Adaptation control method and system

Abstract

Disclosed in the present disclosure are an adaptation control method and system. The method comprises: when a trolley to be tested reaches a preset position, acquiring the current blueprint information of said trolley, wherein a tray is placed on the upper surface of said trolley, and the tray is used for bearing a component to be transferred; determining target blueprint information of said trolley, wherein the target blueprint information has an association relationship with specification parameters of said component; and when the current blueprint information is inconsistent with the target blueprint information, controlling at least one limiting block on the tray to perform position adjustment, such that the tray adapts to said component, and thus said component can be placed on the tray.

Description

Matching control method and system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure is based on the Chinese patent application with application number 202311304233.6, application date October 10, 2023, and invention name “A matching control method and system”, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this disclosure as a reference. Technical Field

[0003] The present disclosure relates to the field of automatic assembly technology, and in particular to a matching control method and system. Background Art

[0004] New energy batteries are being used more and more widely in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are also being increasingly used in energy storage fields.

[0005] With the continuous development of energy storage technology, the types of power batteries are increasing, and the compatibility requirements of production lines are becoming increasingly stringent. Among them, battery production lines mainly use semi-automated equipment to complete the battery processing, assembly, transportation and testing processes.

[0006] In related technologies, a transfer device is used in a battery production line to transfer battery components from the previous process to the next process for assembly. However, each transfer device can only accommodate battery components of one specification and size, and cannot automatically be compatible with products of different sizes. When the product changes, the transfer device needs to be manually replaced, resulting in low production efficiency.

[0007] Summary of the Invention

[0008] The present disclosure proposes a matching control method and system that can be compatible with parts to be transferred with different specifications and parameters, which helps to improve compatibility and production efficiency during product changeover.

[0009] The technical solution of the present disclosure is achieved as follows:

[0010] In a first aspect, an embodiment of the present disclosure provides a component matching control method, applied to a controller, the method comprising:

[0011] When the trolley to be tested arrives at the preset position, the current blueprint information of the trolley to be tested is obtained; wherein, a pallet is placed on the upper surface of the trolley to be tested, and the pallet is used to carry the parts to be transferred;

[0012] Determine target blueprint information of the vehicle to be tested, wherein the target blueprint information is associated with specification parameters of the component to be transported;

[0013] When the current blueprint information is inconsistent with the target blueprint information, at least one limit block on the pallet is controlled to adjust its position so that the pallet matches the component to be transferred so that the component to be transferred can be placed.

[0014] Through the above technical means, when the trolley to be tested arrives at the preset position, the current blueprint information of the trolley to be tested is matched with the target blueprint information for consistency; if the current blueprint information is inconsistent with the target blueprint information, the controller can control at least one limit block on the pallet to adjust the position so that the pallet matches the part to be transferred, so that the pallet can place the part to be transferred. In this way, not only can the corresponding target blueprint information be automatically selected according to the parts to be transferred with different specifications and parameters, thereby improving data security; but also in the process of product matching, the limit blocks have been transformed from manual replacement to automatic replacement, and the robot's changeover logic is simple, without the need to configure multiple sensors, and the degree of automation of the equipment is improved, while reducing labor costs and production costs, thereby improving production efficiency during product matching; in addition, by performing a grabbing and releasing action on at least one limit block on the pallet, it can also adapt to parts to be transferred with different specifications and parameters, thereby improving compatibility.

[0015] In some embodiments, before controlling the position adjustment of at least one limit block on the tray, the method further includes: controlling the driving member to perform a first driving action to drive the transmission member to move to the initial position; after the position adjustment of at least one limit block on the tray is completed, the method further includes: controlling the driving member to perform a second driving action to drive the transmission member to move to the corresponding axial positioning position in the target blueprint information.

[0016] Through this technical approach, before adjusting the limit block, the driver is first controlled to drive the transmission member to the initial position. After the limit block adjustment is completed, the driver is then controlled to drive the transmission member to the axial positioning position corresponding to the target blueprint information. This reduces the difficulty of debugging and improves the efficiency of on-site debugging.

[0017] In some embodiments, controlling the position adjustment of at least one limit block on the pallet includes: sending a control instruction to the robot; wherein the control instruction is used to control a gripper mechanism provided on the robot to grasp and release at least one limit block on the pallet, so that the position of the adjusted at least one limit block conforms to the corresponding limit block position in the target blueprint information.

[0018] Through the above technical means, the controller sends control instructions to the robot to control the gripper mechanism on the robot to grab and release the limit blocks on the pallet, so that the pallet can be matched with the parts to be transferred so that the pallet can place the parts to be transferred; it can also reduce labor costs and production costs, and improve production efficiency when matching products.

[0019] In some embodiments, sending a control instruction to the robot includes: sending a first control instruction to the robot, the first control instruction is used to control the gripper mechanism to grab the limit block on the pallet from the position to be grabbed, and control the gripper mechanism to place the limit block to the position to be placed in the pallet, and the position of the limit block is consistent with the corresponding limit block position in the target blueprint information.

[0020] Through the above technical means, when it is necessary to move the limit block on the pallet from the hole position number of a certain change plate to the hole position number of another change plate, or from one hole position number of a certain change plate to another hole position number, the first control instruction is sent to the robot at this time, which can achieve matching of the pallet with the part to be transferred, and can also reduce labor costs and production costs, and improve production efficiency during product matching.

[0021] In some embodiments, the limit block includes at least a first-size limit block and a second-size limit block; a control instruction is sent to the robot, including: if the limit block on the pallet is a first-size limit block, and the corresponding limit block in the target blueprint information is a second-size limit block, then a second control instruction is sent to the robot, and the second control instruction is used to control the gripper mechanism to grab the first-size limit block on the pallet from the to-be-grabbed position and place it in the preset storage position, and to control the gripper mechanism to grab the second-size limit block from the preset storage position and place the second-size limit block to the to-be-placed position in the pallet, and the position of the second-size limit block conforms to the corresponding limit block position in the target blueprint information.

[0022] Through the above technical means, when the limit block size in the current blueprint information is different from the limit block size in the target blueprint information, it is necessary to first place the original limit block in the pallet into the preset storage location, and then grab the limit block required in the target blueprint information from the preset storage location; the vertical warehouse function has been added, which can be compatible with more sizes of parts to be transferred, making it more compatible.

[0023] In some embodiments, sending control instructions to the robot also includes: sending a photo-taking instruction to the robot, the photo-taking instruction is used to control the visual inspection system set on the robot to take photos of the position to be grasped and the position to be placed, and is used to compensate for the offset of the position to be grasped and the position to be placed.

[0024] Through the above-mentioned technical means, since the robot is equipped with a visual detection system, the controller can control the visual detection system to perform visual guidance correction on the grasping position or placement position. According to the corresponding offset data, the target position to be reached by the gripper component in the gripper mechanism can be accurately determined, which can improve the efficiency of limit block replacement or position adjustment.

[0025] In some embodiments, sending a control instruction to the robot also includes: controlling the visual detection system on the robot to move to the photographing position of the position to be grasped, and sending a first photographing instruction to the robot; wherein the first photographing instruction is used to instruct the visual detection system to take a photograph of the position to be grasped; after the visual detection system completes photographing the position to be grasped, controlling the visual detection system to perform calculations based on the first image taken to determine a first offset of the position to be grasped; compensating for the initial position of the position to be grasped based on the first offset to determine the target position of the position to be grasped; sending a first grasping instruction to the robot, controlling the gripper mechanism to move to the position to be grasped and after moving to the target position of the position to be grasped, controlling the gripper mechanism to grasp the limit block on the position to be grasped based on the first grasping instruction.

[0026] Through the above-mentioned technical means, since the robot is provided with a gripper mechanism and a visual detection system, the controller can control the visual detection system to perform visual guidance and correction on the gripping position, and the target position to be reached by the gripper assembly in the gripper mechanism can be accurately determined according to the corresponding offset data. Therefore, according to the determined target position, the controller can control the gripper assembly to move to the target position, and then the gripper assembly can be moved to the accurate gripping position to grab and release the limit block, thereby improving the efficiency of limit block replacement or position adjustment.

[0027] In some embodiments, sending a control instruction to the robot also includes: controlling the visual detection system on the robot to move to the photographing position of the position to be placed, and sending a second photographing instruction to the robot; wherein the second photographing instruction is used to instruct the visual detection system to take a photograph of the position to be placed; after the visual detection system completes photographing of the position to be placed, controlling the visual detection system to calculate according to the second image taken, and determining the second offset of the position to be placed; compensating for the initial position of the position to be placed according to the second offset, and determining the target position of the position to be placed; sending a first placement instruction to the robot, controlling the gripper mechanism to move to the position to be placed, and after moving to the target position of the position to be placed, controlling the gripper mechanism to place a limit block to the position to be placed based on the first placement instruction.

[0028] Through the above-mentioned technical means, since the robot is provided with a gripper mechanism and a visual detection system, the controller can control the visual detection system to perform visual guidance and correction on the placement position, and the target position to be reached by the gripper assembly in the gripper mechanism can be accurately determined according to the corresponding offset data. Therefore, according to the determined target position, the controller can control the gripper assembly to move to the target position, and then the gripper assembly can be moved to the accurate placement position to grab and release the limit block, thereby improving the efficiency of replacing or adjusting the limit block.

[0029] In some embodiments, the method further includes: when the position of at least one limit block after adjustment matches the limit block position in the target blueprint information, determining that the pallet is successfully matched with the component to be transferred.

[0030] Through the above technical means, only when the position of at least one adjusted limit block matches the limit block position in the target blueprint information can it be determined that the pallet matches the component to be transferred, so that the pallet can place the component to be transferred.

[0031] In some embodiments, the method further comprises: pre-building target blueprint information based on specification parameters of the component to be transported;

[0032] According to the specification parameters of the component to be transferred, the target blueprint information is pre-constructed, including: according to the specification parameters of the component to be transferred, determining at least one mold change plate and a limit block located on the at least one mold change plate for supporting the component to be transferred; according to the limit blocks on the at least one mold change plate, determining the hole position serial numbers of each limit block on the at least one mold change plate, and writing the hole position serial numbers into the corresponding limit block positions of each at least one mold change plate in the target blueprint information.

[0033] Through the above-mentioned technical means, target blueprint information can be pre-constructed according to the specification parameters of the parts to be transferred, and the target blueprint information includes the limit block position required by the parts to be transferred; thus, in the subsequent product matching process, the controller can receive the target blueprint information issued by the manufacturing execution system, and then determine whether the current blueprint information of the trolley to be tested is consistent with the target blueprint information, and then determine whether the position of at least one limit block on the pallet is adjusted; in this way, labor costs and production costs are reduced, and production efficiency is higher.

[0034] In some embodiments, the method further includes: if the hole position number of a change plate in the target blueprint information is zero, determining that no limit block is placed at the position indicated by the hole position number in the change plate; if the hole position number of a change plate in the target blueprint information is non-zero, determining that a limit block is placed at the position indicated by the hole position number in the change plate.

[0035] Through the above technical means, according to the hole position number written in the target blueprint information, it can be determined whether a limit block is placed at the position indicated by the hole position number, thereby improving the production efficiency during product matching.

[0036] In some embodiments, when controlling the position adjustment of at least one limit block on the pallet, the method further includes: displaying current grab and release information on the human-computer interaction interface in response to a first operation instruction; wherein the current grab and release information includes at least: the number of grabs and releases, the grab count, the release count, the position of the limit block to be grabbed, and the position of the limit block to be placed.

[0037] By using the above technical means, the current pick-and-release information is displayed on the human-computer interaction interface, and the grabbing position and placement position of the current limit block that needs to be picked up and released can be intuitively seen, so that the user can timely understand the current working status of the limit block and the pick-and-release action.

[0038] In some embodiments, the method further includes: based on the current pick-and-place information, controlling the limit block on the tray to be adjusted from the position of the limit block to be picked up to the position of the limit block to be placed.

[0039] Through the above technical means, when the robot's gripper mechanism grabs the limit block on the pallet from the grabbing position to the corresponding placement position, the human-computer interaction interface can enable the user to intuitively understand the current working status of the limit block, thereby improving the grabbing and placing efficiency of the limit block.

[0040] In some embodiments, the method further comprises: updating the current pick-and-place information on the human-computer interaction interface after the position adjustment based on the current pick-and-place information is completed;

[0041] The current pick-and-place information is updated on the human-computer interaction interface, including: controlling the pick-and-place times, the pick-and-place count, and the put-and-place count to add 1 respectively, and updating the position of the limit block to be picked up to the new position of the limit block to be picked up, and updating the position of the limit block to be placed to the new position of the limit block to be placed.

[0042] Through the above-mentioned technical means, after the robot's gripper mechanism grabs and places the limit block on the pallet from the grabbing position to the corresponding placement position, the current grab and place information displayed on the human-computer interaction interface is updated in real time, so that the user can intuitively understand the number of grabs and places that have been executed, the grab count and the place count, etc., which helps to improve the grab and place efficiency of the limit block.

[0043] In a second aspect, an embodiment of the present disclosure provides a matching control method applied to a robot, wherein the robot includes a gripper mechanism provided at the end of a robotic arm, the method comprising:

[0044] When the trolley to be tested arrives at the preset position, if the controller detects that the current blueprint information of the trolley to be tested is inconsistent with the target blueprint information, it receives the control command sent by the controller; wherein, a pallet is placed on the trolley to be tested, and the pallet is used to carry the parts to be transferred;

[0045] Based on the control instructions, the gripper mechanism is controlled to perform a gripping and releasing action on at least one limit block on the pallet so that the pallet matches the component to be transferred.

[0046] Through the above technical means, the robot receives the control instructions sent by the controller, and the gripper mechanism on the robot can grab and release the limit blocks on the pallet, so that the pallet can be matched with the parts to be transferred so that the pallet can hold the parts to be transferred; it can also reduce labor costs and production costs, and improve production efficiency when matching products.

[0047] In some embodiments, based on a control instruction, the gripper mechanism is controlled to perform a gripping and releasing action on at least one limit block on the pallet, including: receiving a first control instruction sent by a controller; based on the first control instruction, the gripper mechanism is controlled to grip the limit block on the pallet from the position to be gripped, and the gripper mechanism is controlled to place the limit block to the position to be placed in the pallet, and the position of the limit block is consistent with the corresponding limit block position in the target blueprint information.

[0048] Through the above technical means, when it is necessary to move the limit block on the pallet from the hole position number of a certain change plate to the hole position number of another change plate, or from one hole position number of a certain change plate to another hole position number, the robot receives the first control instruction sent by the controller to match the pallet with the part to be transferred, which can also reduce labor costs and production costs and improve production efficiency during product matching.

[0049] In some embodiments, the limit block includes a first-size limit block and a second-size limit block; based on the control instruction, the gripper mechanism is controlled to grab and place at least one limit block on the pallet, including: if the limit block on the pallet is a first-size limit block, and the corresponding limit block in the target blueprint information is a second-size limit block, then receive the second control instruction sent by the controller; based on the second control instruction, the gripper mechanism is controlled to grab the first-size limit block on the pallet from the to-be-grabbed position and place it in the preset storage position, and the gripper mechanism is controlled to grab the second-size limit block from the preset storage position and place the second-size limit block to the to-be-placed position in the pallet, and the position of the second-size limit block is consistent with the corresponding limit block position in the target blueprint information.

[0050] Through the above technical means, when the limit block size in the current blueprint information is different from the limit block size in the target blueprint information, the robot needs to first place the original limit block in the pallet into the preset storage location, and then grab the limit block required in the target blueprint information from the preset storage location; the vertical warehouse function has been added, which can be compatible with more sizes of parts to be transferred, making it more compatible.

