG. 3 is a simplified schematic diagram of a tab fixing device according to an embodiment of the present application;

FIG. 4 is a schematic partial cut-away view of the bent tab contact of the weld platen of FIG. 3 taken along line A-A;

FIG. 5 is a schematic view of a movement path of a bent tab contact of the tab holding device provided by the application;

FIG. 6 is a simplified schematic diagram of a bent tab contact of the tab holding device in a safe position;

FIG. 7 is a simplified schematic diagram of a bent tab contact of the tab holding device in a starting position;

FIG. 8 is a simplified schematic diagram of a bent tab contact of the tab holding device in a first bent position;

FIG. 9 is a simplified schematic diagram of a bent tab contact of the tab fastening device according to the present application in a second bent position;

FIG. 10 is a simplified schematic diagram of a bent tab contact of the tab holding device in a third bent position;

FIG. 11 is a simplified schematic diagram of a range finder according to an embodiment of the present application;

FIG. 12a is a simplified schematic illustration of a battery cell preform after a tab has been folded by a rangefinder;

FIG. 12B is a schematic cross-sectional view of FIG. 12a taken along line B-B;

Fig. 13 is a simplified schematic diagram of detection by a range finder after bending a tab of a battery cell preform according to another embodiment of the present application;

FIG. 14 is a simplified schematic diagram of a bent tab contact of the tab holding device according to the present application from a third bent position;

FIG. 15 is a simplified schematic diagram of a tab fixing device according to the present application in a transition position during return of a bent tab contact;

FIG. 16 is a simplified schematic diagram of a bent tab contact of the tab holding device according to the present application reset to a safe position;

FIG. 17 is a schematic flow chart of a method for bending and welding a tab according to an embodiment of the present application;

Fig. 18 is a flowchart of a method for determining whether a tab after bending is acceptable by a rangefinder according to an embodiment of the present application.

Reference numerals illustrate:

1-a battery cell preform; 11-a housing; 12-an electric core; 121-electrode lugs; 13-bottom end cap; 14-pole; 141-a bottom wall; 142-opening;

2-pole ear fixing device; 21-bending the tab contact; 211-hollowed-out parts; 212-airflow channels; 22-a first moving component; 23-a second movement assembly; 24-supporting frames; 25-distance measuring instrument; 251-positive electrode lug distance measuring instrument; 252-negative electrode tab rangefinder; 253-a telescopic cylinder of a positive electrode lug range finder; 254-telescopic cylinder of negative electrode lug range finder; 26-a first grating assembly; 27-a second grating assembly.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terms "first," "second," "third," and the like in this disclosure are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", and "a third" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. All directional indications (such as up, down, left, right, front, back … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the drawings), and if the particular gesture changes, the directional indication changes accordingly. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In the prior art, a lithium battery tab bending control method based on PLC is adopted, and a plurality of cylinders are adopted to realize omnibearing automatic bending from the upper part, the side surface and the lower part of the tab. The method can replace manual work, improves production efficiency, saves cost and improves the quality of the lithium battery.

However, the above method has the following problems: the method needs at least three air cylinders to control, and the air cylinders are low in action speed and efficiency and cannot comprehensively accelerate.

Based on this, according to the tab fixing device and the tab fixing method provided by the embodiment of the application, the tab bending is synchronously controlled and positioned through the two moving assemblies (such as the double-servo motor), and the accurate positioning of the position point is realized through synchronous interpolation (such as circular arc or straight line) control on the lifting Z axis and the translation X axis of the tab, so that the tab bending effect is ensured, the bending process quality is improved, the bending efficiency is improved, the bending rejection rate is reduced, and the reliability and the safety of the battery are improved. In addition, the embodiment of the application adopts the grating ruler to feed back the real-time position information of the servo shaft with high precision, and the full-closed loop feedback ensures the accurate positioning position and meets the production process requirement. Further, the embodiment of the application judges the bending effect of the tab by measuring the thickness of the tab bending in a non-contact manner through the optical signal sent by the range finder, and ensures that the bending meets the process requirement.

The tab fixing device and the tab fixing method provided by the application are used for generating the battery monomer. The battery cells can comprise lithium ion batteries, sodium ion batteries or magnesium ion batteries, and the battery cells can be in a cylinder, a flat body or other shapes, and the battery cells are generally divided into three types according to a packaging mode: cylindrical battery cells, prismatic battery cells, and pouch battery cells. The battery cell prefabricated part refers to a structure of the battery cell before the welding of the pole.

In the field of new energy, the lithium ion battery has the advantages of high voltage, high capacity, low size, no memory effect, no public hazard, small volume, small internal resistance, small self discharge, more cycle times and the like, so that the lithium ion battery is one of the key points of the development of high and new technology.

The traditional lithium ion battery cell comprises a shell, an electric core, a switching piece and a top end cover; the battery cell is provided with a tab, and an electrode post is arranged on the top end cover; the battery cell and the switching piece are installed in the shell from the top port of the shell, and the top end cover covers the top of the shell. In the production process, the lug is welded with the switching piece, and then the switching piece is welded with the electrode pole.

To accommodate market demand, applicant developed a new battery cell. The tab fixing device and the tab fixing method provided by the application have an obvious effect in the generation process of the new battery monomer. Therefore, the following examples are presented for convenience of explanation, taking as an example the application of the tab fixing device and tab fixing method of the present application to the production of the new lithium ion battery cell.

Referring to fig. 1 and 2, fig. 1 is a schematic structural view of a battery cell preform used in an embodiment of the present application; fig. 2 is a partial schematic structural view of the battery cell preform of fig. 1. The battery cell prefabricated part 1 comprises a shell 11, an electric core 12, a bottom end cover 13 and a pole 14; wherein, the battery cell 12 is installed in the shell 11 from the bottom port of the shell 11, and the bottom end cover 13 covers the bottom of the shell 11; the pole 14 is embedded on the top wall of the housing 11, and the pole 14 includes an annular side wall (not shown) and a bottom wall 141, and the bottom wall 141 of the pole 14 has an opening 142; the battery cell 12 has a tab 121, and the tab 121 is inserted into the hollow pole 14 from the bottom wall 141 of the pole 14 with an opening 142, and is welded with the bottom wall 141 of the pole 14 after being bent. The battery cell 12 is formed by laminating electrode sheets and separators and winding them.

