Development Of Circular Li-Ion Battery Sorting Equipment Based On High-speed Robot

This dissertation mainly deals with the development work of a Li-Ion battery sorting equipment based on the Delta-S parallel robot. The project comes from the demand of the domestic battery industry and sponsored by the Technology-Innovation Mayor Foundation Project. The following work is accomplished:The technical process of Circular Li-Ion battery sorting-work is carefully observed and detailed functional requirements are got. The whole system is divided into nine sub-systems. The Overall structural solving plan integrated with IR/OCV test function and battery plate moving function is proposed, which takes high speed parallel robot Delta-S as its kernel part.The motion law and path of moving platform are determined according to the demands of picking and placing batteries. The optimal parameters of Delta-S manipulator are figured out to meet the needed working space.The different mechanical structural solving plans of the sub-systems are proposed according to the system functional requirements analysis, and final solving plan with high sorting speed, good flexibility, low cost is achieved. The virtual prototype of the whole system is built with SolidWorks.A control system based on PLC assisted with motion control module is proposed according to the detailed control requirements analysis. The hardware system is designed, including the equipment selection, distribution of I/O pots, network configuration. Using modularized software structure and based on data flow, the robot control software and the sorting equipment control software are programmed by Ladder-Diagram programming language.Based on these research results, an automatic sorting equipment of Circular 18650- Li-Ion Battery is developed for Tianjin Lishen Co. Ltd.