[0051] In some embodiments, the gripper mechanism also includes a visual detection system, and the method also includes: receiving a photo-taking instruction sent by the controller; based on the photo-taking instruction, controlling the visual detection system to take photos of the position to be grasped and the position to be placed, and performing offset compensation on the positions of the position to be grasped and the position to be placed according to the photographed images.

[0052] Through the above-mentioned technical means, since the robot is equipped with a visual detection system, the controller can control the visual detection system to perform visual guidance correction on the grasping position or placement position. According to the corresponding offset data, the target position to be reached by the gripper component in the gripper mechanism can be accurately determined, which can improve the efficiency of limit block replacement or position adjustment.

[0053] In some embodiments, based on the control instruction, the gripper mechanism is controlled to perform a gripping and releasing action on at least one limit block on the pallet, and also includes: after the visual inspection system is moved to the photographing position of the position to be grasped, a first photographing instruction sent by the controller is received; based on the first photographing instruction, the position to be grasped is photographed by the visual inspection system, and a first offset of the position to be grasped is determined based on the first image taken; the initial position of the position to be grasped is compensated according to the first offset, and the target position of the position to be grasped is determined; the first gripping instruction sent by the controller is received, the gripper mechanism is controlled to move toward the position to be grasped, and after moving to the target position of the position to be grasped, the limit block on the position to be grasped is gripped by the gripper mechanism.

[0054] Through the above-mentioned technical means, the controller can control the visual detection system to perform visual guidance and correction on the grasping position. According to the corresponding offset data, the target position to be reached by the gripper assembly in the gripper mechanism can be accurately determined. Therefore, according to the determined target position, the controller can control the gripper assembly to move to the target position, and then the gripper assembly can be moved to the accurate gripping position to grasp and release the limit block, thereby improving the efficiency of limit block replacement or position adjustment.

[0055] In some embodiments, based on the control instruction, the gripper mechanism is controlled to grab and release at least one limit block on the pallet, and it also includes: after the visual inspection system is moved to the photographing position of the position to be placed, a second photographing instruction sent by the controller is received; based on the second photographing instruction, the position to be placed is photographed by the visual inspection system, and a second offset of the position to be placed is determined based on the second image taken; the initial position of the position to be placed is compensated according to the second offset, and the target position of the position to be placed is determined; the first placement instruction sent by the controller is received, the gripper mechanism is controlled to move to the position to be placed, and after moving to the target position of the position to be placed, the limit block is placed to the position to be placed by the gripper mechanism.

[0056] Through the above-mentioned technical means, the controller can control the visual detection system to perform visual guidance and correction on the placement position. According to the corresponding offset data, the target position to be reached by the gripper assembly in the gripper mechanism can be accurately determined. Therefore, according to the determined target position, the controller can control the gripper assembly to move to the target position, and then the gripper assembly can be moved to the accurate placement position to grab and release the limit block, thereby improving the efficiency of replacing or adjusting the position of the limit block.

[0057] In a third aspect, an embodiment of the present disclosure provides a matching system, the matching system comprising:

[0058] The trolley to be tested comprises a pallet and at least one limit block provided on the pallet, wherein the pallet is used to carry the component to be transferred, and the at least one limit block is used to limit the position of the component to be transferred on the pallet;

[0059] A robot, wherein a gripper mechanism is provided on the robot's mechanical arm, and the robot is used to drive the gripper mechanism to move;

[0060] A storage mechanism is provided at a position corresponding to the robot, and is used to store the limit block;

[0061] A lifting mechanism is provided at a position corresponding to the robot and is used to lift and support the trolley to be tested;

[0062] Among them, when the trolley to be tested reaches the preset position and the current blueprint information of the trolley to be tested is inconsistent with the target blueprint information of the trolley to be tested, the gripper mechanism can grab or release the limit block, and under the drive of the robot, can transport the limit block to the position corresponding to the position to be placed in the pallet, or transport the limit block to the preset storage location in the storage mechanism; wherein, the target blueprint information is correlated with the specification parameters of the parts to be transferred.

[0063] Through the above-mentioned technical means, since a pallet is provided in the trolley to be tested and a limit block is provided on the pallet, the parts to be transferred can be carried by the pallet, and the position of the parts to be transferred on the pallet can be limited by the limit block, so as to realize the limitation of the parts to be transferred; and a gripping mechanism is provided on the robot's robotic arm, and the robot can drive the gripping mechanism to move to the position corresponding to the limit block, and the limit block can be grasped or placed by the gripping mechanism; and a storage mechanism is provided at the position corresponding to the robot, and the limit block to be used can be stored in the storage mechanism; at the same time, a lifting mechanism is also provided at the position corresponding to the robot, and the lifting mechanism can lift, support and limit the trolley to be tested so that the trolley to be tested can be parked at a preset position. In this way, after the trolley to be tested stops at a preset position through the jacking mechanism, the robot can drive the gripper mechanism to remove the limit block that needs to be replaced on the trolley to be tested and place it in the preset storage location in the storage mechanism; the robot can also drive the gripper mechanism to grab the required limit block from the storage mechanism and install it in the corresponding position on the pallet, so that the adjustment of the trolley to be tested can be completed quickly and efficiently to match the trolley to be tested and the parts to be transferred, and then the trolley to be tested can be compatible with parts to be transferred of different specifications and parameters, which helps to improve the production efficiency during product changeover.

[0064] In some embodiments, the pallet includes a pallet frame, a transverse clamping assembly, and a longitudinal clamping assembly; wherein the transverse clamping assembly includes a transverse clamping member and a transverse transmission member, the transverse clamping member is slidably connected to the pallet frame and has a transverse mounting portion, and the limit block can be connected to the transverse clamping member through the transverse mounting portion; the transverse transmission member is in transmission connection with the transverse clamping member; and during movement of the transverse transmission member, the transverse clamping member can be driven to move in a first direction;

[0065] The longitudinal clamping assembly includes a longitudinal clamping member and a longitudinal transmission member. The longitudinal clamping member is slidably connected to the pallet frame and has a longitudinal mounting portion. The limit block can be connected to the longitudinal clamping member through the longitudinal mounting portion; the longitudinal transmission member is transmission-connected to the longitudinal clamping member; during the movement of the longitudinal transmission member, the longitudinal clamping member can be driven to move along the second direction; the second direction has an angle with the first direction.

[0066] Through the above-mentioned technical means, since a pallet frame is provided in the pallet, other components in the pallet can be carried and installed through the pallet frame; and a transverse clamping member and a transverse transmission member with a transmission connection are provided on the pallet frame, and the position of the transverse clamping member on the pallet frame can be adjusted through the transverse transmission member; at the same time, a longitudinal clamping member and a longitudinal transmission member with a transmission connection are provided on the pallet frame, and the position of the longitudinal clamping member on the pallet frame can be adjusted through the longitudinal transmission member, so that the size and shape of the pallet can be adjusted in at least two directions, and the pallet can be matched with the components to be transported.

[0067] In some embodiments, the longitudinal clamping member includes a first longitudinal clamping member and a second longitudinal clamping member, and the first longitudinal clamping member and the second longitudinal clamping member are both transmission-connected to the longitudinal transmission member; during the movement of the longitudinal transmission member, the first longitudinal clamping member and the second longitudinal clamping member can be driven closer to or away from each other, so that the first longitudinal clamping member and the second longitudinal clamping member cooperate to fix the component to be transported.

[0068] Through the above-mentioned technical means, since the longitudinal clamping member is set to a structure including a first longitudinal clamping member and a second longitudinal clamping member, and the first longitudinal clamping member and the second longitudinal clamping member are both connected to the longitudinal transmission member, the longitudinal transmission member can drive the first longitudinal clamping member and the second longitudinal clamping member to move toward or away from each other synchronously, so that the distance between the first longitudinal clamping member and the second longitudinal clamping member can be easily adjusted, so that the distance between the first longitudinal clamping member and the second longitudinal clamping member matches the width of the component to be transferred in the second direction.

[0069] In some embodiments, the first longitudinal clamping member includes a first mold change plate and at least one first limit block arranged on the first mold change plate; the second longitudinal clamping member includes a second mold change plate and at least one second limit block arranged on the second mold change plate; wherein, the first mold change plate and the second mold change plate are both provided with multiple longitudinal mounting parts at intervals, and the bottoms of the first limit block and the second limit block are both provided with longitudinal connecting parts, and the longitudinal mounting parts and the longitudinal connecting parts are detachably connected.

[0070] Through the above-mentioned technical means, since the first longitudinal clamping member is provided with a first mold-changing plate and a first limit block, the second longitudinal clamping member is provided with a second mold-changing plate and a second limit block, and a plurality of longitudinal mounting parts are respectively provided on the first mold-changing plate and the second mold-changing plate, the first limit block and the second limit block can be respectively provided at different positions of the first mold-changing plate and the second mold-changing plate, so that the longitudinal clamping member can be matched with parts to be transferred of different sizes; and the longitudinal mounting part and the longitudinal connecting part are provided as a detachable connecting structure, which can facilitate the replacement or adjustment of the position of the first limit block and the second limit block.

[0071] In some embodiments, the transverse clamping member includes a first transverse clamping member and a second transverse clamping member arranged opposite to each other, the first transverse clamping member is in transmission connection with the transverse transmission member, and the second transverse clamping member is fixed on the pallet frame; during the movement of the transverse transmission member, it can drive the first transverse clamping member to move toward or away from the second transverse clamping member, so that the first transverse clamping member and the second transverse clamping member cooperate to clamp the component to be transferred.

[0072] Through the above-mentioned technical means, since the transverse clamping member is set to a structure including a first transverse clamping member and a second transverse clamping member, and the first transverse clamping member is connected to the transverse transmission member, the first transverse clamping member can be driven by the transverse transmission member to move in a direction close to or away from the second transverse clamping member, so that the distance between the first transverse clamping member and the second transverse clamping member can be conveniently adjusted, so that the distance between the first transverse clamping member and the second transverse clamping member matches the length of the component to be transferred in the first direction.

[0073] In some embodiments, the first transverse clamping member includes a third mold change plate and at least one third limit block arranged on the third mold change plate; the second transverse clamping member includes a fourth mold change plate and at least one fourth limit block arranged on the fourth mold change plate; wherein, the third mold change plate and the fourth mold change plate are both provided with multiple transverse mounting parts at intervals, and the bottoms of the third limit block and the fourth limit block are both provided with transverse connecting parts, and the transverse mounting parts and the transverse connecting parts are detachably connected.

[0074] Through the above-mentioned technical means, since a third change plate and a third limit block are provided in the first transverse clamping member, a fourth change plate and a fourth limit block are provided in the second transverse clamping member, and a plurality of transverse mounting parts are respectively provided on the third change plate and the fourth change plate, the third limit block and the fourth limit block can be respectively provided at different positions of the third change plate and the fourth change plate, so that the transverse clamping member can be matched with components to be transferred of different sizes; and the transverse mounting part and the transverse connecting part are provided as a detachable connecting structure, which can facilitate the replacement or adjustment of the position of the third limit block and the fourth limit block.

[0075] In some embodiments, the gripper mechanism includes: a connecting member, a moving component and a gripper component; the gripper mechanism is set on the robot's mechanical arm through the connecting member; the moving component is set on the connecting member; the gripper component is set on the moving component; driven by the moving component, the gripper component can move toward or away from the position to be placed.

[0076] Through the above-mentioned technical means, since a connecting part is provided in the gripper mechanism, the gripper mechanism can be installed on the robotic arm through the connecting part; and a moving component is provided on the connecting part, and the gripper component is provided on the moving component, the gripper component can be driven to move to the desired position through the moving component, so that the gripper component is close to the limit block or away from the limit block, or the gripper component is close to or away from the position to be placed.

[0077] In some embodiments, the moving assembly includes a vertical driving member and a vertical sliding assembly; the vertical sliding assembly is arranged on the connecting member, and the gripping assembly is arranged on the vertical sliding assembly; one end of the vertical driving member is connected to the connecting member, and the other end is connected to the gripping assembly; under the drive of the vertical driving member, the gripping assembly can generate movement along the extension direction of the vertical sliding assembly.

[0078] Through the above-mentioned technical means, since a vertical sliding assembly is provided and the gripper assembly is connected to the vertical sliding assembly, the gripper assembly can be moved along the extension direction of the vertical sliding assembly; and a vertical driving member is provided and the vertical driving member is connected to the gripper assembly, the gripper assembly can be driven by the vertical driving member to move along the extension direction of the vertical sliding assembly, so that the gripper assembly can move to the desired position.

[0079] In some embodiments, the gripper assembly includes a gripper drive and at least two gripper members; one of the gripper members is slidably disposed on the moving assembly, one end of the gripper drive is connected to the moving assembly, and the other end is connected to a gripper member slidably disposed on the moving assembly; under the drive of the gripper drive, at least two gripper members can approach each other to grasp the limit block, or at least two gripper members can separate from each other to release the limit block.

[0080] Through the above-mentioned technical means, since at least two gripping members are provided, and one gripping member is slidingly provided on the moving component, the gripping driving member is connected to the sliding gripping member, and the sliding gripping member can be driven to move by the gripping driving member so that the two gripping members can approach or move away from each other, thereby grabbing the limit block or releasing the limit block.

[0081] In some embodiments, the gripper mechanism further includes a visual detection system; the visual detection system can be electrically connected to the controller, and the visual detection system is used to take pictures of the position to be gripped and the position to be placed, and to compensate for the offset of the position to be gripped and the position to be placed.

[0082] Through the above-mentioned technical means, since a visual detection system is provided on the gripper mechanism, the positions of the positions to be gripped and the positions to be placed can be compensated by the visual detection system to determine the information of the target position to be reached by the gripper assembly in the gripper mechanism, so that the gripper assembly can be controlled to move toward the target position according to the determined target position, and the gripper assembly can be moved to the accurate gripping position or placement position to improve the efficiency of replacing or adjusting the position of the limit block on the pallet.

[0083] In some embodiments, the storage mechanism includes a supporting assembly and a bearing assembly. The bearing assembly is slidably arranged on the supporting assembly. The bearing assembly has a storage portion adapted to the limiting block. The supporting assembly is used to support the bearing assembly.

[0084] Through the above-mentioned technical means, since the bearing component is slidably set on the supporting component, the bearing component to be used can be slid to a preset position as needed to facilitate the gripping mechanism to grab or place the limit block; and a storage portion is provided on the bearing component, each limit block can be placed in the corresponding storage portion, and the limit block can be limited by the storage portion so that the limit block is stored in a certain position, which can also facilitate the gripping mechanism to grab or place the limit block.

[0085] In some embodiments, the support assembly includes two brackets arranged opposite to each other, the bearing assembly includes a plurality of bearing plates, each bearing plate is provided with a storage portion, and each bearing plate is slidably arranged between the two brackets.

[0086] Through the above technical means, the support component is set to a structure including two brackets, which can provide stable support for the load-bearing component; at the same time, multiple load-bearing plates are slidably set between the two brackets, so that different load-bearing plates can be placed in different positions, so as to facilitate the removal and placement of limit blocks on the load-bearing plates.