The tab fixing device and the tab fixing method provided by the application are described in detail below with reference to the drawings and the embodiments.

Fig. 3 is a simplified schematic diagram of a tab fixing device according to an embodiment of the application. In one embodiment, the tab fixture 2 includes a station (not shown), a bent tab contact 21, a first moving assembly 22, a second moving assembly 23, and a controller (not shown). The station is used for bearing the battery monomer prefabricated part 1; the bent tab contact 21 is used for pressing the tab 121 of the battery cell prefabricated member 1; the first moving assembly 22 and the second moving assembly 23 are connected with the bent tab contact 21 and are used for moving the bent tab contact 21; the moving directions of the first moving assembly 22 and the second moving assembly 23 intersect; the controller is electrically connected to the first moving assembly 22 and the second moving assembly 23, respectively. The controller comprises a first control mode and a second control mode; in the first control mode, the controller is used for synchronously controlling the first moving assembly 22 and the second moving assembly 23 of the bent tab contact 21 to move together, and synchronously positioning the first moving assembly 22 and the second moving assembly 23 to a preset position in an arc interpolation mode; in the second control mode, the controller is used to control the second movement assembly 23 and the first movement assembly 22 to move respectively.

A station is understood to be a space capable of accommodating or carrying a battery cell preform 1. Specifically, in an embodiment, a fixed clamping assembly (not shown) may be disposed on the station, where the clamping assembly is used to support and fix the battery cell prefabricated member 1, and make the tab 121 of the battery cell prefabricated member 1 disposed towards the side of the bent tab contact 21. The clamping assembly may comprise clamping jaws and a driving mechanism, by which the clamping jaws can be driven to clamp or release the battery cell preform 1. In this way, the tab 121 of the battery monomer prefabricated member 1 can be reliably fixed in the bending process, so that the bending efficiency of the tab 121 is improved. In another embodiment, no fixed clamping assembly is arranged on the station, so that the battery monomer prefabricated parts 1 are respectively fixed on the clamping assemblies, sequentially pass through the station and stay on the station.

The bent tab contact 21 may be understood as an instrument capable of pressing the tab 121 and bending the tab 121. Referring to fig. 4, fig. 4 is a schematic partial cut-away view of the bent tab contact of the weld platen of fig. 3 taken along line A-A. The bent tab contact 21 may or may not have a hollowed-out portion 211. In the application, the bent tab contact 21 comprises a hollowed-out part 211 and an air flow channel 212, wherein the hollowed-out part 211 is used for welding the bent tab, and the air flow channel 212 is used for exhausting air in the welding process. The material of the bent tab contact 21 may be ceramic or metal, such as stainless steel substrate, or other alloys. The tab fixing device 2 of the present application may be used only for bending the tab 121, or may be used for simultaneously bending and welding the tab 121. The present application will be described by taking the example in which the tab 121 can be simultaneously bent and welded by the tab fixing device 2. In the application, two bent tab contacts 21 are arranged on a welding pressing plate (not shown) at intervals and are used for respectively bending and welding two tabs 121.

In an embodiment, the tab fixing device 2 further includes a supporting frame 24, the supporting frame 24 is respectively connected with the first moving component 22 and the second moving component 23, the bent tab contact 21 is installed on the supporting frame 24, and the first moving component 22 and the second moving component 23 drive the supporting frame 24 to drive the bent tab contact 21 to move.

The first moving assembly 22 and the second moving assembly 23 may be driving assemblies capable of being controlled by a computer program or a circuit. In one embodiment, the first and second moving assemblies 22 and 23 may include dual servo drive motors. The double-servo driving motor drives the first moving assembly 22 and the second moving assembly 23 to synchronously move or respectively move under the control of the controller, and the support frame 24 drives the bent tab contact 21 to press the tab 121 onto the bottom wall 141 of the pole column 14 of the single battery prefabricated member 1. The angle at which the moving directions of the first moving assembly 22 and the second moving assembly 23 intersect is not limited, and may be 80-100 degrees, for example, perpendicular to each other.

The controller may be a device having a computer program or circuitry, such as a single-chip or chip, etc. The first control mode and the second control mode may be implemented by a computer program or a circuit of the controller. In an embodiment, the controller includes a first control mode and a second control mode; in the first control mode, the controller is used for synchronously controlling the first moving assembly 22 and the second moving assembly 23 of the bent tab contact 21 to move together, and synchronously positioning the first moving assembly 22 and the second moving assembly 23 to a preset position in an arc interpolation mode; in the second control mode, the controller is used to control the second movement assembly 23 and the first movement assembly 22 to move respectively. In the first control mode, the controller realizes the accurate positioning of the position point of the tab bending contact 21 by synchronous interpolation control of the first moving assembly 22 and the second moving assembly 23, so as to ensure the bending effect of the tab 121, improve the bending process quality, improve the bending efficiency, reduce the bending rejection rate and improve the reliability and safety of the battery monomer prefabricated member 1. In the second control mode, the controller enables the bent tab contact 21 to move along with the first moving assembly 22, or the controller enables the bent tab contact 21 to move along with the second moving assembly 23. The interpolation method is a method of estimating a value of an unknown data point or sampling point from an existing data point or sampling point in a numerical calculation or data processing. The movement path of the bent tab contact 21 may be made linear (e.g., oblique line) or curved (e.g., circular arc line) by interpolation.

Through the above manner, the controller is used for synchronously controlling the first moving assembly 22 and the second moving assembly 23 of the bent tab contact 21 to move together, the first moving assembly 22 and the second moving assembly 23 move the bent tab contact 21, the controller synchronously positions the first moving assembly 22 and the second moving assembly 23 to a preset position in an arc interpolation manner, and the bent tab contact 21 can bend the tab 121 according to a bending path in the process of approaching to the battery monomer prefabricated member 1. In this way, the controller realizes the accurate positioning of the position point of the tab contact 21 through the synchronous interpolation control of the first moving assembly 22 and the second moving assembly 23, so as to ensure the bending effect of the tab 121, improve the bending process quality, improve the bending efficiency, reduce the bending rejection rate and improve the reliability and the safety of the battery monomer prefabricated member 1. The tab 121 bending process can be performed on the batch battery cell preform 1 by the bending tab contact 21 through the reciprocating motion.