[0087] The disclosed embodiments provide a matching control method and system. When a trolley to be tested arrives at a preset position, the current blueprint information of the trolley to be tested is matched with the target blueprint information for consistency, wherein the target blueprint information is associated with the specification parameters of the component to be transferred. If the current blueprint information is inconsistent with the target blueprint information, the controller can control at least one limit block on the pallet to adjust the position so that the pallet matches the component to be transferred and the pallet can be used to place the component to be transferred. In this way, on the one hand, the corresponding target blueprint information is automatically selected according to the components to be transferred with different specifications, which can improve data security. On the other hand, during the product matching process, the limit blocks have been transformed from manual replacement to automatic replacement, and the robot change logic is simple, without the need to configure multiple sensors, which also improves the degree of automation of the equipment, reduces labor costs and production costs, and thus improves production efficiency during product matching. On the other hand, by controlling the pitch change of the lead screw in the pallet and performing the grab and release action on at least one limit block on the pallet, a storage location function is added, so that it can adapt to components to be transferred with different specifications, thereby improving compatibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] FIG1 is a schematic diagram of the structure of a matching system provided by an embodiment of the present disclosure;

[0089] FIG2 is a schematic diagram of the structure of a tray provided in an embodiment of the present disclosure;

[0090] FIG3 is a schematic diagram of the three-dimensional structure of a limit block provided in an embodiment of the present disclosure;

[0091] FIG4 is a front view schematic diagram of the structure of a gripping mechanism provided in an embodiment of the present disclosure;

[0092] FIG5 is a left side schematic diagram of the structure of a gripping mechanism provided in an embodiment of the present disclosure;

[0093] FIG6 is a front view schematic diagram of the structure of a storage mechanism provided in an embodiment of the present disclosure;

[0094] FIG7 is a schematic top view of the structure of a storage mechanism provided in an embodiment of the present disclosure;

[0095] FIG8 is a flowchart diagram 1 of a matching control method provided by an embodiment of the present disclosure;

[0096] FIG9 is a schematic diagram of the composition structure of a formula provided in an embodiment of the present disclosure;

[0097] FIG10 is a schematic diagram of the distribution of the mold change plates on the pallet provided in an embodiment of the present disclosure;

[0098] FIG11 is a schematic top view of a structure of a position to be grasped provided by an embodiment of the present disclosure;

[0099] FIG12 is a schematic top view of a structure to be placed provided by an embodiment of the present disclosure;

[0100] FIG13 is a second flow chart of a matching control method provided by an embodiment of the present disclosure;

[0101] FIG14 is a first detailed flow chart of a matching control method provided by an embodiment of the present disclosure;

[0102] FIG15 is a second detailed flow chart of a matching control method provided by an embodiment of the present disclosure;

[0103] FIG16 is a schematic diagram of an operation interface of an electronic tag provided in an embodiment of the present disclosure;

[0104] FIG17 is a third flow chart of a matching control method provided by an embodiment of the present disclosure;

[0105] FIG18 is a third detailed flow chart of a matching control method provided by an embodiment of the present disclosure;

[0106] FIG19 is a schematic diagram of a display interface of a visualization device provided in an embodiment of the present disclosure.

[0107] Reference numerals:

[0108] 1-trolley to be tested; 11-pallet; 111-pallet frame; 112-horizontal clamping assembly; 1121-horizontal clamping member; 11211-first horizontal clamping member; 11212-second horizontal clamping member; 1122-horizontal transmission member; 1123-horizontal mounting portion; 113-longitudinal clamping assembly; 1131-longitudinal clamping member; 11311-first longitudinal clamping member; 11312-second longitudinal clamping member; 1132-longitudinal transmission member; 1133-longitudinal mounting portion; 12-limiting block; 121 step structure, step surface-122; connecting column 123; clamping protrusion-1231; 2-gripper mechanism; 2 1-connecting part; 22-moving assembly; 221-vertical driving part; 222-vertical sliding assembly; 2221-vertical guide rail; 2222-vertical slider; 23-gripper assembly; 231-gripper driving part; 232-gripper member; 233-gripper guide rail; 234-gripper slider; 24-moving plate; 25-visual inspection system; 3-storage mechanism; 31-supporting assembly; 311-first bracket; 312-second bracket; 32-bearing assembly; 321-storage part; 322-first bearing plate; 323-second bearing plate; 4-lifting mechanism; 5-robot; A-first direction; B-second direction. DETAILED DESCRIPTION

[0109] In order to enable a more detailed understanding of the features and technical contents of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure is described in detail below with reference to the accompanying drawings. The accompanying drawings are for reference only and are not intended to limit the embodiments of the present disclosure.

[0110] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the art of the present disclosure. The terms used herein are only for the purpose of describing the embodiments of the present disclosure and are not intended to limit the present disclosure.

[0111] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0112] It should also be pointed out that the terms "first\second\third" involved in the embodiments of the present disclosure are only used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0113] It should also be noted that the term "and / or" used in the embodiments of the present disclosure is merely a description of the association relationship between associated objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0114] It should also be pointed out that the term "multiple" involved in the embodiments of the present disclosure refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0115] It should also be pointed out that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like involved in the embodiments of the present disclosure indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the embodiments of the present disclosure.

[0116] Currently, new energy batteries are increasingly being used in everyday life and industry. They are not only used in energy storage systems such as hydropower, thermal power, wind power, and solar power plants, but are also widely used in electric vehicles like electric bicycles, electric motorcycles, and electric cars, as well as in a variety of fields such as aerospace. As the application of power batteries continues to expand, market demand is also growing.

[0117] In the embodiments of the present disclosure, the battery may be a battery cell, or a battery module or battery pack including a plurality of battery cells. A battery cell refers to a basic unit that can realize the mutual conversion of chemical energy and electrical energy, and can be used to make a battery module or battery pack, thereby being used to supply power to electrical devices. A battery cell may be a secondary battery, which refers to a battery cell that can be continuously used by activating the active material by charging after the battery cell is discharged. The battery cell may be a lithium-ion battery, a sodium-ion battery, a sodium-lithium-ion battery, a lithium metal battery, a sodium metal battery, a lithium-sulfur battery, a magnesium-ion battery, a nickel-hydrogen battery, a nickel-cadmium battery, a lead-acid battery, etc., and the embodiments of the present disclosure do not limit this.

[0118] It should also be noted that in the embodiments of the present disclosure, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, or even internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present disclosure based on specific circumstances.

[0119] Market developments show that power batteries are increasingly being used in a wide range of applications, and their variety is also increasing. Power batteries are not only used in energy storage systems such as hydropower, thermal, wind, and solar power plants, but are also widely used in electric vehicles such as electric bicycles, electric motorcycles, and electric vehicles, as well as in military equipment and aerospace. As power battery applications continue to expand, market demand is also growing.

[0120] In the relevant technology, battery production lines mainly use semi-automatic equipment to realize the processes of battery processing, assembly, transmission and testing. In battery production lines, transfer devices are usually used to transfer battery components from the previous process to the next process for processing, assembly, etc. However, the transfer device in the battery production line can only adapt to battery components of one specification and size, and is not compatible with multiple products of different specifications; when the product is changed, manual precise positioning is required, and there is a risk of missing or changing the placement position; and manual replacement of limit blocks is time-consuming and labor-intensive, especially for storage in warehouses without limit blocks, which requires manual preservation and pulling out from the warehouse, requiring a large amount of manpower, resulting in low production efficiency and high costs.

[0121] To solve the above problems, the disclosed embodiments provide a matching system and a corresponding control method. When a vehicle to be tested arrives at a preset position, a controller can obtain the current blueprint information of the vehicle to be tested and the target blueprint information of the vehicle to be tested, wherein the target blueprint information is associated with the specifications of the parts to be transferred. Then, when the current blueprint information and the target blueprint information are inconsistent, the controller can control at least one stop block on the pallet to adjust the position so that the pallet matches the parts to be transferred and the pallet can be placed on the parts to be transferred. In this way, on the one hand, the corresponding target blueprint information is automatically selected according to the parts to be transferred with different specifications, which can improve data security. On the other hand, during the product matching process, the stop blocks have been replaced automatically instead of manually. The robot's changeover logic is simple, and there is no need to configure multiple sensors. This also improves the degree of automation of the equipment, reduces labor costs and production costs, and thus improves production efficiency during product matching. On the other hand, by controlling the pitch change of the lead screw in the pallet and performing the grab and release action on at least one stop block on the pallet, a storage function is added, making it able to adapt to parts to be transferred with different specifications, thereby improving compatibility.

[0122] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0123] In one embodiment of the present disclosure, referring to FIG. 1 and FIG. 2 , FIG. 1 shows a schematic diagram of the composition structure of a matching system provided in an embodiment of the present disclosure, and FIG. 2 shows a schematic diagram of the composition structure of a tray in the matching system provided in an embodiment of the present disclosure. As shown in Figure 1, the matching system includes: a trolley 1 to be tested, a robot 5, a storage mechanism 3 and a lifting mechanism 4; wherein, the trolley 1 to be tested includes a pallet 11 and at least one limit block 12 arranged on the pallet 11, the pallet 11 is used to carry the parts to be transferred, and the at least one limit block 12 is used to limit the position of the parts to be transferred on the pallet 11; a gripper mechanism 2 is provided on the robotic arm of the robot 5, and the robot 5 is used to drive the gripper mechanism 2 to move; the storage mechanism 3 is set at a position corresponding to the robot 5, and the storage mechanism 3 is used to store the limit block 12; the lifting mechanism 4 is set at a position corresponding to the robot 5, and the lifting mechanism 4 is used to lift and support the trolley 1 to be tested; wherein, the gripper mechanism 2 can grab or release the limit block 12, and under the drive of the robot 5, can transport the limit block 12 to the position corresponding to the position to be placed on the pallet 11, or transport the limit block 12 to the preset storage position in the storage mechanism 3.

[0124] In the embodiment of the present disclosure, the matching system can be used to automatically adjust the trolley 1 to be tested that carries and transports the component to be transferred, so that the trolley 1 to be tested and the component to be transferred are matched, so that the component to be transferred can be placed on the trolley 1 to be tested, and the trolley 1 to be tested can position and clamp the component to be transferred, thereby achieving smooth transportation of the component to be transferred. The component to be transferred can be a battery pack to be assembled, a lower box of a battery pack, and other components. The trolley 1 to be tested can be a structural form including a pallet 11, and a limit block 12 is provided on the pallet 11. The component to be transferred can be in contact with the limit block 12, and the limit block 12 supports the component to be transferred and limits the component to be transferred so that the component to be transferred is in a fixed position on the pallet 11.

[0125] A transport member may also be provided in the test vehicle 1. The transport member may be a transport vehicle having a load frame and wheels, and the transport vehicle may be capable of traveling on a road surface. For example, the transport vehicle may be an unpowered transport vehicle, which may be towed by an automated guided vehicle (AGV) so that the test vehicle 1 carries the component to be transferred to the desired location. The transport vehicle may also be an AGV, with the tray 11 being placed on the AGV. The disclosed embodiments do not limit the specific structure of the test vehicle 1.

[0126] In the embodiment of the present disclosure, in order to replace the limit block 12 provided on the pallet 11, or to adjust the position of the limit block 12 on the pallet 11, a gripping mechanism 2 can be provided to grip the limit block 12 through the gripping mechanism 2. For example, the gripping mechanism 2 can be provided as a structure including two gripping rods, and the gripping rods can move, so as to achieve the gripping or placement of the limit block 12 through the gripping rods. A connector that can be adapted to the robotic arm of the robot 5 can be provided in the gripping mechanism 2, so that the gripping mechanism 2 can be installed on the robotic arm of the robot 5 through the connector. For example, the robot 5 can adopt a six-axis robot, so as to drive the gripping mechanism 2 to move through the six-axis robot, so as to complete the movement of the limit block 12.

[0127] In the disclosed embodiment, when replacing or adjusting the limit block 12 in the test vehicle 1, it is necessary to place the temporarily unused limit block 12 in a preset position. To achieve this, a storage mechanism 3 can be provided. The storage mechanism 3 can be provided with multiple storage sections, each of which can store a limit block 12. The storage mechanism 3 is positioned at a position corresponding to the robot 5, and the robot 5 drives the gripper mechanism 2 to move the gripper mechanism 2 to the position corresponding to each storage section.

[0128] In the embodiment of the present disclosure, before adjusting the trolley 1 to be tested, that is, before adjusting the limit block 12 on the trolley 1 to be tested, it is necessary to limit the position of the trolley 1 to be tested so that the trolley 1 to be tested is in a preset position. A lifting mechanism 4 can be set at a position corresponding to the robot 5. The lifting mechanism 4 can be set in a structural form including a lifting bracket, a limit assembly and a lifting assembly. Among them, the lifting bracket can be used to support and fix the entire lifting mechanism 4, and the lifting mechanism 4 can be set in a position adjacent to the robot 5 through the lifting bracket; the limit assembly is set on the lifting bracket, and the limit assembly is set to be able to move relative to the lifting bracket. When the trolley 1 to be tested moves to the position where the lifting mechanism 4 is located, the limit assembly is controlled to abut against the trolley 1 to be tested after the movement, so that the trolley 1 to be tested can be limited to the position where the lifting mechanism 4 is located; the lifting assembly can be set on the lifting bracket, and the lifting assembly is set to a structure that can move relative to the lifting bracket. The trolley 1 to be tested can be lifted by the lifting assembly so that the trolley 1 to be tested is raised to a certain height.

[0129] Through the above embodiments, it can be seen that since a pallet 11 is provided in the trolley 1 to be tested and a limit block 12 is provided on the pallet 11, the parts to be transferred can be carried by the pallet 11, and the position of the parts to be transferred on the pallet 11 can be limited by the limit block 12, so as to realize the limitation of the parts to be transferred; and a gripping mechanism 2 is provided on the robotic arm of the robot 5, which can drive the gripping mechanism 2 to move to a position corresponding to the limit block 12 by the robot 5, and the limit block 12 can be grasped or placed by the gripping mechanism 2; and a storage mechanism 3 is provided at a position corresponding to the robot 5, and the limit block 12 to be used can be stored in the storage mechanism 3; at the same time, a lifting mechanism 4 is also provided at a position corresponding to the robot 5, and the lifting mechanism 4 can lift, support and limit the trolley 1 to be tested so that the trolley 1 to be tested can be parked at a preset position. In this way, after the trolley 1 to be tested stops at the preset position through the jacking mechanism 4, the robot 5 can drive the gripper mechanism 2 to remove the limit block 12 that needs to be replaced on the trolley 1 to be tested, and place it in the preset storage position in the storage mechanism 3; the robot 5 can also drive the gripper mechanism 2 to grab the required limit block 12 from the storage mechanism 3 and install it in the corresponding position on the pallet 11, so that the adjustment of the trolley 1 to be tested can be completed quickly and efficiently, so that the trolley 1 to be tested and the parts to be transferred that need to be transferred are matched, and then the trolley 1 to be tested can be compatible with parts to be transferred of different specifications and parameters, which helps to improve the production efficiency during product changeover.

[0130] In some embodiments, as shown in FIG2 , the pallet 11 includes a pallet frame 111, a transverse clamping assembly 112, and a longitudinal clamping assembly 113; wherein the transverse clamping assembly 112 includes a transverse clamping member 1121 and a transverse transmission member 1122, the transverse clamping member 1121 is slidably connected to the pallet frame 111, and has a transverse mounting portion 1123, and the limit block 12 can be connected to the transverse clamping member 1121 through the transverse mounting portion 1123; the transverse transmission member 1122 is in transmission connection with the transverse clamping member 1121; during the movement of the transverse transmission member 1122, it can drive The transverse clamping member 1121 moves along the first direction A; the longitudinal clamping assembly 113 includes a longitudinal clamping member 1131 and a longitudinal transmission member 1132, the longitudinal clamping member 1131 is slidably connected to the pallet frame 111, and has a longitudinal mounting portion 1133, and the limit block 12 can be connected to the longitudinal clamping member 1131 through the longitudinal mounting portion 1133; the longitudinal transmission member 1132 is transmission-connected to the longitudinal clamping member 1131; during the movement of the longitudinal transmission member 1132, the longitudinal clamping member 1131 can be driven to move along the second direction B; the second direction B has an angle with the first direction A.