In an embodiment, in the first control mode, the controller is further operable to: the first moving assembly 22 and the second moving assembly 23 are synchronously positioned to a preset position by adopting a linear interpolation mode.

In this way, the controller controls the first moving assembly 22 and the second moving assembly 23 to drive the bent tab contact 21 to move relative to the tab 121 of the battery cell prefabricated member 1, and the controller can synchronously control the bent tab contact 21 to a preset position in a linear interpolation mode, that is, the controller can synchronously position the first moving assembly 22 and the second moving assembly 23 to the preset position in a linear interpolation mode, so that the bent tab contact 21 moves according to a set bending path, and the bent tab 121 is pressed onto the bottom wall 141 of the pole 14 of the battery cell prefabricated member 1. The tab 121 of the battery cell preform 1 is bent more preferably.

In an embodiment, as shown in fig. 5, 8 to 10, fig. 5 is a schematic view of a moving path of a bent tab contact of the tab fixing device provided by the present application; FIG. 8 is a simplified schematic diagram of a bent tab contact of the tab holding device in a first bent position; FIG. 9 is a simplified schematic diagram of a bent tab contact of the tab fastening device according to the present application in a second bent position; fig. 10 is a simplified schematic diagram of a bent tab contact of the tab fixing device provided by the application in a third bent position. In the first control mode, the controller is further configured to: synchronously positioning the first moving assembly 22 and the second moving assembly 23 to a first preset position in an arc interpolation mode, so that the bending tab contact 21 is controlled to move from a first bending position to a second bending position; the first moving assembly 22 and the second moving assembly 23 are synchronously positioned from the first preset position to the second preset position in a linear interpolation mode, so that the bending tab contact 21 is controlled to move from the second bending position to the third bending position.

Through the above mode, when the first moving assembly 22 and the second moving assembly 23 move simultaneously, the efficiency of bending the tab 121 is improved, the bending effect of the tab 121 is ensured, the bending process quality is improved, the bending efficiency is improved, the bending rejection rate is reduced, and meanwhile, the reliability and the safety of the battery monomer prefabricated member 1 are improved. Moreover, the method is more beneficial to reducing the possibility of wrinkling of the tab 121 during bending, because the tab contact 21 to be bent moves synchronously with the first moving assembly 22 and the second moving assembly 23, and the tab 121 to be bent generates an acting force always far away from the root of the tab 121, so that the tab 121 can be prevented from moving reversely during bending, and the bending effect of the tab 121 is better. Referring to fig. 6 to 10, since the tab 121 of the present application is partially located in the annular sidewall of the pole 14 before bending, and the end portion extends out of the annular sidewall of the pole 14, and the bent tab contact 21 is to be moved from the annular sidewall of the pole 14 to the annular sidewall of the partially inserted pole 14 and is maintained in the annular sidewall of the pole 14 during the whole bending process, the movement of the bent tab contact 21 from the annular sidewall of the pole 14 to the annular sidewall of the partially inserted pole 14 is controlled by the circular arc interpolation and the linear interpolation, so that the efficiency is improved, and the possibility of generating wrinkles is reduced.

In an embodiment, the tab fastening device 2 further comprises a sensor (not shown); the sensor is electrically connected with the controller and is used for detecting whether the station has a battery monomer prefabricated member 1; referring to fig. 5 to 8, fig. 6 is a simple schematic view of a bent tab contact of the tab fixing device provided by the application in a safe position, and fig. 7 is a simple schematic view of a bent tab contact of the tab fixing device provided by the application in a starting position. In the second control mode, the controller is further configured to: in response to detecting that the station is provided with the battery monomer prefabricated part 1, controlling the second moving assembly 23 to move the bent tab contact 21 from the safe position to the initial position, and controlling the first moving assembly 22 to move the bent tab contact 21 from the initial position to the first bent position; the bent tab contact 21 is arranged at an interval from the tab 121 at the initial position, and the bent tab contact 21 contacts the tab 121 and starts to bend the tab 121 in the process of moving from the initial position to the first bending position; in response to detecting that the station does not have a battery cell preform 1, the bent tab contact 21 is controlled to remain in a safe position.

Through the above mode, a plurality of battery monomer prefabricated parts 1 move to the station in proper order, the tab contact 21 of bending does not interfere with the tab 121 when in the safe position, the tab contact 21 of bending contacts with the tab 121 and makes the tab 121 start bending from the initial position in the in-process of moving to first bending position, when the tab contact 21 of bending moves to first bending position, the tab 121 takes place to bend in advance, through bending in advance can reduce the possibility that tab 121 produced the fold in the in-process of buckling in advance.

The pre-bending may refer to a state that the bottom wall 141 of the pole 14 is not pressed and attached to the pole tab 121 before the pole tab 121 is bent, and a preset included angle is formed between the pole tab 121 and the bottom wall 141 of the pole 14. The predetermined included angle may range from 15 degrees to 75 degrees. When the tab 121 is not pre-bent, for example, the tab 121 is substantially perpendicular to the bottom wall 141 of the post 14, and in this case, bending the tab 121 directly may easily cause wrinkling of the tab 121.

In one embodiment, the first moving assembly 22 is a lifting assembly, and the second moving assembly 23 is a translation assembly; the lifting assembly comprises a lifting servo motor, and the translation assembly comprises a translation servo motor. Referring to fig. 5, 6 and 7, in the second control mode, the controller is further configured to: the translation component is controlled to translate the bent tab contact 21 from a safe position to a starting position; the starting position is located above the free end of the tab 121; the lifting assembly is controlled to lower the bent tab contact 21 from the starting position to the first bent position.

The double servo motor is a motor in which two motors and two servo systems are integrated in the same mechanism. A servo control loop is a closed loop control system capable of monitoring and controlling position, velocity or force by means of a sensor or feedback signal. By using dual servos, the system can better achieve stable control and response. In mechanical systems, dual servo is used for applications that require simultaneous control of two independent actions to ensure synchronization and accuracy between the two actions. Compared with the cylinder control, the double-servo motor control is more accurate and faster.

In the above manner, the lifting servo motor and the translation servo motor can respectively and synchronously and accurately control the motion track of the first moving assembly 22 and the second moving assembly 23, so that the bending tab contact 21 accurately controls the bending of the tab 121. It should be noted that, since the post 14 of the battery cell preform 1 has the opening 142, if the battery cell preform 1 is vertically placed during bending or welding of the tab 121, dust and welding slag easily enter the inside of the battery cell preform 1. Preferably, the battery monomer prefabricated member 1 can bend the tab 121 in a state of lying (the direction of the pole 14 is the horizontal direction), and compared with the battery monomer prefabricated member 1, the tab 121 is bent in a state of standing (the direction of the pole 14 is the vertical direction), so that welding slag and dust are not easy to enter the battery monomer prefabricated member 1 under the action of gravity in the process of bending and welding the tab 121. Under the state that the battery monomer prefabricated part 1 lies down, the controller controls the translation assembly to translate the bent tab contact 21 from the safe position to the initial position, and further controls the lifting assembly to descend the bent tab contact 21 from the initial position to the first bending position, so that the pre-bending of the tab 121 is completed. The possibility of wrinkling of the tab 121 during bending can be reduced by pre-bending. The initial position is located above the free end of the tab 121 to avoid the tab 121 being touched during the translation of the bent tab contact 21 from the safe position to the initial position.

In an embodiment, as shown in fig. 11, fig. 11 is a simplified schematic diagram of a range finder according to an embodiment of the present application. The tab fixing device 2 further comprises a range finder 25; the distance meter 25 is electrically connected with the controller and is used for collecting parameters of the lug 121 after bending; the controller further comprises a detection circuit for: parameters of the tab 121 after bending are collected by the control range finder 25; and judging whether the tab 121 after bending is qualified or not according to the parameters of the tab 121 after bending.

The range finder 25 is not limited in structure and may be any instrument capable of realizing a range finding function. Specifically, the rangefinder 25 includes a positive tab rangefinder 251 and a negative tab rangefinder 252.

In the above manner, the distance meter 25 collects parameters of the tab 121, and the detection circuit judges whether the tab 121 is bent or not according to the collected parameters.

In an embodiment, as shown in fig. 12a, fig. 12a is a simplified schematic diagram of a detection of a battery cell preform after a tab is folded by a range finder; fig. 12B is a schematic cross-sectional view of fig. 12a along line B-B. The tab fixing device 2 further comprises a third moving component for moving the range finder 25; the bent tab contact 21 of the tab fixing device 2 has a hollowed portion 211, and the hollowed portion 211 is used for exposing a to-be-welded area of the tab 121 after bending and supporting a part of the surface of the bottom plate of the tab 121 after bending, namely, a part of the surface of the bottom wall 141 of the pole 14. The detection circuit is also used for: controlling the third moving assembly to move the range finder 25 to the alignment hollowed-out portion 211; the distance meter 25 is controlled to collect data at the bending position of the tab 121 through the hollowed-out part 211; the third moving assembly is controlled to reset the rangefinder 25.

The third moving component specifically comprises a positive electrode tab range finder telescopic cylinder 253 and a negative electrode tab range finder telescopic cylinder 254, and the controller controls the positive electrode tab range finder telescopic cylinder 253 and the negative electrode tab range finder telescopic cylinder 254 to align the positive electrode tab range finder 251 and the negative electrode tab range finder 252 with the positive electrode tab 121 of the battery cell 12 and collect parameters of the tab 121 after bending.

In an embodiment, the tab fixing device 2 further includes a dust removing component (not shown), the bent tab contact 21 further includes an air flow channel 212, one end of the air flow channel 212 is connected with the dust removing component, and the other end of the air flow channel 212 penetrates through the surface of the bent tab contact 21 facing to one side of the tab 121, so that the air flow channel 212 can be in gas communication with the area where the tab 121 is located, and in the welding process of the to-be-welded area of the tab 121 after the tab 121 is bent, the air flow channel 212 is used for sucking air and removing dust, so as to prevent welding slag, smoke and dust from entering the battery monomer prefabricated member 1.

In still another embodiment, as shown in fig. 12a, fig. 12b and fig. 13, fig. 13 is a simplified schematic diagram of detection by a range finder after bending a tab of a battery cell prefabricated member according to still another embodiment of the present application. The bent tab contact 21 has a hollowed portion 211, and the hollowed portion 211 is used for exposing a to-be-welded area of the tab 121 after bending and a part of the surface of the bottom plate supporting the tab 121 after bending, namely, a part of the surface of the bottom wall 141 of the pole 14 in the vertical direction.

Through the above manner, the welding assembly can weld the bent tab 121 through the hollowed-out portion 211, so that the tab 121 can reliably maintain the bent state. Meanwhile, the distance meter 25 can collect data at the bending position of the tab 121 through the hollowed-out part 211, specifically, the thickness of the tab 121 bending is measured in a non-contact manner by an optical signal sent by the distance meter 25 to judge the bending effect of the tab 121, and the bending is ensured to meet the process requirement.

In an embodiment, parameters of the tab 121 after bending include: the thickness of the tab 121 supports a first distance from the bottom plate of the tab 121 after bending to the range finder 25 and a second distance from the surface of the to-be-welded area of the tab 121 after bending to the range finder 25.

In this way, the controller calculates the thickness of the tab 121 from the data collected by the range finder 25, and the controller determines that the tab 121 is bent to be acceptable by the thickness of the tab 121. The thickness of the tab 121 is equal to the first distance L1 minus the second distance L2.

In one embodiment, the tab fastening device 2 further comprises a welding assembly (not shown); the welding component is electrically connected with the controller and is used for welding the bent tab 121; the detection circuit is also used for: controlling the welding assembly to weld the bent tab 121 in response to the tab 121 after bending being qualified; and in response to disqualification of the tab 121 after bending, controlling the battery cell prefabricated member 1 to enter the NG feed opening.