[0131] In the embodiment of the present disclosure, the pallet 11 is used to carry the parts to be transferred, and a pallet frame 111 can be set in the pallet 11. For example, the pallet frame 111 can be set as a frame structure with an overall square structure, so that other parts in the pallet 11 can be set on the square frame structure.

[0132] In the disclosed embodiment, since the parts to be transported by the test trolley 1 vary in size and shape, the shape of the pallet 11 needs to be adjusted when transporting different parts to be transported. Therefore, a transverse clamping assembly 112 and a longitudinal clamping assembly 113 can be provided in the pallet 11. By adjusting the positions of the transverse clamping assembly 112 and the longitudinal clamping assembly 113 in the pallet 11, the shape of the pallet 11 can be changed to match the parts to be transported.

[0133] Exemplarily, the transverse clamping assembly 112 can be configured as a structure including a transverse clamping member 1121 and a transverse transmission member 1122. The transverse clamping member 1121 is slidably connected to the pallet frame 111, and a transverse mounting portion 1123 for mounting the limit block 12 is provided on the transverse clamping member 1121. The transverse transmission member 1122 is disposed on the pallet frame 111 and is transmission-connected to the transverse clamping member 1121. Movement of the transverse transmission member 1122 can drive the transverse clamping member 1121 to move relative to the pallet frame 111 in a first direction A. For example, the transverse clamping member 1121 can be moved along the length of the pallet frame 111, thereby adjusting the position of the transverse clamping member 1121 on the pallet frame 111.

[0134] In another example, the longitudinal clamping assembly 113 can be configured as a structure including a longitudinal clamping member 1131 and a longitudinal transmission member 1132. The longitudinal clamping member 1131 is slidably connected to the pallet frame 111, and a longitudinal mounting portion 1133 for mounting the limit block 12 is provided on the longitudinal clamping member 1131. The longitudinal transmission member 1132 is disposed on the pallet frame 111 and is transmission-connected to the longitudinal clamping member 1131. The movement of the longitudinal transmission member 1132 can drive the longitudinal clamping member 1131 to move relative to the pallet frame 111 in the second direction B. For example, the longitudinal clamping member 1131 can be moved along the width of the pallet frame 111, thereby adjusting the position of the longitudinal clamping member 1131 on the pallet frame 111. When the tray frame 111 is set to a rectangular structure, the first direction A and the second direction B are respectively consistent with the length and width directions of the rectangular tray frame 111, that is, the first direction A and the second direction B are in the same plane and perpendicular to each other.

[0135] Through the above embodiments, it can be seen that since a pallet frame 111 is provided in the pallet 11, other components in the pallet 11 can be carried and installed through the pallet frame 111; and a transverse clamping member 1121 and a transverse transmission member 1122 with a transmission connection are provided on the pallet frame 111, and the position of the transverse clamping member 1121 on the pallet frame 111 can be adjusted through the transverse transmission member 1122; at the same time, a longitudinal clamping member 1131 and a longitudinal transmission member 1132 with a transmission connection are provided on the pallet frame 111, and the position of the longitudinal clamping member 1131 on the pallet frame 111 can be adjusted through the longitudinal transmission member 1132, so that the size and shape of the pallet 11 can be adjusted in at least two directions, and the pallet 11 can be matched with the components to be transported.

[0136] In some embodiments, as shown in Figure 2, the longitudinal clamping member 1131 includes a first longitudinal clamping member 11311 and a second longitudinal clamping member 11312, and the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 are both transmission-connected to the longitudinal transmission member 1132; during the movement of the longitudinal transmission member 1132, it can drive the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 to approach or move away from each other, so that the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 cooperate to fix the part to be transported.

[0137] In the disclosed embodiment, the longitudinal clamping member 1131 can be configured to include a first longitudinal clamping member 11311 and a second longitudinal clamping member 11312. Two guide rails extending along the second direction B can be fixedly mounted on the tray frame 111, with matching sliders provided on the guide rails. The first longitudinal clamping member 11311 can be fixedly connected to the sliders on the two guide rails, respectively, to slide the first longitudinal clamping member 11311 onto the tray frame 111. The second longitudinal clamping member 11312 can be fixedly connected to the other sliders on the two guide rails, respectively, to slide the second longitudinal clamping member 11312 onto the tray frame 111. The first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 both extend along the first direction A.

[0138] Exemplarily, the longitudinal transmission member 1132 can be a screw rod, and two sections of threads with opposite spiral directions can be provided on the screw rod. A nut that is respectively adapted to the two sections of threads with opposite spiral directions can be provided on the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312. The first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 can then be connected to the screw rod by threaded connection. In this way, during the rotation of the screw rod, the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 can be driven to move toward each other at the same time, so that the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 are closer to each other; or the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 can be driven to move away from each other at the same time.

[0139] Through the above embodiments, it can be seen that since the longitudinal clamping member 1131 is set to include a first longitudinal clamping member 11311 and a second longitudinal clamping member 11312, and the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 are both connected to the longitudinal transmission member 1132, the longitudinal transmission member 1132 can drive the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 to move toward or away from each other synchronously, so that the distance between the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 can be easily adjusted to match the width of the component to be transferred in the second direction B.

[0140] In some embodiments, as shown in Figure 2, the first longitudinal clamping member 11311 includes a first mold-changing plate and at least one first limit block arranged on the first mold-changing plate; the second longitudinal clamping member 11312 includes a second mold-changing plate and at least one second limit block arranged on the second mold-changing plate; wherein, a plurality of longitudinal mounting portions 1133 are arranged at intervals on the first mold-changing plate and the second mold-changing plate, and a longitudinal connecting portion is provided at the bottom of the first limit block and the second limit block, and the longitudinal mounting portion and the longitudinal connecting portion are detachably connected.

[0141] In the disclosed embodiment, the first longitudinal clamping member 11311 can be configured to include a first mold-changing plate and a first limiting block, and the second longitudinal clamping member 11312 can be configured to include a second mold-changing plate and a second limiting block, and both the first mold-changing plate and the second mold-changing plate are slidably connected to the tray frame 111. A plurality of longitudinal mounting portions 1133 are provided on each of the first mold-changing plate and the second mold-changing plate, and longitudinal connecting portions adapted to the longitudinal mounting portions 1133 are provided on each of the first limiting block and the second limiting block, so that the first limiting block can be detachably mounted on the first mold-changing plate, and the second limiting block can be detachably mounted on the second mold-changing plate.

[0142] Exemplarily, both the first and second profile-changing plates can be configured as elongated plate-like structures. Multiple mounting holes can be provided on each of the first and second profile-changing plates. For example, two rows of mounting holes can be arranged parallel to the length of the profile-changing plates, with any group of mounting holes in the two rows constituting a longitudinal mounting portion. Exemplarily, each longitudinal mounting portion can include two mounting holes.

[0143] As another example, both the first limit block and the second limit block can be set as a step-shaped block structure. A plurality of connecting columns can be set at the bottom of the step-shaped block structure. Referring to Figure 3, it shows a three-dimensional structural schematic diagram of the limit block 12 in the matching system provided by an embodiment of the present disclosure from one perspective. As shown in Figure 3, the limit block 12 includes a step structure 121 and a step surface 122 for supporting the part to be transferred; and two connecting columns 123 are provided at the bottom of the limit block 12. The outer surface of the connecting column 123 is provided with a locking protrusion 1231, and the inner circumference of the mounting hole is provided with a locking groove. When the connecting column 123 is inserted into the mounting hole, the locking protrusion 1231 is engaged with the locking groove.

[0144] For example, the two connecting posts 123 at the bottom of the stopper 12 can be adapted to the longitudinal mounting portion 1133 including two mounting holes. Specifically, two connecting posts can be provided at the bottom of the first and second stopper blocks as longitudinal connecting portions, with the two connecting posts respectively matching the two mounting holes. Thus, the two connecting posts can be inserted into the two mounting holes, respectively, to detachably mount the first and second stopper blocks on the first and second change plates, respectively.

[0145] Through the above embodiments, it can be seen that since the first longitudinal clamping member 11311 is provided with a first mold changing plate and a first limit block, the second longitudinal clamping member 11312 is provided with a second mold changing plate and a second limit block, and a plurality of longitudinal mounting portions 1133 are respectively provided on the first mold changing plate and the second mold changing plate, the first limit block and the second limit block can be respectively provided at different positions of the first mold changing plate and the second mold changing plate, so that the longitudinal clamping member 1131 can be matched with parts to be transferred of different sizes; and the longitudinal mounting portion 1133 and the longitudinal connecting portion are provided as a detachable connecting structure, which can facilitate the replacement or adjustment of the position of the first limit block and the second limit block.

[0146] In some embodiments, as shown in Figure 2, the transverse clamping member 1121 includes a first transverse clamping member 11211 and a second transverse clamping member 11212 arranged relatively to each other, the first transverse clamping member 11211 is transmission-connected to the transverse transmission member 1122, and the second transverse clamping member 11212 is fixed on the pallet frame 111; during the movement of the transverse transmission member 1122, it can drive the first transverse clamping member 11211 to move toward or away from the second transverse clamping member 11212, so that the first transverse clamping member 11211 and the second transverse clamping member 11212 cooperate to clamp the parts to be transferred.

[0147] In the disclosed embodiment, the transverse clamping member 1121 can be configured to include a first transverse clamping member 11211 and a second transverse clamping member 11212. Two guide rails extending along a first direction A can be fixedly mounted on the pallet frame 111. Adaptive sliders can be provided on the guide rails. The first transverse clamping member 11211 can be fixedly connected to the sliders on the two guide rails, respectively, to slide the first transverse clamping member 11211 onto the pallet frame 111. The second transverse clamping member 11212 can be fixedly mounted on the pallet frame 111. Both the first transverse clamping member 11211 and the second transverse clamping member 11212 extend along a second direction B.

[0148] For example, the transverse transmission member 1122 can be a screw, and a nut that mates with the threads on the screw can be provided on the first transverse clamping member 11211. The first transverse clamping member 11211 can then be connected to the screw via a threaded connection. In this way, during rotation of the screw, the first transverse clamping member 11211 can be driven toward the second transverse clamping member 11212, or can be driven away from the second transverse clamping member 11212.

[0149] Through the above embodiments, it can be seen that since the transverse clamping member 1121 is set to a structure including a first transverse clamping member 11211 and a second transverse clamping member 11212, and the first transverse clamping member 11211 is connected to the transverse transmission member 1122, the first transverse clamping member 11211 can be driven by the transverse transmission member 1122 to move in a direction close to or away from the second transverse clamping member 11212, so that the distance between the first transverse clamping member 11211 and the second transverse clamping member 11212 can be easily adjusted, so that the distance between the first transverse clamping member 11211 and the second transverse clamping member 11212 matches the length of the component to be transferred in the first direction A.

[0150] In some embodiments, as shown in Figure 2, the first transverse clamping member 11211 includes a third mold-changing plate and at least one third limit block arranged on the third mold-changing plate; the second transverse clamping member 11212 includes a fourth mold-changing plate and at least one fourth limit block arranged on the fourth mold-changing plate; wherein, the third mold-changing plate and the fourth mold-changing plate are both provided with multiple transverse mounting portions 1123 at intervals, and the bottoms of the third limit block and the fourth limit block are both provided with transverse connecting portions, and the transverse mounting portions 1123 and the transverse connecting portions are detachably connected.

[0151] In the disclosed embodiment, the first transverse clamping member 11211 can be configured to include a third mold-changing plate and a third limiting block, and the second transverse clamping member 11212 can be configured to include a fourth mold-changing plate and a fourth limiting block. The third mold-changing plate is slidably connected to the tray frame 111, and the fourth mold-changing plate is fixed to the tray frame 111. A plurality of transverse mounting portions 1123 are provided on each of the third and fourth mold-changing plates, and transverse connecting portions adapted to the transverse mounting portions 1123 are provided on each of the third and fourth limiting blocks, so that the third limiting block can be detachably mounted on the third mold-changing plate, and the fourth limiting block can be detachably mounted on the fourth mold-changing plate.

[0152] For example, the third and fourth profile changing plates can each be configured as an elongated plate-like structure. Multiple mounting holes can be provided on each of the third and fourth profile changing plates. For example, two rows of mounting holes can be arranged parallel to the length of the profile changing plate, with any group of mounting holes in the two rows forming a transverse mounting portion 1123. For example, each transverse mounting portion 1123 can include two mounting holes.

[0153] As another example, the third limit block and the fourth limit block can both be set as a step-shaped block structure. A plurality of connecting columns can be set at the bottom of the step-shaped block structure. For example, adapted to the transverse mounting portion 1123 including two mounting holes, two connecting columns as transverse connecting portions can be set at the bottom of the third limit block and the fourth limit block, and the two connecting columns are matched with the two mounting holes respectively. In addition, as shown in Figure 3, the outer surface of the connecting column can be provided with a latching protrusion, and the inner circumference of the mounting hole is provided with a latching groove. When the connecting column is inserted into the mounting hole, the latching protrusion is engaged with the latching groove. Thus, the two connecting columns can be respectively inserted into the two mounting holes to detachably mount the third limit block and the fourth limit block on the third change plate and the fourth change plate respectively.

[0154] Through the above embodiments, it can be seen that since the third change plate and the third limit block are provided in the first transverse clamping member 11211, the fourth change plate and the fourth limit block are provided in the second transverse clamping member 11212, and a plurality of transverse mounting portions 1123 are respectively provided on the third change plate and the fourth change plate, the third limit block and the fourth limit block can be respectively provided at different positions of the third change plate and the fourth change plate, so that the transverse clamping member 1121 can be matched with parts to be transferred of different sizes; and the transverse mounting portion 1123 and the transverse connecting portion are provided as a detachable connecting structure, which can facilitate the replacement or adjustment of the position of the third limit block and the fourth limit block.

[0155] In some embodiments, referring to Figures 4 and 5 , each of which illustrates a schematic structural diagram of a gripper mechanism 2 in a matching system provided by an embodiment of the present disclosure. The gripper mechanism 2 includes a connecting member 21, a moving assembly 22, and a gripper assembly 23. The gripper mechanism 2 is mounted on the robot arm 5 via the connecting member 21; the moving assembly 22 is mounted on the connecting member 21; and the gripper assembly 23 is mounted on the moving assembly 22. Driven by the moving assembly 22, the gripper assembly 23 can move toward or away from the position to be placed.

[0156] In the embodiment of the present disclosure, in order to facilitate the installation of the gripper mechanism 2 on the robotic arm of the robot 5, a connecting member 21 can be provided, and other components on the gripper mechanism 2 can be installed on the connecting member 21, and the gripper mechanism 2 can be installed on the robotic arm through the connecting member 21.

[0157] In the embodiment of the present disclosure, a gripper assembly 23 is provided in the gripper mechanism 2, and the gripper assembly 23 can grip the limit block 12 or release the limit block 12. In the process of gripping the limit block 12, the gripper mechanism 2 needs to move the gripper assembly 23 in the direction close to the limit block 12; after releasing the limit block 12, the gripper assembly 23 needs to move in the direction away from the limit block 12. Therefore, a moving assembly 22 can be provided, and the moving assembly 22 is installed on the connecting member 21, and the moving assembly 22 can generate movement; the gripper assembly 23 is installed on the moving assembly 22, and the gripper assembly 23 can be driven by the moving assembly 22 to move in the direction close to or away from the limit block 12, or to move close to or away from the position to be placed where the limit block 12 is placed.