Through the above manner, the welding assembly welds the tab 121 after bending, so that the tab 121 can reliably maintain the bent state. The detection circuit detects whether the lug 121 after bending is qualified or not, so that the qualification rate of the single battery prefabricated member 1 is improved, and the labor cost is reduced.

In an embodiment, the controller is further configured to: after the welding assembly finishes welding the tab 121 after bending or in response to disqualification of the tab 121 after bending, the second moving assembly 23 of the tab fixing device 2 and the first moving assembly 22 of the tab fixing device 2 are controlled to move respectively and/or together to reset the bent tab contact 21 of the tab fixing device 2 to the safe position of the tab fixing device 2.

In this way, the controller resets the bent tab contact 21 to the safety position through the first moving assembly 22 and the second moving assembly 23, and prepares to operate the tab 121 of the next battery cell preform 1.

In an embodiment, as shown in fig. 14 to 16, fig. 14 is a simplified schematic diagram of resetting a bent tab contact of the tab fixing device provided by the present application from a third bending position; FIG. 15 is a simplified schematic diagram of a tab fixing device according to the present application in a transition position during return of a bent tab contact; fig. 16 is a simplified schematic diagram of a bent tab contact of the tab fixing device provided by the application reset to a safe position. The first moving component 22 is a lifting component, and the second moving component 23 is a translation component; in a second control mode of the controller, the controller is further configured to: the translation component is controlled to translate the bent tab contact 21 to a transition position; the lifting assembly is controlled to lift the bent tab contact 21 from the transition position to the safety position.

In this way, the controller resets the bent tab contact 21 to the safety position by moving the first moving assembly 22 and the second moving assembly 23 respectively, and prepares to operate the tab 121 of the next battery cell preform 1, so that the bending operation is performed on the tabs 121 of the batch of battery cell preforms 1. After the tab 121 is bent, the tab contact 21 is at the third bending position, and the tab contact 21 at the third bending position is blocked by the annular sidewall of the pole 14 along the lifting direction of the lifting assembly. Therefore, when the bent tab contact 21 is reset to the safety position, the translation assembly is controlled to translate the bent tab contact 21 to the transition position, and then the lifting assembly is controlled to lift the bent tab contact 21 from the transition position to the safety position. Of course, the bending tab contact 21 may be controlled to return to the safety position by the interpolation algorithm according to the original path, but the interpolation algorithm is relatively complex to implement, so in this embodiment, in order to simplify the operation and improve the efficiency, after the tab 121 is bent, the shaft synchronization function is turned off, and the first moving assembly 22 and the second moving assembly 23 are controlled by the controller to move respectively to reset the bending tab contact 21 to the safety position.

In one embodiment, as shown in fig. 3, the tab holding device further includes a first grating assembly 26 and a second grating assembly 27; the first grating assembly 26 is electrically connected to the controller for determining the position of the first movable assembly 22; the second grating assembly 27 is electrically connected to the controller for determining the positioning of the second movement assembly 23.

In the above manner, during the positioning process of the first moving assembly 22 and the second moving assembly 23, the first grating assembly 26 and the second grating assembly 27 feed back the position values of the first moving assembly 22 and the second moving assembly 23 in real time, the high-precision feedback servo shaft real-time position information of the grating assemblies is adopted, the full-closed loop feedback ensures that the positioning position is accurate, and when the position deviation exceeds the threshold value, the system gives an alarm.

In order to solve the technical problems, a second technical scheme provided by the application is as follows: provided is a tab fixing method, in an embodiment, the tab fixing method includes:

step S1: starting a shaft synchronization function;

Step S2: the bending tab contact 21 is controlled to start to press from the first bending position so as to bend the tab 121;

Wherein, step S2: the control bending tab contact 21 starts to press from the first bending position to bend the tab 121, including: step S21: the first moving assembly 22 and the second moving assembly 23 of the bent tab contact 21 are synchronously controlled to move together, and the bending path of the tab 121 is controlled in an interpolation mode; the step of controlling the bending path of the tab 121 by interpolation includes: step S21AA: the first moving assembly 22 and the second moving assembly 23 are synchronously positioned to a preset position by adopting an arc interpolation mode. Wherein the moving directions of the first moving assembly 22 and the second moving assembly 23 cross.

The method can be used for synchronously controlling the first moving assembly 22 and the second moving assembly 23 of the bent tab contact 21 to move together, controlling the bending path of the tab 121 in a circular arc interpolation mode, and bending the tab contact 21 to bend the tab 121 according to the bending path in the process of approaching to the battery monomer prefabricated member. In this way, the control realizes the accurate positioning of the position point of the tab bending contact 21 by synchronous interpolation (circular arc or straight line) control of the first moving assembly 22 and the second moving assembly 23, so as to ensure the tab 121 bending effect, improve the bending process quality, improve the bending efficiency, reduce the bending rejection rate and improve the reliability and safety of the battery monomer prefabricated member 1. The tab 121 bending process can be performed on the batch battery cell preform 1 by the bending tab contact 21 through the reciprocating motion.

In one embodiment, step S21A: the method for controlling the bending path of the tab 121 by interpolation further comprises:

Step S21AB: the first moving assembly 22 and the second moving assembly 23 are synchronously positioned to another preset position by adopting a linear interpolation mode.

In this way, the first moving component 22 and the second moving component 23 are controlled to drive the bent tab contact 21 to move relative to the tab 121 of the battery monomer prefabricated member 1, and the bent tab contact 21 can be synchronously controlled to a preset position in a circular arc interpolation mode or a linear interpolation mode, so that the bent tab contact 21 moves according to a set bending path, and the bent tab 121 is pressed onto the bottom wall 141 of the post 14 of the battery monomer prefabricated member 1. To bend the tab 121 of the battery cell preform 1.

In one embodiment, step S21B: the method for controlling the bending path of the tab 121 by interpolation comprises the following steps:

Step S21B1: synchronously positioning the first moving assembly 22 and the second moving assembly 23 to a first preset position in an arc interpolation mode, so that the bending tab contact 21 is controlled to move from a first bending position to a second bending position;

Step S21B2: the first moving assembly 22 and the second moving assembly 23 are synchronously positioned from the first preset position to the second preset position in a linear interpolation mode, so that the bending tab contact 21 is controlled to move from the second bending position to the third bending position.