[0158] Through the above embodiments, it can be seen that since a connecting member 21 is provided in the gripping mechanism 2, the gripping mechanism 2 can be installed on the robotic arm through the connecting member 21; and a moving component 22 is provided on the connecting member 21, and the gripping component 23 is provided on the moving component 22, and the gripping component 23 can be driven by the moving component 22 to move to the desired position, so that the gripping component 23 is close to the limit block 12 or away from the limit block 12, or the gripping component 23 is close to or away from the position to be placed.

[0159] In some embodiments, as shown in Figures 4 and 5, the moving assembly 22 includes a vertical driving member 221 and a vertical sliding assembly 222; the vertical sliding assembly 222 is arranged on the connecting member 21, and the gripping assembly 23 is arranged on the vertical sliding assembly 222; one end of the vertical driving member 221 is connected to the connecting member 21, and the other end is connected to the gripping assembly 23; under the drive of the vertical driving member 221, the gripping assembly 23 can generate movement along the extension direction of the vertical sliding assembly 222.

[0160] In the embodiment of the present disclosure, a vertical sliding assembly 222 and a vertical driving member 221 may be provided. The vertical sliding assembly 222 is used to limit the movement trajectory of the gripping assembly 23 , and the vertical driving member 221 is used to drive the gripping assembly 23 to move.

[0161] For example, the vertical sliding assembly 222 can be configured as a structure including a vertical guide rail 2221 and a vertical slider 2222. For example, the vertical guide rail 2221 is fixedly mounted on the connector 21, and the vertical slider 2222 adapted to the vertical guide rail 2221 is slidably connected to the vertical guide rail 2221. A movable plate 24 can be provided on the vertical slider 2222, and the gripper assembly 23 can be mounted on the movable plate 24 to position the gripper assembly 23 on the vertical sliding assembly 222.

[0162] In another example, the vertical drive member 221 can be configured as a structure including a servo motor, a screw, and a nut. The servo motor is fixed to the connecting member 21, the screw is connected to the output shaft of the servo motor, and the nut is installed on the movable plate 24 and threadedly connected to the screw. In this way, the vertical drive member 221 can be connected to the gripper assembly 23.

[0163] Through the above embodiments, it can be seen that since a vertical sliding component 222 is provided and the gripping component 23 is connected to the vertical sliding component 222, the gripping component 23 can be moved along the extension direction of the vertical sliding component 222; and a vertical driving member 221 is provided, and the vertical driving member 221 is connected to the gripping component 23, the gripping component 23 can be driven by the vertical driving member 221 to move along the extension direction of the vertical sliding component 222, so that the gripping component 23 can move to the desired position.

[0164] In some embodiments, as shown in Figures 4 and 5, the gripper assembly 23 includes a gripper drive 231 and at least two grippers 232; one of the at least two grippers 232 is slidably disposed on the moving assembly 22, and one end of the gripper drive 231 is connected to the moving assembly 22, and the other end is connected to a gripper 232 slidably disposed on the moving assembly 22; under the drive of the gripper drive 231, at least two grippers 232 can approach each other to grip the limit block 12, or at least two grippers 232 can separate from each other to release the limit block 12.

[0165] In the embodiment of the present disclosure, if the gripper assembly 23 needs to grip or release the limit block 12 , a part that can generate movement needs to be provided so as to grip the limit block 12 or release the limit block 12 through the movable part.

[0166] For example, two gripping members 232 may be provided, and the gripping members 232 may be provided as gripping plates, with one gripping member 232 fixed to the movable plate 24, and the other gripping member 232 slidably provided on the movable plate 24, so that the two gripping members 232 are provided on the movable assembly 22. For example, a gripping guide rail 233 may be provided on the movable plate 24, an adapted gripping slider 234 may be provided on the gripping guide rail 233, and the other gripping member 232 may be fixed to the gripping slider 234.

[0167] In another example, the gripper driver 231 can be a driving cylinder, with the cylinder of the driving cylinder connected to the movable plate 24, and the piston rod of the driving cylinder connected to the gripper slider 234, so as to connect the gripper driver 231 to the slidable gripper 232. In this way, driven by the driving cylinder, the gripper 232, which can slide relative to the movable assembly 22, can move toward or away from the gripper 232 fixed to the movable assembly 22, thereby grasping or releasing the limit block 12.

[0168] Through the above embodiments, it can be seen that since at least two gripping members 232 are provided, and one gripping member 232 is slidably provided on the moving component 22, the gripping driving member 231 is connected to the slidable gripping member 232, and the gripping driving member 231 can drive the slidable gripping member 232 to move, so that the two gripping members 232 are close to or away from each other, thereby grabbing the limit block 12 or releasing the limit block 12.

[0169] In some embodiments, as shown in Figures 4 and 5, a visual detection system 25 can also be set in the gripper mechanism 2; the visual detection system 25 can be electrically connected to the controller, and the visual detection system 25 is used to take pictures of the position to be grasped and the position to be placed, and to compensate for the offset of the position to be grasped and the position to be placed.

[0170] In the embodiment of the present disclosure, when the position of the limit block 12 on the pallet 11 is replaced or adjusted by the gripper assembly 23 in the gripper mechanism 2, it is necessary to determine whether the position of the gripper assembly 23 is accurate. Therefore, a visual inspection system 25 can be provided in the gripper mechanism 2 to determine the exact target position to which the gripper assembly 23 is to move. The visual inspection system 25 can be connected to a controller via a wired or wireless connection. The controller can be a lower computer in a production line, such as a programmable logic controller (PLC), a computer device that can be used to control the movement of various components.

[0171] Exemplarily, the visual inspection system 25 can be configured to include a structure including a charge coupled device (CCD) camera. The CCD camera can be used to take a picture of the position to be grasped where the limit block 12 is located. The image of the position to be grasped is used to calculate and determine the first offset of the position to be grasped, so that the offset compensation of the position to be grasped can be performed based on the first offset. That is, the target position of the position to be grasped can be determined based on the first offset and the position to be grasped, and then the robot 5 can be controlled to move to drive the gripper assembly 23 in the gripper mechanism 2 to move to the target position of the position to be grasped. Alternatively, the CCD camera can be used to take a picture of the position to be placed where the limit block 12 is located. The image of the position to be placed is used to calculate and determine the second offset of the position where the limit block 12 is to be placed, so that the offset compensation of the position to be placed can be performed based on the second offset. That is, the target position of the position to be placed can be determined based on the second offset and the position to be placed, and then the robot 5 can be controlled to move to drive the gripper assembly 23 in the gripper mechanism 2 to move to the target position of the position to be placed.

[0172] Through the above embodiments, it can be seen that since a visual detection system 25 is provided on the gripping mechanism 2, the positions of the positions to be gripped and the positions to be placed can be visually guided and corrected by the visual detection system 25, and the information of the target position to be reached by the gripping assembly 23 in the gripping mechanism 2 can be accurately determined according to the corresponding offset data, so that the gripping assembly 23 can be controlled to move toward the target position according to the determined target position, and the gripping assembly 23 can be moved to the accurate gripping position or placement position, so as to improve the efficiency of replacing or adjusting the position of the limit block 12 on the pallet 11.

[0173] In some embodiments, referring to Figures 6 and 7, which are schematic diagrams of the structure of a storage mechanism in a matching system provided by embodiments of the present disclosure, the storage mechanism 3 includes a support assembly 31 and a carrier assembly 32. The carrier assembly 32 is slidably mounted on the support assembly 31. The carrier assembly 32 has a storage portion 321 adapted to fit the limit block 12. The support assembly 31 is used to support the carrier assembly 32.

[0174] In the disclosed embodiment, the storage mechanism 3 is used to store the limit blocks 12 to be used. A support assembly 31 can be provided to support the overall structure of the storage mechanism 3, and the storage mechanism 3 can be set at a position corresponding to the robot 5 through the support assembly 31. Since there are a large number of limit blocks 12 and the shapes of the limit blocks 12 may also be different, a carrying assembly 32 can be provided in the storage mechanism 3 to place the limit blocks 12 through the carrying assembly 32. The carrying assembly 32 can be slidably set on the support assembly 31. In this way, when it is necessary to take the limit blocks 12 on a group of carrying assemblies 32, this group of carrying assemblies 32 can be slid to a preset position to facilitate the gripper assembly 23 to grab the limit blocks 12.

[0175] In the disclosed embodiment, a storage portion 321 adapted to the stopper 12 can be provided on the carrier assembly 32, and the stopper 12 can be placed in the corresponding storage portion 321. For example, the storage portion 321 can be configured to be adapted to the connection portion on the stopper 12. For example, if the connection portion on the stopper 12 includes two connecting posts, the storage portion 321 can be configured to include two storage holes adapted to the two connecting posts. In this way, each stopper 12 can be placed in a specific position within the storage mechanism 3.

[0176] Through the above embodiments, it can be seen that since the bearing component 32 is slidably set on the supporting component 31, the bearing component 32 to be used can be slid to a preset position as needed, so that the gripping mechanism 2 can grab or place the limit block 12; and a storage portion 321 is provided on the bearing component 32, and each limit block 12 can be placed in the corresponding storage portion 321. The limit block 12 can be limited by the storage portion 321, so that the limit block 12 is stored in a certain position, which can also facilitate the gripping mechanism 2 to grab or place the limit block 12.

[0177] In some embodiments, as shown in FIG6 and FIG7, the support assembly 31 includes two brackets arranged opposite to each other, and the bearing assembly 32 includes a plurality of bearing plates, each of which is provided with a storage portion 321, and each bearing plate is slidably arranged between the two brackets.

[0178] In the disclosed embodiment, the support assembly 31 can be configured to include a first bracket 311 and a second bracket 312. The first bracket 311 and the second bracket 312 are arranged relative to each other, and the bearing assembly 32 can be supported between the first bracket 311 and the second bracket 312. The bearing assembly 32 can be configured to include a structure comprising multiple bearing plates. For example, two bearing plates can be provided, and the first bearing plate 322 and the second bearing plate 323 can be arranged parallel to each other between the two brackets, with each bearing plate slidably mounted on the two brackets. For example, slide rails can be used to slide the two bearing plates on the brackets.

[0179] Through the above embodiments, it can be seen that setting the support component 31 to a structure including two brackets can provide stable support for the bearing component 32; at the same time, sliding multiple bearing plates between the two brackets can make different bearing plates in different positions, so as to facilitate the removal and placement of the limit block 12 on the bearing plate.

[0180] In another embodiment of the present disclosure, referring to FIG8 , which shows a flow chart of a matching control method provided by an embodiment of the present disclosure. As shown in FIG8 , the method may include:

[0181] S801: When the vehicle to be tested arrives at a preset position, the current blueprint information of the vehicle to be tested is obtained.

[0182] It should be noted that in the disclosed embodiments, the method is applied to a controller. The controller can be a PLC in a production line. Using the PLC to match the trolley to be tested with the component to be transported can reduce labor and production costs, resulting in higher production efficiency.

[0183] It should also be noted that in the disclosed embodiment, a pallet is placed on the upper surface of the test vehicle, and the pallet is used to carry the parts to be transferred. The test vehicle serves as a transfer device, which can transfer the parts of the previous process to the next process for processing, assembly, etc.

[0184] It should also be noted that in the disclosed embodiment, the pallet is provided with at least one stopper to limit the position of the component to be transported on the pallet. Here, the component to be transported can be a battery pack, a battery pack box (specifically, the lower box), or other components, so the test cart can also be referred to as a "pack cart."

[0185] It should also be noted that in the disclosed embodiment, the vehicle under test can be towed by an AGV. The AGV sends a request to the controller to enter the station. After the controller allows entry, it sends a permission to enter command to the AGV. Based on this permission to enter command, the AGV pulls the vehicle under test into the changeover station.

[0186] It's also worth noting that within the changeover station, the AGV travels along a predetermined route, with sensor pads positioned at pre-set locations. As the AGV pulls the vehicle under test to the pre-set location, the sensor device on the vehicle receives a signal from the sensor pads, signaling that the AGV has arrived, meaning the vehicle has reached the pre-set location.

[0187] In some embodiments, the vehicle to be tested is further provided with an electronic tag. Obtaining the current blueprint information of the vehicle to be tested may include: after the vehicle to be tested arrives at a preset position, reading the blueprint information in the electronic tag through a reader / writer to obtain the current blueprint information of the vehicle to be tested.

[0188] Here, the electronic tag can be a radio frequency identification chip (RFID), which is placed on the bottom surface of the tray. In this way, when the vehicle to be tested arrives at the preset position, the controller can identify the electronic tag to read the current blueprint information of the vehicle to be tested.

[0189] S802: Determine target blueprint information of the vehicle to be tested, wherein the target blueprint information is associated with specification parameters of the component to be transferred.

[0190] It should be noted that, in the embodiment of the present disclosure, the target blueprint information may be sent to the controller by a Manufacturing Execution System (MES), wherein the MES system is deployed in a host computer or a server.

[0191] Here, the MES system is used to obtain output information from multiple production facilities. This information includes the production time of multiple products produced by these facilities and identification marks indicating whether these products are qualified. The MES system includes production process monitoring, focusing on the material flow and quality indicators within production processes and processes. Based on real-time production process data and leveraging the MES system's configuration technology, it enables real-time monitoring of production progress, process quality, and material consumption in production areas such as the production workshop, power and energy workshop, auxiliary material warehouse, and finished product warehouse. The production process monitoring system can generate pre-configured alarms when anomalies are detected. This helps the company's production command and dispatch department coordinate production, optimize scheduling, and improve production responsiveness. Furthermore, based on production process monitoring, the MES system organizes and coordinates production based on the specific production processes of various industries, tracks production process data, and assesses various production indicators. Through data analysis, it optimizes production processes, enables planning and tracking, and analyzes and manages production data. Managers can gain real-time insights into the inputs and outputs of the entire factory, optimize production decisions, and minimize production time, errors, and the costs associated with manual and repetitive data entry. The main functions include subsystems such as production planning management, production organization, workshop assessment and personnel management, and production data analysis.

[0192] It should also be noted that, in the disclosed embodiments, determining the target blueprint information for the vehicle to be tested may include: receiving first blueprint information from the manufacturing execution system; and then using the first blueprint information as the target blueprint information for the vehicle to be tested. Alternatively, in the disclosed embodiments, determining the target blueprint information for the vehicle to be tested may include: determining second blueprint information for the vehicle to be tested based on the specifications of the components to be transferred; and then using the second blueprint information as the target blueprint information for the vehicle to be tested.

[0193] That is to say, in order to adapt to the specification parameters of the parts to be transported, the target blueprint information can be determined by manually selecting the target blueprint information based on the specification parameters, or the target blueprint information can be automatically issued by the MES system. There is no limitation here.

[0194] Furthermore, in some embodiments, the method further includes: matching the first blueprint information with the second blueprint information; when the first blueprint information is consistent with the second blueprint information, determining that the manufacturing execution system has successfully issued the first blueprint information.

[0195] In the embodiment of the present disclosure, the first blueprint information and the second blueprint information can also be matched for consistency to determine whether the MES system has successfully issued the target blueprint information. This can also play a fool-proof role and prevent the MES system from issuing erroneous blueprint information.

[0196] It is understood that in the disclosed embodiments, blueprint information can also be referred to as a recipe. During the matching process of the components to be transferred, corresponding recipes can be automatically selected based on the different specifications of the components to be transferred, thereby matching the test vehicle with the components to be transferred. Regarding the target blueprint information, the method further includes pre-constructing the target blueprint information based on the specifications of the components to be transferred.

[0197] In some embodiments, when pre-constructing the target blueprint information based on the specification parameters of the component to be transferred, it can include: determining at least one convertible plate for supporting the component to be transferred and a limit block located on at least one convertible plate based on the specification parameters of the component to be transferred; determining the hole position serial number of each limit block on at least one convertible plate based on the limit blocks on at least one convertible plate, and writing the hole position serial number into the corresponding limit block position of each at least one convertible plate in the target blueprint information.

[0198] In the embodiment of the present disclosure, the target blueprint information includes at least one of the following parameters: blueprint number, blueprint name, template number, stop block position, and axial positioning position. The axial positioning position may include an X-axis positioning position and a Y-axis positioning position.

[0199] It should also be noted that the target blueprint information is used as a recipe, and the embodiments of the present disclosure can define the recipe accordingly. For example, FIG9 provides a schematic recipe. In FIG9, the corresponding blueprint name, trolley number, PACK name, change plate number, 1# limit block position, 2# limit block position, X-axis positioning position, and Y-axis positioning position can be written and displayed.

[0200] It should be noted that in the target blueprint information, the stopper position represents the hole number of the stopper on the corresponding change plate. Taking Figure 9 as an example, each change plate can include at most two stopper positions, such as stopper position 1# and stopper position 2#. However, each change plate can also include more than two stopper positions. This is determined based on actual circumstances and is not limited here.

[0201] It should also be noted that in Figure 9, the trolley number is 1, the blueprint name can be CMA, the PACK name is CMA, and when the change plate number is 3, two limit blocks are placed on the change plate. The positions of these two limit blocks refer to hole number 2 and hole number 12 respectively. The recipe can be switched by clicking the "Previous" or "Next" button. In this way, the limit block positions required by the corresponding blueprint information can be written into the recipe shown in Figure 9 according to the different blueprint information and the differences in the parts to be transferred, so as to obtain the recipe corresponding to the parts to be transferred with the specified parameters.

[0202] For example, assume that a pallet is equipped with ten mold change plates. Referring to Figure 10 , these ten mold change plates are distributed around the pallet. These ten mold change plates are: mold change plate 1 901, mold change plate 2 902, mold change plate 3 903, mold change plate 4 904, mold change plate 5 905, mold change plate 6 906, mold change plate 7 907, mold change plate 8 908, mold change plate 909, and mold change plate 10 910. Their specific positions are shown in Figure 10 . Furthermore, the No. 1 hole position (indicated by "1#") of each mold change plate is also identified in Figure 10 to facilitate determining the order of the positional limits for each mold change plate.

[0203] It should also be noted that in Figure 9, the X-axis positioning position is 251.463 and the Y-axis positioning position is 317.664. Based on Figure 10, the X-axis positioning position represents the distance between the No. 1 mold changing plate 901, the No. 2 mold changing plate 902, or the No. 3 mold changing plate 903 and the No. 9 mold changing plate 909, which can be specifically the distance changed by the electric bit rotating the horizontal transmission member; the Y-axis positioning position represents the distance between the No. 4 mold changing plate 904 or the No. 5 mold changing plate 905 and the No. 6 mold changing plate 906 or the No. 7 mold changing plate 907, which can be specifically the distance changed by the electric bit rotating the longitudinal transmission member.

[0204] In this way, according to the specification parameters of the component to be transferred, after determining the change plate used to support the component, the hole position serial numbers on the change plate are found according to the limit blocks on these change plates, and the hole position serial numbers are written into the respective limit block positions in the formula to obtain the corresponding formula under this specification parameter (that is, the target blueprint information).

[0205] Furthermore, in some embodiments, the method further includes: if the hole position sequence number of a change plate in the target blueprint information is zero, determining that no limit block is placed at the position indicated by the hole position sequence number in the change plate;

[0206] If the hole position sequence number of a change plate in the target blueprint information is non-zero, it is determined to place a limit block at the position indicated by the hole position sequence number in the change plate.

[0207] For example, taking Figure 9 as an example, for the No. 5 mold changing plate 905, the hole position number at the 1# limit block position is 5, and the hole position number at the 2# limit block position is 0. This means that only one limit block is placed on the No. 5 mold changing plate 905, specifically, a limit block is placed at the 5# hole position of the No. 5 mold changing plate 905.

[0208] For example, still taking Figure 9 as an example, for the No. 3 mold changing plate 903, the hole position number at the 1# limit block position is 2, and the hole position number at the 2# limit block position is 12. This means that there are two limit blocks placed on the No. 3 mold changing plate 903, specifically, limit blocks are placed at the 2# hole position and the 12# hole position of the No. 3 mold changing plate 903 respectively.

[0209] That is, in the target blueprint information, for a certain change plate, if the hole position number at a certain limit block position is 0, it means that no limit block is placed at the corresponding position of the change plate.

[0210] In this way, after the controller obtains the current blueprint information and the target blueprint information, it can match the current blueprint information with the target blueprint information to determine whether the position of at least one limit block on the pallet is adjusted.

[0211] S803: When the current blueprint information is inconsistent with the target blueprint information, control at least one limit block on the pallet to adjust the position so that the pallet matches the component to be transferred.

[0212] It should be noted that, in the embodiment disclosed herein, the current blueprint information of the trolley to be tested is read through RFID and the target blueprint information issued by the MES system for consistency matching; if the two are consistent, it can be determined that the pallet matches the component to be transferred, and the trolley to be tested is directly released at this time; if the two are inconsistent, it can be determined that the pallet does not match the component to be transferred, and the position of the limit block on the pallet needs to be adjusted so that the pallet matches the component to be transferred so that the component to be transferred can be placed.

[0213] It should also be noted that, in the disclosed embodiment, the position adjustment of the limit blocks on the pallet can also be called automatic type change of the trolley to be tested, or automatic switching of the recipe, so that the parts to be transferred can be placed on the pallet.

[0214] It will be appreciated that in the disclosed embodiment, the pallet is positioned on the upper surface of the test vehicle. During the transport of the test vehicle, the at least one stopper serves to both limit and support the components to be transported. In other words, the at least one stopper not only limits the position of the components to be transported on the pallet but also provides support for the components to be transported on the pallet.

[0215] It should also be noted that in the disclosed embodiments, the recipe can be used to memorize the position of the stopper. Thus, the automatic recipe switching here specifically refers to automatically changing the position of the stopper according to the target blueprint information corresponding to the recipe so that the pallet can place the parts to be transferred.

[0216] It can also be understood that in the embodiment of the present disclosure, in order to reduce the difficulty of debugging, before controlling the position adjustment of at least one limit block on the tray, the controller needs to first control the driving member to perform a first driving action to drive the transmission member to move to the initial position.

[0217] In some embodiments, the driving member may include a first driving member disposed in a lifting sleeve assembly on the lifting mechanism, and the transmission member may include a transverse transmission member disposed in the tray. Accordingly, the method further includes: controlling the lifting sleeve assembly on the lifting mechanism to perform a capping action so that the first driving member is connected to the transverse transmission member via a first connecting member in the lifting sleeve assembly, and controlling the first driving member to drive the first connecting member to rotate so that the first connecting member drives the transverse transmission member to move to an initial position of the transverse transmission member.

[0218] In the disclosed embodiment, the first driving member may be a first servo motor, and the first connecting member may be a first batch head (or a first sleeve). In other words, the lifting sleeve assembly may include a first servo motor and a first batch head connected to a rotating shaft of the first servo motor. Furthermore, the transverse transmission member may be a first screw, and the transverse transmission member extends along a first direction.

[0219] In this way, the controller can control the sleeve cylinder on the lifting mechanism to extend and perform the cap recognition function, so that the first batch of heads aligns with the first screw. Specifically, the lifting sleeve assembly can be moved along the axial direction of the rotating shaft toward the first screw, so that the first batch of heads and the first screw are connected. The controller then controls the first servo motor to drive the first batch of heads to rotate, thereby driving the first screw to its initial position.

[0220] In some embodiments, the driving member may further include a second driving member disposed in a gripper sleeve assembly on the gripper mechanism, and the transmission member may further include a longitudinal transmission member disposed in the tray. Accordingly, the method further includes: starting the robot and controlling the robot to move from the first position to the second position; controlling the gripper sleeve assembly on the gripper mechanism to perform a cap recognition action so that the second driving member is connected to the longitudinal transmission member via the second connecting member in the gripper sleeve assembly; and controlling the second driving member to drive the second connecting member to rotate so that the second connecting member drives the longitudinal transmission member to move to the initial position of the longitudinal transmission member.

[0221] In the disclosed embodiment, the second driving member may be a second servo motor, and the second connecting member may be a second bit (or second sleeve). In other words, the gripper sleeve assembly may include a second servo motor and a second bit connected to the rotational shaft of the second servo motor. Furthermore, the longitudinal transmission member may be a second screw, and the longitudinal transmission member extends along the second direction.

[0222] Here, the first direction and the second direction have an angle therebetween. For example, the first direction is a horizontal axis direction, and the second direction is a vertical axis direction. In this case, the angle between the first direction and the second direction is 90 degrees.

[0223] In the disclosed embodiment, the first position of the robot is the robot's origin, and the second position of the robot is the rotational working position of the longitudinal transmission member. In other words, if the controller allows the second drive member to operate, the robot must first be started and then moved to the rotational working position of the second screw.

[0224] In this way, the controller can control the sleeve on the gripper mechanism to perform a cap recognition function, aligning the second bit with the second screw. Specifically, the gripper sleeve assembly as a whole can move along the axial direction of the rotating shaft toward the second screw, so that the second bit is sleeved on the second screw. The controller then controls the second servo motor to drive the second bit to rotate, thereby driving the second screw to its initial position.

[0225] In some embodiments, after the driving member drives the first screw rod and the second screw rod to move to the initial positions respectively, when controlling the position adjustment of at least one limit block on the pallet, it can include: the controller sends a control instruction to the robot; wherein the control instruction is used to control the gripper mechanism provided on the robot to grasp and release the at least one limit block on the pallet, so that the position of the adjusted at least one limit block conforms to the corresponding limit block position in the target blueprint information.

[0226] In one possible implementation, if the limit block on the pallet is moved from the hole position number of a certain change plate to the hole position number of another change plate, or from one hole position number of a certain change plate to another hole position number, in some embodiments, the method may include: the controller sends a first control instruction to the robot, the first control instruction is used to control the gripper mechanism to grab the limit block on the pallet from the to-be-grabbed position, and control the gripper mechanism to place the limit block to the to-be-placed position in the pallet, and the position of the limit block conforms to the corresponding limit block position in the target blueprint information.

[0227] In another possible implementation, the limit blocks include at least a first-size limit block and a second-size limit block. If the size of the limit blocks already in the pallet does not meet the requirements, in some embodiments, the method may include: if the limit block on the pallet is a first-size limit block, and the corresponding limit block in the target blueprint information is a second-size limit block, the controller sends a second control instruction to the robot, the second control instruction is used to control the gripper mechanism to grab the first-size limit block on the pallet from the to-be-grabbed position and place it in the preset storage position, and control the gripper mechanism to grab the second-size limit block from the preset storage position and place the second-size limit block in the to-be-placed position in the pallet, and the position of the second-size limit block meets the corresponding limit block position in the target blueprint information.

[0228] In the embodiment of the present disclosure, if the size of the limit block in the current blueprint information is different from the size of the limit block in the target blueprint information, for example, the height is different, then the original limit block in the pallet needs to be placed in the preset storage location; then the limit block required in the target blueprint information is grabbed from the preset storage location, and placed in the corresponding placement position of the change plate according to the limit block position requirement in the target blueprint information, so that the position of the limit block conforms to the corresponding limit block position in the target blueprint information.

[0229] For example, the preset storage location is the storage mechanism shown in Figure 6 or Figure 7, which is used to store the limit blocks. According to the different specifications of the parts to be transported, a variety of limit blocks can be stored here, which can adapt to the needs of different parts to be transported.

[0230] In another possible implementation, when the controller sends a control instruction to the robot, the method may further include: the controller sends a photo-taking instruction to the robot, the photo-taking instruction is used to control the visual inspection system provided on the robot to take photos of the position to be grasped and the position to be placed, and is used to perform offset compensation on the positions of the position to be grasped and the position to be placed.

[0231] In the disclosed embodiment, the visual inspection system is specifically provided on the gripper mechanism of the robot. The visual inspection system is a structure including a CCD camera, so the visual inspection system can be referred to as a "CCD camera" or a "gripper camera."

[0232] That is to say, the controller can first send a photo command to the robot, and the photo command is used to control the visual inspection system set on the robot to take photos of the position to be grasped and the position to be placed, and is used to compensate for the offset of the position to be grasped and the position to be placed; then the controller sends a grasp and release command to the robot, and the grasp and release command is used to control the gripper mechanism to grasp the limit block on the pallet from the position to be grasped, and control the gripper mechanism to place the limit block to the position to be placed in the pallet, so that the position of the limit block conforms to the corresponding limit block position in the target blueprint information.

[0233] In a specific embodiment, for the gripper mechanism to grasp the limit block from the position to be grasped, it can specifically include: controlling the visual detection system on the robot to move to the photographing position of the position to be grasped, and the controller sending a first photographing instruction to the robot; wherein the first photographing instruction is used to instruct the visual detection system to take a photograph of the position to be grasped; after the visual detection system completes the photographing of the position to be grasped, controlling the visual detection system to calculate based on the first image taken to determine the first offset of the position to be grasped; then compensating the initial position of the position to be grasped based on the first offset to determine the target position of the position to be grasped; then the controller sends a first grasping instruction to the robot, controlling the gripper mechanism to move to the position to be grasped and after moving to the target position of the position to be grasped, controlling the gripper mechanism to grasp the limit block on the position to be grasped based on the first grasping instruction. For example, the top view structure corresponding to the position to be grasped is shown in Figure 11. At this time, the first offset can include: an offset of -0.457 in the X-axis direction, an offset of -0.483 in the Y-axis direction, and an offset of 0.406 in the angle.

[0234] In another specific embodiment, for the gripper mechanism to place a limit block at the position to be placed, it can specifically include: controlling the visual detection system on the robot to move to the photographing position of the position to be placed, and the controller sending a second photographing instruction to the robot; wherein the second photographing instruction is used to instruct the visual detection system to take a photograph of the position to be placed; after the visual detection system completes the photographing of the position to be placed, controlling the visual detection system to calculate based on the second image taken to determine the second offset of the position to be placed; then compensating the initial position of the position to be placed based on the second offset to determine the target position of the position to be placed; then the controller sends a first placement instruction to the robot, controls the gripper mechanism to move to the position to be placed, and after moving to the target position of the position to be placed, controls the gripper mechanism to place a limit block at the position to be placed based on the first placement instruction. For example, the top view structure corresponding to the position to be placed is shown in Figure 12. At this time, the second offset can include: an offset of -0.623 in the X-axis direction, an offset of 0.253 in the Y-axis direction, and an offset of -0.033 in the angle direction.

[0235] In this way, since the robot is provided with a gripper mechanism and a visual detection system, the controller can control the visual detection system to perform visual guidance correction on the gripping position or placement position, and the target position to be reached by the gripper component in the gripper mechanism can be accurately determined according to the corresponding offset data. Therefore, according to the determined target position, the controller can control the gripper component to move to the target position, and then the gripper component can be moved to the accurate gripping position or placement position to grab and release the limit block, so as to realize the position adjustment of at least one limit block.

[0236] In some embodiments, FIG13 is a flow chart of another matching control method provided by an embodiment of the present disclosure. As shown in FIG13 , after S802 , step S803 may specifically include:

[0237] S1301: When the current blueprint information is inconsistent with the target blueprint information, control at least one limit block on the tray to adjust the position.