Through the above mode, when the first moving assembly 22 and the second moving assembly 23 move simultaneously, the efficiency of bending the tab 121 is improved, the bending effect of the tab 121 is ensured, the bending process quality is improved, the bending efficiency is improved, the bending rejection rate is reduced, and meanwhile, the reliability and the safety of the battery monomer prefabricated member 1 are improved. And be favorable to reducing the possibility that tab 121 produces the fold at the in-process of bending more, because the tab contact 21 of bending moves with first removal subassembly 22 and second removal subassembly 23 synchronous motion, and can produce the effort of keeping away from the root of tab 121 all the time to the tab 121 of treating bending to can prevent tab 121 to appear reversing the removal at the in-process of bending, make tab 121's bending effect better.

In one embodiment, step S2: the control bending tab contact 21 is pressed from the first bending position to bend the tab 121, and further includes:

Step S00: detecting whether the station has a battery monomer prefabricated member 1;

Step S01A: in response to detecting that the station is provided with the battery monomer prefabricated member 1, controlling the second moving assembly 23 to move the bent tab contact 21 from the safe position to the initial position; step S01A1 is performed: the first moving assembly 22 is controlled to move the bent tab contact 21 from the initial position to the first bent position. The bent tab contact 21 is disposed at a distance from the tab 121 at a starting position, and the bent tab contact 21 contacts the tab 121 and starts to bend the tab 121 in the process of moving from the starting position to the first bending position.

Step S01B: in response to detecting that the station does not have a battery cell preform 1, the bent tab contact 21 is controlled to remain in a safe position.

Through the above mode, a plurality of battery monomer prefabricated members 1 move to the station in proper order, when the tab contact 21 is bent in the safe position, the tab contact 21 does not interfere with the tab 121 of the battery monomer prefabricated member 1, the tab contact 21 is contacted with the tab 121 and enables the tab 121 to start bending in the process of moving from the initial position to the first bending position, when the tab contact 21 is bent, the tab 121 is pre-bent when the tab contact 21 is moved to the first bending position, and the possibility of generating wrinkles of the tab 121 in the bending process can be reduced through pre-bending.

In one embodiment, the first moving assembly 22 is a lifting assembly, and the second moving assembly 23 is a translation assembly;

step S01A: controlling the second moving assembly 23 to move the bent tab contact from the safe position to the starting position includes: step N: and controlling the translation assembly to translate the bent tab contact from the safe position to the starting position. Wherein the starting position is located above the free end of the tab 121.

Step S01A1: controlling the first moving assembly 22 to move the bent tab contact 21 from the starting position to the first bent position includes: step O: the lifting assembly is controlled to lower the bent tab contact 21 from the starting position to the first bent position.

In the above manner, the lifting servo motor and the translation servo motor can respectively and synchronously and accurately control the motion track of the first moving assembly 22 and the second moving assembly 23, so that the bending tab contact 21 accurately controls the bending of the tab 121. The initial position is located above the free end of the tab 121 to avoid the tab 121 being touched during the translation of the bent tab contact 21 from the safe position to the initial position. The lifting assembly is controlled to descend the bent tab contact 21 from the initial position to the first bending position, the tab 121 is pre-bent, and the possibility that the tab 121 is wrinkled in the bending process can be reduced through pre-bending.

In one embodiment, step S2: the control bending tab contact 21 starts to press from the first bending position to bend the tab 121, and then further includes:

step S3: parameters of the tab 121 after bending are collected by the control range finder 25;

Step S4: and judging whether the tab 121 after bending is qualified or not according to the parameters of the tab 121 after bending.

In one embodiment, step S3: controlling the rangefinder 25 to collect parameters of the tab 121 after bending includes:

Step S31: controlling the third moving assembly to move the distance meter 25 to a bending position of the alignment tab 121;

Step S32: controlling the distance meter 25 to collect data at the bending position of the tab 121;

step S33: the third moving assembly is controlled to reset the rangefinder 25.

Through the above manner, the rangefinder 25 can carry out data acquisition to the bending position of the tab 121 through the hollowed-out part 211, specifically, the thickness of the tab 121 bending is measured in a non-contact manner by the optical signal sent by the rangefinder 25 to judge the bending effect of the tab 121, and the bending is ensured to meet the process requirement.

In this way, the thickness of the tab 121 is calculated from the collected data, and the tab 121 is judged to be bent to be acceptable by the thickness of the tab 121.

step S4A: controlling the welding assembly to weld the bent tab 121 in response to the tab 121 after bending being qualified;

step S4B: and in response to disqualification of the tab 121 after bending, controlling the battery cell prefabricated member 1 to enter the NG feed opening.

In one embodiment, step S4A: controlling the welding assembly to weld the bent tab 121, or step S4B; in response to the tab 121 after bending failing, step S5 is performed: the second moving component 23 and the first moving component 22 are controlled to move respectively and/or together so as to reset the bent tab contact 21 to the safe position.

In one embodiment, the first moving assembly 22 is a lifting assembly, and the second moving assembly 23 is a translation assembly; step S5: the step of resetting the bent tab contact 21 to the safe position includes:

step S51: closing the shaft synchronization function;

step S52: the translation component is controlled to translate the bent tab contact 21 to a transition position;

Step S53: the lifting assembly is controlled to lift the bent tab contact 21 from the transition position to the safety position.

In this way, the controller resets the bent tab contact 21 to the safety position by moving the first moving assembly 22 and the second moving assembly 23 respectively, and prepares to operate the tab 121 of the next battery cell preform 1, so that the bending operation is performed on the tabs 121 of the batch of battery cell preforms 1.