[0238] S1302: When the position of at least one of the adjusted limit blocks matches the position of the limit block in the target blueprint information, it is determined that the pallet matches the component to be transferred so that the component to be transferred can be placed.

[0239] It should be noted that in the embodiment of the present disclosure, when the RFID reads that the current blueprint information of the vehicle to be tested is inconsistent with the target blueprint information issued by the MES system, the controller can control at least one limit block on the pallet to adjust the position until the position of the at least one limit block after adjustment is consistent with the limit block position in the target blueprint information.

[0240] It should also be noted that in the disclosed embodiment, if the position of at least one of the adjusted limit blocks matches the limit block position in the target blueprint information, then the pallet is determined to be successfully matched with the component to be transferred; or this can also be referred to as the successful change of the test trolley. In other words, after the test trolley enters the changeover station, if the current blueprint information read by the RFID is inconsistent with the target blueprint information, then it is necessary to control the position of at least one limit block on the pallet to adjust the position, i.e., the test trolley undergoes a cut-pull changeover. In other words, the pull line is matched at this station when performing the cut-pull changeover so that the pallet on the test trolley can accommodate the component to be transferred.

[0241] In some embodiments, after the position adjustment of at least one limit block on the control tray is completed, that is, the position of the at least one limit block after adjustment is consistent with the limit block position in the target blueprint information, the controller also needs to control the driving member to perform a second driving action to drive the transmission member to move to the corresponding axial positioning position in the target blueprint information.

[0242] The second driving action may be a reverse action of the first driving action. For example, if the first driving action instructs the driving member to drive the transmission member to move along a first axial direction, then the second driving action instructs the driving member to drive the transmission member to move in a reverse direction of the first axial direction.

[0243] In an embodiment of the present disclosure, after the position adjustment of at least one limit block on the control tray is completed, the driving member is controlled to perform a second driving action to drive the transmission member to return to the axial positioning position of the target blueprint information. Specifically, it may include: controlling the second driving member to rotate to drive the longitudinal transmission member to reach the positioning position in the second direction of the target blueprint information, and controlling the gripper sleeve assembly on the gripper mechanism to perform a separation action, and controlling the robot to return to the first position; and controlling the first driving member to rotate to drive the transverse transmission member to reach the positioning position in the first direction of the target blueprint information, and controlling the lifting sleeve assembly on the lifting mechanism to perform a separation action.

[0244] In the embodiment of the present disclosure, the axial positioning position includes a first direction positioning position and a second direction positioning position. For example, the first direction positioning position may be an X-axis positioning position, and the second direction positioning position may be a Y-axis positioning position.

[0245] In this way, after the positions of all the limit blocks are adjusted, the robot's gripper sleeve assembly first performs the cap recognition action, and then the second drive member (i.e., the second servo motor) performs absolute position positioning to move the second screw rod to the Y-axis positioning position of the target blueprint information, and then controls the gripper sleeve assembly to perform the separation action to separate the second screw rod from the corresponding bit; and after the second screw rod moves into place, it is also necessary to control the robot to return to the first position (i.e., the robot's origin). Immediately afterwards, the first drive member (i.e., the first servo motor) performs absolute position positioning to move the first screw rod to the X-axis positioning position of the target blueprint information, and then controls the lifting sleeve assembly to perform the separation action to separate the first screw rod from the corresponding bit.

[0246] In the disclosed embodiment, if it is determined that the pallet matches the part to be transferred, then the vehicle to be tested needs to be released. However, before releasing the vehicle to be tested, it is also necessary to confirm that the electronic tag has been updated with the target blueprint information. In some embodiments, the method may also include:

[0247] Write the target blueprint information to the electronic tag on the vehicle to be tested through the reader;

[0248] Read the newly written blueprint information of the electronic tag through the reader;

[0249] If the newly written blueprint information is consistent with the target blueprint information, the vehicle to be tested is allowed to be released.

[0250] That is to say, after confirming that the pallet matches the part to be transferred, the target blueprint information can also be written into the electronic tag on the trolley to be tested, and then the newly written blueprint information can be re-identified through RFID, and the newly written blueprint information can be verified with the target blueprint information issued by the MES system. If the two are consistent, it is confirmed that the electronic tag has been written successfully, and the trolley to be tested is allowed to be released.

[0251] In addition, when controlling the position adjustment of at least one limit block on the pallet, the embodiment of the present disclosure can also display the grabbing and releasing information of the limit block through the human-machine interface (HMI) so that the user can intuitively understand the current working status of the limit block.

[0252] In some embodiments, the method may further include: in response to the first operation instruction, displaying the current grab and release information on the human-computer interaction interface; wherein the current grab and release information includes at least: the number of grabs and releases, the grab count, the release count, the position of the limit block to be grabbed, and the position of the limit block to be placed.

[0253] It should be noted that in the embodiment of the present disclosure, the first operation instruction may be an operation instruction generated by a user clicking an HMI button on the human-machine interface. Based on the first operation instruction, the controller may display a screen as shown in Table 1 on the human-machine interface. The screen may display current pick-up and release information.

[0254] Table 1

[0255] Here, the limit block working status indicates the number of pick-up and release operations, indicating the number of times the limit block has been picked up and released. The pick count indicates the total number of times the limit block has been picked up, indicating the number of limit blocks that have been picked up. The release count indicates the total number of times the limit block has been placed, indicating the number of limit blocks that have been placed. In addition, the plate number and position hole number indicate the position of the limit block.

[0256] For example, as shown in Table 1, when the limit block is grabbed and released for the third time, the grab count is 2 and the release count is 2. This time, the limit block is grabbed from hole No. 1 of the No. 7 change plate and placed in hole No. 5 of the No. 7 change plate.

[0257] In this way, by displaying the current pick-and-release information through the human-computer interaction interface, the user can intuitively see the current grabbing position and placement position of the limit block, so that the user can timely understand the current working status of the limit block and the pick-and-release action.

[0258] In some embodiments, the method further includes: based on the current pick-and-place information, controlling the limit block on the tray to be adjusted from the position of the limit block to be picked up to the position of the limit block to be placed.

[0259] It should be noted that in the disclosed embodiment, based on Table 1, the robot's gripper mechanism can grasp the limit block at hole position 1 of the No. 7 change plate and then place it at hole position 5 of the No. 7 change plate. In this way, when the limit block on the pallet is grasped and placed from the grasping position to the corresponding placement position, the human-computer interaction interface allows the user to intuitively understand the current working status of the limit block, thereby improving the efficiency of grasping and placing the limit block.

[0260] In some embodiments, the method further includes: after the position adjustment based on the current pick-and-place information is completed, updating the current pick-and-place information on the human-computer interaction interface.

[0261] It should be noted that in the embodiment of the present disclosure, when the current grab and release information is updated in the human-computer interaction interface, it can specifically include: controlling the number of grab and release times, the grab count and the release count to perform the plus 1 operation respectively, and updating the position of the limit block to be grabbed to the new limit block position to be grabbed, and updating the position of the limit block to be placed to the new limit block position to be placed.

[0262] For example, after the limit block is grabbed and placed based on the limit block shown in Table 1, if the next time the limit block is grabbed from hole No. 2 of the No. 5 change plate and placed in hole No. 4 of the No. 6 change plate, the data in Table 1 will be updated to the data shown in Table 2.

[0263] Table 2

[0264] That is to say, after the robot's gripper mechanism grabs the limit block on the pallet from the grabbing position to the corresponding placement position, the current grabbing and placing information displayed on the human-computer interaction interface is updated in real time, so that the user can intuitively understand the number of grabbing and placing operations, the grabbing count, the placing count, etc., which helps to improve the grabbing and placing efficiency of the limit block.

[0265] It should also be noted that in the embodiments of the present disclosure, the human-computer interaction interface can be displayed using a display that is compatible with the controller, such as the display TP1200 that is compatible with the PLC. Alternatively, the human-computer interaction interface can also use a separate visualization device, which is not limited here.

[0266] If the human-machine interface uses a separate visualization device, such as an HMI, then the HMI needs to be electrically connected to the controller. The HMI can be configured to display information about the pick-and-place status of the stopper. For example, the HMI can display information such as the number of pick-and-place operations, the number of items picked, the number of items released, the position of the stopper to be picked, and the position of the stopper to be placed.

[0267] This embodiment provides a matching control method, specifically a control scheme for matching a trolley to be tested with a component to be transferred. The method can automatically select a corresponding formula, automatically identify the trolley type, and automatically adjust the position of the limit block on the pallet according to the different specifications of the components to be transferred, so that the pallet matches the component to be transferred and the pallet can be used to place the component to be transferred. In this way, on the one hand, the automatic selection of the corresponding target blueprint information according to the different specifications of the components to be transferred can improve data security; on the other hand, in the product matching process, the limit block has been transformed from manual replacement to automatic replacement, and the robot's change logic is simple, without the need to configure multiple sensors, and the degree of automation of the equipment is improved, while reducing labor costs and production costs, thereby improving production efficiency during product matching; on the other hand, by controlling the pitch change of the lead screw in the pallet and performing the grabbing and releasing action on at least one limit block on the pallet, the storage location function is added, so that it can adapt to components to be transferred with different specifications, thereby improving compatibility.

[0268] In another embodiment of the present disclosure, based on the matching control method of the aforementioned embodiment, taking the lower box of the battery pack as the component to be transferred and the pack cart to be tested as the pack cart as an example, it is mainly applied to the field of pack automated assembly, especially how the pack cart can be compatible with a variety of lower boxes after automatic station adjustment.

[0269] In the disclosed embodiments, a packing trolley solution compatible with various lower boxes is provided. A PLC-controlled robot enables multifunctional system control of the packing trolley, including screw pitch adjustment, stopper replacement, and automatic recipe switching. Furthermore, in the disclosed embodiments, the stopper, also known as a positioning block, is made of polyoxymethylene (POM), and thus can also be referred to as a "POM block."

[0270] In some embodiments, FIG14 is a detailed flowchart of a matching control method provided by an embodiment of the present disclosure. As shown in FIG14 , the detailed flowchart may include:

[0271] S1401: Recipe writing starts.

[0272] S1402: Define relevant parameters of the recipe.

[0273] S1403: Set the new template name.

[0274] S1404: Input the X-axis positioning position and Y-axis positioning position of the new blueprint.

[0275] S1405: Input the limit block position of the new blueprint.

[0276] Here, after entering the X-axis positioning position and Y-axis positioning position of the new blueprint, the robot determines the position of each limit block, and then enters the limit block position of the new blueprint in the recipe.

[0277] S1406: Determine whether the current blueprint needs to change the position of the limit block.

[0278] S1407: Adjust the robot's grasping trajectory to adjust the limit block.

[0279] S1408: Confirm that the recipe switching is completed.

[0280] It should be noted that in the embodiment of the present disclosure, for S1406, if the judgment result is that the current blueprint needs to change the limit block position, then S1407 is executed, that is, the robot's grasping trajectory is adjusted to adjust the limit block; if the judgment result is that the current blueprint does not need to change the limit block position, then S1408 is executed, that is, it is determined that the recipe switch is completed.

[0281] It should also be noted that in the embodiment of the present disclosure, a detailed process of matching the pack trolley with the lower box is provided. Here, the specific logical process can be as follows:

[0282] (1) To facilitate formula writing, relevant definitions can be made for formula writing.

[0283] Figure 9 provides a recipe writing interface that allows you to write and display information such as the corresponding blueprint name, trolley number, pack name, change plate number, 1#POM block position, 2#POM block position, Y-axis positioning position, and X-axis positioning position. You can then input the POM block positions required by the blueprint information into the recipe writing interface in Figure 9 based on the differences in the blueprint information and the differences in the lower cabinets.

[0284] FIG10 provides a two-dimensional image of a pallet, wherein the two-dimensional image includes the numbering of the change plates. Each pack cart has ten change plates, and the hole position No. 1 of each change plate is marked to determine the position sequence of the POM blocks on each change plate.

[0285] (2) In the recipe, the "PACK Name" column can be used to set the blueprint name of the current blueprint information. Pressing the Enter key can confirm that the blueprint name will be saved in the controller. In addition, by selecting "Previous" and "Next", the model change data of the corresponding blueprint information can be viewed. Among them, the trolley number is the pack trolley corresponding to the model change, and the PACK name shows the blueprint name of the current pack trolley, or called "blueprint type".

[0286] (3) The X-axis positioning position can be plate 1, plate 2 or plate 3, and the distance between them and plate 9 can be changed by rotating the corresponding screw rod with the electric bit. The Y-axis positioning position can be plate 4, plate 5, and the distance between them and plates 6 and 7 can be changed by rotating the corresponding screw rod with the electric bit.

[0287] (4) According to the corresponding POM block on the current lower box body change plate, find the corresponding hole position number and input the hole position number into the POM block position in the recipe. Among them, a change plate number can hold up to two POM blocks, but there is no specific limit.

[0288] (5) If the requirements for the POM blocks before and after the blueprint switch are different, for example, the sizes of the POM blocks before and after are different (such as different heights), then the original POM blocks need to be placed in the preset storage location, and then the POM blocks required by the new blueprint are grabbed from the preset storage location, and then placed in the corresponding position on the change plate according to the POM position requirements of the new blueprint.

[0289] It should also be noted that in the disclosed embodiments, the blueprint type specifically refers to the product type of the component to be transferred. Different product types correspond to different lower box specifications, and different lower box specifications can correspond to different recipes. That is, different lower box specifications also correspond to different POM block positions, X-axis positioning positions, and Y-axis positioning positions.

[0290] In addition, in the embodiment of the present disclosure, the mold change plate required for the current lower box can be specifically determined according to the size specifications of the lower box. For example, if the size of the component to be transferred is relatively large, that is, a larger lower box, then mold change plate No. 1, mold change plate No. 2, mold change plate No. 4, mold change plate No. 5, mold change plate No. 6, mold change plate No. 7, mold change plate No. 8 and mold change plate No. 10 can be selected; if the size of the component to be transferred is relatively small, that is, a smaller lower box, then mold change plate No. 3, mold change plate No. 4, mold change plate No. 5, mold change plate No. 6, mold change plate No. 7, and mold change plate No. 9 can be selected. In addition, for a larger lower box, two or more POM blocks may need to be placed on a single mold change plate to play a supporting and limiting role.

[0291] Through the above embodiments, a Pack trolley matching lower box solution is provided here, which can automatically select the corresponding formula according to the lower box of different products, automatically identify the trolley type, and automatically call the robot's grabbing trajectory according to the selected POM block position. On the one hand, the recipe can be matched with the blueprint information issued by the MES system and the blueprint information read by the electronic tag. If they are consistent, they will be automatically released. If they are inconsistent, the recipe will be automatically switched to match the pallet with the part to be transferred. On the other hand, manual replacement is changed to automatic replacement, the robot's change logic is simple, and it is fully automated without human participation. Moreover, the change of the limit block position can be identified, determined and guided by the visual inspection system. On the other hand, the structure is simple and the logic is clear, and there is no need to configure multiple sensors. On the other hand, while retaining the manual selection function, the automatic issuance function of the MES system is added when calling the recipe. On the other hand, the front and rear stations and the Pack trolley change station operate in parallel, which greatly improves efficiency. That is, in multi-station production, there is no need to wait for the trolley change time. On the other hand, the servo motor rotates the lead screw to change the pitch and the limit block position is changed to adapt to all box sizes of existing products, with good compatibility. On the other hand, it also improves on-site debugging efficiency, reduces debugging difficulty, and optimizes the program logic during recipe switching.

[0292] In some embodiments, FIG15 is a detailed flowchart of another matching control method provided by an embodiment of the present disclosure. As shown in FIG15 , the detailed flowchart may include:

[0293] S1501: Recipe switching starts.