For ease of understanding, the application is described in terms of one specific method embodiment. Referring to fig. 17 and 18, fig. 17 is a schematic flow chart of a method for bending and welding a tab according to an embodiment of the present application; fig. 18 is a flowchart of a method for determining whether a tab after bending is acceptable by a rangefinder according to an embodiment of the present application. The method for bending and welding the tab comprises the following steps of: the first moving assembly and the second moving assembly are positioned to a safe position; s502: detecting whether a station has a battery monomer prefabricated member or not; s503: controlling the second moving assembly to move the bent tab contact from the safe position to the initial position; s504: controlling the first moving assembly to move the bent tab contact from the initial position to the first bending position; s505: starting a shaft synchronization function; s506: synchronously positioning the first moving assembly and the second moving assembly to a first preset position in an arc interpolation mode, so that the bending tab contact is controlled to move from a first bending position to a second bending position; s507: synchronously positioning the first moving assembly and the second moving assembly to a second preset position in a linear interpolation mode, so that the bending tab contact is controlled to move from the second bending position to a third bending position; s508: parameters of the lugs after bending are collected by the control range finder; s509: judging whether the bent tab is qualified or not according to the parameters of the bent tab; s510: controlling the welding assembly to weld the bent tab; s511: closing the shaft synchronization function; s512: the translation assembly is controlled to translate the bent tab contact to a transition position; s513: and controlling the lifting assembly to lift the bent tab contact from the transition position to the safety position.

The method for judging whether the lug after bending is qualified by the range finder comprises the following steps of: the range finder starts to work; s1002: the range finder cylinder extends out; s1003: starting ranging; s1004: waiting for 1 second and ending ranging; s1005: the ranging cylinder is retracted; s1006: judging a ranging result; s1007: not allowing to enter the next process; s1008: allowing entry into the next process.

After the apparatus is started, the first moving assembly 22 and the second moving assembly 23 enter a process S501 to be positioned to a safe position, and wait for the battery cell preform 1 to arrive. After the battery monomer prefabricated member 1 reaches the tab 121 bending station, the process S502 detects that the battery monomer prefabricated member 1 is in place through the sensor, at this time, the tab 121 of the battery monomer prefabricated member 1 is in a state to be bent, the process enters the process S503 to position the bent tab contact 21 to the position right above the positive tab and the negative tab, and the process S504 presses the bent tab contact 21 down so that the bending stress surface is in contact with the tab 121.

During the positioning process of the first moving component 22 and the second moving component 23, the first grating component 26 and the second grating component 27 feed back the numerical value of the grating ruler in real time to form a full closed loop of motion control, and the system alarms when the position deviation exceeds a threshold value.

And a tab bending flow is entered, the flow realizes synchronous control of the first moving assembly 22 and the second moving assembly 23, and a bending path is accurately controlled in an interpolation mode. The processes S506 and S507 are control of bending path curves, and specific bending paths can be adjusted by adding control steps according to actual conditions, so that the path curves are finely controlled, and the positive electrode tab and the negative electrode tab are bent simultaneously.

The process S508 starts to detect the bending effect, the process S1002 stretches out the positive electrode tab rangefinder 251 and the negative electrode tab rangefinder 252 to the bending position of the alignment tab 121 by controlling the positive electrode tab rangefinder telescopic cylinder 253 and the negative electrode tab rangefinder telescopic cylinder 254, and the process S1004 converts the process according to the acquired data such as the thickness of the tab 121, the distance from the bottom plate of the tab 121 to the rangefinder 25, the distance from the surface of the tab 121 to the rangefinder 25 after bending, and the like, so as to obtain whether the effect after bending the tab 121 meets the process requirement. S1005 recovers the range finder 25 to the initial position, then outputs the tab bending result, and simultaneously uploads the measured related data and the measured result to the upper computer system, so that the data is convenient to trace. The procedure judges whether to skip the procedure S510 according to the bending result of the tab 121, and for the bending result NG, the procedure conveys the battery cell preform 1 to the NG blanking port.

The process S511 will close the axis synchronization function, and the process S512 controls the second moving component 23 to drive the bent tab contact 21 to withdraw from the tab 121 of the battery monomer prefabricated member 1 to move to the transition position, so as to separate the battery monomer prefabricated member 1 from the bent tab contact 21, and the process S513 lifts the first moving component 22 from the transition position to the safety position, and the whole bending process is ended and waits for the next process.

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.

Claims

1. The tab fixing device is used for fixing tabs of the battery monomer prefabricated member; the battery monomer prefabricated part comprises a shell, an electric core, a bottom end cover and a pole; the battery cell is arranged in the shell from a bottom port of the shell, and the bottom end cover covers the bottom of the shell; the pole is embedded on the top wall of the shell, the pole comprises an annular side wall and a bottom wall, and the bottom wall of the pole is provided with an opening; the battery cell is provided with a tab, and the tab is inserted into the hollow pole from an opening of the bottom wall of the pole; characterized by comprising the following steps:

The station is used for bearing the battery monomer prefabricated member;

bending the tab contact, which is used for pressing the tab of the battery monomer prefabricated member so as to press the tab onto the bottom wall of the pole post;

The first moving assembly and the second moving assembly are connected with the bent tab contact and are used for moving the bent tab contact; the moving directions of the first moving assembly and the second moving assembly are crossed; the first moving assembly and the second moving assembly are double servo motors;

wherein the controller includes a first control mode and a second control mode;

In the second control mode, the controller is used for moving the bent tab contact from a starting position to a first bending position; the bent tab contact is arranged at a distance from the initial position to the tab, and is contacted with the tab and starts to bend in the process of moving from the initial position to the first bending position; when the bent tab contact moves to the first bending position, the tab is pre-bent; before bending, the tab is not laminated on the bottom wall of the pole, and a preset included angle is formed between the tab and the bottom wall of the pole, wherein the preset included angle ranges from 15 degrees to 75 degrees;

In the first control mode, the controller is used for synchronously controlling the first moving assembly and the second moving assembly of the bent tab contact to move together, and synchronously positioning the first moving assembly and the second moving assembly to a first preset position in a circular arc interpolation mode, so that the bent tab contact is controlled to move from a first bending position to a second bending position; and synchronously positioning the first moving assembly and the second moving assembly from the first preset position to a second preset position in a linear interpolation mode, so that the bent tab contact is controlled to move from the second bent position to a third bent position.

2. The tab holding device of claim 1, wherein, the tab fixing device further comprises a sensor; the sensor is electrically connected with the controller and is used for detecting whether the station is provided with a battery monomer prefabricated member or not; wherein, in the second control mode, the controller is further configured to:

In response to detecting that the station is provided with a battery monomer prefabricated member, controlling the second moving assembly to move the bent tab contact from a safe position to the initial position, and controlling the first moving assembly to move the bent tab contact from the initial position to the first bending position;

3. The tab holding device of claim 2, wherein the first moving assembly is a lifting assembly and the second moving assembly is a translation assembly; the lifting assembly comprises a lifting servo motor, and the translation assembly comprises a translation servo motor; in the second control mode, the controller is further configured to:

4. A tab holding device according to any one of claims 1 to 3, further comprising a range finder; the distance meter is electrically connected with the controller and is used for collecting parameters of the lugs after bending; the controller further includes a detection circuit for:

Controlling the distance meter to collect parameters of the tabs after bending;

5. The tab holding device of claim 4, further comprising a third movement assembly for moving the rangefinder; the bent tab contact of the tab fixing device is provided with a hollowed-out part, and the hollowed-out part is used for exposing a to-be-welded area of the tab after bending and supporting part of the surface of the bottom plate of the tab after bending; the detection circuit is also configured to:

And controlling the third moving component to reset the range finder.

6. The tab fastening device of claim 5, wherein the parameters of the tab after bending comprise: the thickness of the tab, the first distance from the bottom plate of the tab after bending to the range finder and the second distance from the surface of the to-be-welded area of the tab after bending to the range finder are supported.

7. The tab holding device of claim 5, further comprising a welding assembly; the welding assembly is electrically connected with the controller and is used for welding the bent tab so as to weld the bent tab with the bottom wall of the pole post; the detection circuit is also configured to:

8. The tab fastening device of claim 7, wherein the controller is further configured to:

And after the welding assembly finishes welding the tab after bending or in response to disqualification of the tab after bending, controlling the second moving assembly and the first moving assembly of the tab fixing device to move respectively or together, and resetting the bent tab contact of the tab fixing device to a safe position.

9. The tab holding device of claim 8, wherein the first moving assembly is a lifting assembly and the second moving assembly is a translating assembly; in a second control mode of the controller, the controller is further configured to:

10. A tab holding device according to any one of claims 1-3, further comprising a first grating assembly and a second grating assembly; the first grating component is electrically connected with the controller and used for determining the positioning of the first moving component; the second grating assembly is electrically connected to the controller for determining the position of the second movable assembly.

11. The tab fixing method is characterized by comprising the following steps of:

Providing a battery monomer prefabricated part; the battery monomer prefabricated part comprises a shell, an electric core, a bottom end cover and a pole; the battery cell is arranged in the shell from a bottom port of the shell, and the bottom end cover covers the bottom of the shell; the pole is embedded on the top wall of the shell, the pole comprises an annular side wall and a bottom wall, and the bottom wall of the pole is provided with an opening; the battery cell is provided with a tab, and the tab is inserted into the hollow pole from an opening of the bottom wall of the pole;

Moving the bent tab contact from the starting position to a first bent position; the bent tab contact is arranged at a distance from the initial position to the tab, and is contacted with the tab and starts to bend in the process of moving from the initial position to the first bending position; when the bent tab contact moves to the first bending position, the tab is pre-bent; before bending, the tab is not laminated on the bottom wall of the pole, and a preset included angle is formed between the tab and the bottom wall of the pole, wherein the preset included angle ranges from 15 degrees to 75 degrees;

Starting a shaft synchronization function;

Controlling the bent tab contact to start to press from a first bending position so as to bend the tab, and pressing the tab to the bottom wall of the pole post;

The step of controlling the bending tab contact to start to press from the first bending position so as to bend the tab comprises the following steps: synchronously controlling the first moving assembly and the second moving assembly of the bent tab contact to move together, and controlling the bending path of the tab in an interpolation mode; the first moving assembly and the second moving assembly are double servo motors; the step of controlling the bending path of the tab by adopting the interpolation mode comprises the following steps: synchronously positioning the first moving assembly and the second moving assembly to a first preset position in an arc interpolation mode, so that the bent tab contact is controlled to move from the first bending position to the second bending position; synchronously positioning the first moving assembly and the second moving assembly from the first preset position to a second preset position in a linear interpolation mode, so that the bent tab contact is controlled to move from the second bent position to a third bent position; the moving directions of the first moving assembly and the second moving assembly are crossed.

12. The tab fastening method according to claim 11, wherein the step of controlling the bending tab contact to be pressed from the first bending position to bend the tab further comprises:

Detecting whether a station has a battery monomer prefabricated member or not;

13. The tab fixation method of claim 12, wherein the first moving assembly is a lifting assembly and the second moving assembly is a translation assembly;

14. The tab fastening method according to claim 12 or 13, wherein the step of controlling the bending tab contact to be pressed from the first bending position to bend the tab further comprises:

Controlling a range finder to collect parameters of the tabs after bending;

15. The tab fixing method according to claim 14, wherein the step of controlling the range finder to collect parameters of the tab after bending comprises:

And controlling the third moving component to reset the range finder.

16. The tab fastening method according to claim 14, wherein the parameters of the tab after bending include: the thickness of the tab, the first distance from the bottom plate of the tab after bending to the range finder and the second distance from the surface of the to-be-welded area of the tab after bending to the range finder are supported.

17. The tab fastening method according to claim 14, wherein the step of controlling the bending tab contact to be pressed from the first bending position to bend the tab further comprises:

Controlling a welding assembly to weld the bent tab in response to the tab being qualified after bending, so as to weld the bent tab and the bottom wall of the pole post together;

18. The method of claim 17, wherein,

And after the step of welding the tab after bending by the control welding assembly or in response to disqualification of the tab after bending, controlling the second moving assembly and the first moving assembly to move respectively or together so as to reset the bent tab contact to the safety position.

19. The tab fixation method of claim 18, wherein the first moving assembly is a lifting assembly and the second moving assembly is a translation assembly; the step of resetting the bent tab contact to the safe position comprises the steps of:

Closing the shaft synchronization function;