[0294] S1502: The electronic tag reads the current blueprint information of the vehicle to be tested.

[0295] S1503: Determine whether the blueprint information read from the electronic tag is consistent with the blueprint information issued by the MES system.

[0296] S1504: Call the MES system to issue the corresponding recipe of the blueprint information.

[0297] Here, after the trolley to be tested is in place, the electronic tag reads the current blueprint information of the trolley to be tested and receives the blueprint information issued by the MES system; if the blueprint information read by the electronic tag is inconsistent with the blueprint information issued by the MES system, then after calling the corresponding formula of the blueprint information issued by the MES system, the automatic model change of the workstation is started, and the robot's gripper mechanism adjusts the position of at least one limit block on the pallet until the automatic model change of the trolley to be tested is completed.

[0298] S1505: Complete the automatic type change of the trolley to be tested.

[0299] S1506: Write new blueprint information into the electronic tag.

[0300] S1507: Determine whether the new blueprint information read by the electronic tag is consistent with the blueprint information issued by the MES system.

[0301] S1508: Release the vehicle to be tested.

[0302] S1509: Send error message.

[0303] S1510: Recipe switching completed.

[0304] In the embodiment of the present disclosure, for S1503, if the blueprint information read by the electronic tag is consistent with the blueprint information issued by the MES system, S1508 can be executed, that is, the vehicle to be tested is released; if the blueprint information read by the electronic tag is inconsistent with the blueprint information issued by the MES system, S1504 to S1507 can be executed, and then it is determined whether the new blueprint information read by the electronic tag is consistent with the blueprint information issued by the MES system.

[0305] In the embodiment of the present disclosure, for S1507, if the blueprint information read by the electronic tag is consistent with the blueprint information issued by the MES system, S1508 can be executed, that is, the vehicle to be tested is released; if the blueprint information read by the electronic tag is inconsistent with the blueprint information issued by the MES system, S1509 can be executed, that is, an error message is sent. At this time, the device reports an error, and the cause of the fault can be manually confirmed.

[0306] It should also be noted that, in the embodiments of the present disclosure, a detailed process of recipe switching is provided, wherein the recipe switching can be manual or automatic.

[0307] Exemplarily, taking manual switching of recipes as an example, for the human-computer interaction interface, it can also respond to the second operation instruction, that is, the user clicks the (working status word) HMI button in the human-computer interaction interface, and a screen as shown in Table 3 can pop up. In Table 3, if it is necessary to manually switch the blueprint information (recipe), then the corresponding current blueprint number and the blueprint number to be switched can be entered according to the cart number in the recipe; then, according to the current blueprint number and the blueprint number to be switched, the current blueprint name and the blueprint name to be switched can be displayed to intuitively determine whether the switch is correct. For example, the current blueprint number is 2, and the blueprint number to be switched is 3. The current blueprint name displayed at this time is 149, and the blueprint name to be switched is V71, so it can be intuitively seen that this switch is incorrect.

[0308] Table 3

[0309] In addition, as shown in Table 4, if the MES-issued blueprint number is inconsistent with the manually selected current blueprint number, or if the MES-issued blueprint number is 0, a corresponding prompt will be given as a reminder. If the MES-issued blueprint number is inconsistent with the manually selected current blueprint number, a prompt will be given, such as the MES and PLC product models are inconsistent. Alternatively, if the MES-issued blueprint number is 0, a prompt will also be given, such as the MES product model cannot be 0, as a reminder.

[0310] Table 4

[0311] It should also be noted that, in the embodiment of the present disclosure, the plate number displayed by the claw count is the number of the mold change plate currently to be grabbed, and the position hole number displayed is the serial number of the hole position currently to be grabbed; the plate number displayed by the placement count is the number of the mold change plate currently to be placed, and the position hole number displayed is the serial number of the hole position currently to be placed.

[0312] Exemplarily, the aforementioned Tables 1 and 2 provide a schematic data for grabbing and placing a POM block. Among them, the working status of the limit block indicates the current number of times the POM block is grabbed and placed, the grab count indicates the total number of times the POM block has been grabbed, and the placement count indicates the total number of times the POM block has been placed. As shown in Table 1, when the POM block is grabbed and placed for the third time, the grab count is 2 and the placement count is 2. This time, the POM block is grabbed from hole position 1 of the No. 7 mold change plate and placed in hole position 5 of the No. 7 mold change plate. Then, after the POM block is grabbed and placed this time, if the POM block is grabbed from hole position 2 of the No. 5 mold change plate and placed in hole position 4 of the No. 6 mold change plate next time, the data in Table 1 will be updated to the data shown in Table 2.

[0313] In some embodiments, a logic control scheme for RFID chip identification information is also provided for the identification logic of the electronic tag. FIG16 is a schematic diagram of an operation interface of an electronic tag provided in an embodiment of the present disclosure. As shown in FIG16 , the operation interface can be composed of two parts: reading and writing. The details are as follows:

[0314] (1) The top of the operation interface is the alarm prompt bar, which will be displayed in red when a corresponding alarm or error occurs.

[0315] (2) In the reading section, there is a "Manual Read" button. This button will not be operated externally when not in manual mode. In manual mode, if this button is clicked, the required data will be read and displayed if an RFID chip is present. The manual and automatic modes can be controlled by the HMI interface and its buttons.

[0316] (3) In automatic mode, if the RFID chip is not shielded, the current information of the vehicle to be tested, such as the blueprint number, will be automatically read. The blueprint number read by the RFID will then be compared with the blueprint number issued by the MES system to determine whether a model change is required; the blueprint number issued by the MES system will be compared with the blueprint number to be switched to confirm whether the issuance is successful, thereby achieving a certain fool-proof effect.

[0317] (4) The "Manual Write" button is similar to the "Manual Read" button. This button will not be operated externally in non-manual mode (i.e., automatic mode). In manual mode, you can manually write the PACK name and blueprint number. Then press the confirmation button on the HMI interface keyboard. If you are sure to write, click the "Manual Write Start" button and then click the "Manual Write" button. The written data can be written to the RFID chip.

[0318] (5) When writing manually, you must be in manual mode and select the "Manual Write Start" button first, then select the "Manual Write" button, otherwise the data will not be written. This reduces the chance of manual error.

[0319] (6) Read OK or Write OK. The corresponding prompt box will change color (for example, from white to green) to indicate that the operation is successful.

[0320] Through the above embodiments, the specific implementation of the aforementioned embodiments is elaborated in detail. It can be seen that through the technical solutions of the aforementioned embodiments, the technical solutions of the embodiments of the present disclosure can make the equipment more automated (from manual replacement to machine replacement), improve data security (through the MES system and electronic tag identification to issue blueprint information), be more efficient (reduce the manpower and rhythm of changeover), and be more compatible (add a vertical warehouse function to make it compatible with more lower boxes). It also improves the on-site debugging efficiency, reduces the difficulty of debugging, and optimizes the program logic when switching recipes.

[0321] In another embodiment of the present disclosure, referring to FIG17 , which shows a flow chart of another matching control method provided by an embodiment of the present disclosure. As shown in FIG17 , the method may include:

[0322] S1701: When the trolley to be tested arrives at the preset position, if the controller detects that the current blueprint information of the trolley to be tested is inconsistent with the target blueprint information, the controller receives the control instruction sent by the controller; wherein, a pallet is placed on the trolley to be tested, and the pallet is used to carry the parts to be transferred.

[0323] S1702: Based on the control instruction, the gripper mechanism is controlled to perform a gripping and releasing action on at least one limit block on the pallet so that the pallet matches the component to be transferred.

[0324] It should be noted that in the disclosed embodiments, the method is applied to a robot, which may be a six-axis robot. Through interaction between the six-axis robot and a controller, the pallet can be matched with the parts to be transferred, so that the pallet can hold the parts to be transferred.

[0325] It should also be noted that in the disclosed embodiments, the robot may include a gripper mechanism disposed at the end of a robotic arm. Specifically, the gripper mechanism controls the robot to adjust the position of at least one stopper on the pallet so that the position of the at least one stopper matches the position of the corresponding stopper in the target blueprint information. This ensures that the pallet matches the component to be transferred, thereby reducing labor and production costs and improving production efficiency.

[0326] In one possible implementation, if the limit block on the pallet is moved from the hole position number of a certain change plate to the hole position number of another change plate, or from one hole position number of a certain change plate to another hole position number, in some embodiments, the method may include: receiving a first control instruction sent by the controller; based on the first control instruction, controlling the gripper mechanism to grab the limit block on the pallet from the position to be grabbed, and controlling the gripper mechanism to place the limit block to the position to be placed in the pallet, and the position of the limit block conforms to the corresponding limit block position in the target blueprint information.

[0327] In the disclosed embodiment, if the specifications of the limit blocks in the current blueprint information are the same as those in the target blueprint information, then the existing limit blocks in the pallet do not need to be placed in the preset storage location first, and can be placed directly in the waiting location in the pallet. For example, in the pallet, a limit block is grabbed from hole position 1 of the No. 7 change plate and placed in hole position 5 of the No. 7 change plate. In this case, there is no need to place the limit block in the preset storage location; specifically, the gripper mechanism can be controlled to grab the limit block from the waiting location in the pallet and control the gripper mechanism to place the limit block in the waiting location in the pallet.

[0328] In another possible implementation, the limit blocks include at least a first-size limit block and a second-size limit block. If the size of the limit blocks already in the pallet does not meet the requirements, in some embodiments, the method may include: if the limit block on the pallet is a first-size limit block, and the corresponding limit block in the target blueprint information is a second-size limit block, then receiving a second control instruction sent by the controller; based on the second control instruction, controlling the gripper mechanism to grab the first-size limit block on the pallet from the to-be-grabbed position and place it in the preset storage position, and controlling the gripper mechanism to grab the second-size limit block from the preset storage position and place the second-size limit block in the to-be-placed position in the pallet, and the position of the second-size limit block meets the corresponding limit block position in the target blueprint information.

[0329] In the embodiment of the present disclosure, if the specifications of the limit blocks in the current blueprint information are different from those in the target blueprint information, for example, the heights are different, then the original limit blocks in the pallet need to be placed in the preset storage location; then the limit blocks required in the target blueprint information are grabbed from the preset storage location, and according to the limit block position requirements in the target blueprint information, the gripper mechanism is controlled to place them in the corresponding placement position of the change plate, so that the position of the limit block conforms to the corresponding limit block position in the target blueprint information.

[0330] For example, the preset storage location is the storage mechanism shown in Figure 6 or Figure 7, which is used to store the limit blocks. According to the different specifications of the parts to be transported, a variety of limit blocks can be stored here, which can adapt to the needs of different parts to be transported.

[0331] In another possible implementation, the gripper mechanism further includes a visual inspection system. Accordingly, when the controller sends a control instruction to the robot, the method may further include: receiving a photo-taking instruction from the controller; based on the photo-taking instruction, controlling the visual inspection system to take photos of the position to be grasped and the position to be placed, and performing offset compensation for the positions of the position to be grasped and the position to be placed based on the captured images.

[0332] In the disclosed embodiment, the visual inspection system is specifically provided on the gripper mechanism of the robot. The visual inspection system is a structure including a CCD camera, so the visual inspection system can be referred to as a "CCD camera" or a "gripper camera."

[0333] That is to say, the controller can first send a photo command to the robot to control the visual inspection system to take photos of the position to be grasped and the position to be placed, and to compensate for the offset of the position to be grasped and the position to be placed; then the controller sends a grasp and release command to the robot to control the gripper mechanism to grasp the limit block on the pallet from the position to be grasped, and control the gripper mechanism to place the limit block to the position to be placed in the pallet, so that the position of the limit block conforms to the corresponding limit block position in the target blueprint information.

[0334] In a specific embodiment, for a gripper mechanism to grab a limit block from a position to be grabbed, it can specifically include: after moving the visual detection system to a photographing position of the position to be grabbed, receiving a first photographing instruction sent by a controller; based on the first photographing instruction, taking a photograph of the position to be grabbed by the visual detection system, and calculating according to the first photographed image to determine a first offset of the position to be grabbed; compensating for the initial position of the position to be grabbed according to the first offset, and determining a target position of the position to be grabbed; receiving a first grasping instruction sent by the controller, controlling the gripper mechanism to move toward the position to be grabbed, and after moving to the target position of the position to be grabbed, grabbing the limit block on the position to be grabbed by the gripper mechanism.

[0335] For example, based on the visual inspection system, the top view structure corresponding to the position to be grasped is shown in FIG11 . At this time, the first offset may include: the offset in the X-axis direction is -0.457, the offset in the Y-axis direction is -0.483, and the angle offset is 0.406.

[0336] In another specific embodiment, placing a limit block at the position to be placed by the gripper mechanism can specifically include: after moving the visual detection system to the photographing position of the position to be placed, receiving a second photographing instruction sent by the controller; based on the second photographing instruction, photographing the position to be placed by the visual detection system, and calculating according to the second photographed image to determine the second offset of the position to be placed; compensating for the initial position of the position to be placed according to the second offset, and determining the target position of the position to be placed; receiving the first placement instruction sent by the controller, controlling the gripper mechanism to move to the position to be placed, and after moving to the target position of the position to be placed, placing a limit block at the position to be placed by the gripper mechanism.

[0337] For example, based on the visual inspection system, the top view structure corresponding to the position to be placed is shown in FIG12 . At this time, the second offset may include: an offset in the X-axis direction of -0.623, an offset in the Y-axis direction of 0.253, and an angle offset of -0.033.

[0338] In some embodiments, FIG18 is a detailed flowchart of another matching control method provided by an embodiment of the present disclosure. As shown in FIG18 , the detailed flowchart may include:

[0339] S1801: The robot moves the gripper camera to the photo taking position.

[0340] S1802: The robot requests the gripper camera to take a photo.

[0341] S1803: The gripper camera takes a photo and calculates the offset.

[0342] S1804: Determine the corresponding X-axis and Y-axis offsets and the angular offsets.

[0343] S1805: The robot performs motion compensation according to the determined offset.

[0344] S1806: The robot moves to the position to be grasped or the position to be placed to grasp and place the POM block.

[0345] It should be noted that in the disclosed embodiment, Figure 18 shows a detailed flow of the controller controlling the robot's motion. The offset data here are all acquired in the robot coordinate system, calibrated by the initial position, and then corrected based on the offset.

[0346] It should also be noted that in the embodiment of the present disclosure, for the visual inspection system (i.e., the gripper camera), the camera action process is first started, and then the controller sends control instructions to the robot to execute steps S1801 to S1806, so as to automatically identify the limit block based on vision for positioning, and combined with the feedback relative offset data, the POM block can be grasped and released more accurately; finally, the camera action process is ended.

[0347] For example, the first and second images captured by the visual inspection system can also be displayed via a visualization device. Figure 19 is a schematic diagram of a display interface of a visualization device provided in an embodiment of the present disclosure. As shown in Figure 19, the display interface serves as a visual software interface, with the actual photo effect image on the left and the actual photo parameters displayed in the taskbar on the right.

[0348] The disclosed embodiments provide a matching control method for a robot. Because the robot is provided with a gripper mechanism and a visual detection system, a controller can control the visual detection system to perform visual guidance and deviation correction on the gripping position or placement position. Based on the corresponding offset data, the target position to be reached by the gripper assembly in the gripper mechanism can be accurately determined. Based on the determined target position, the controller can then control the gripper assembly to move toward the target position, thereby enabling the gripper assembly to move to the accurate gripping position or placement position to grasp and release the limit block, thereby adjusting the position of the at least one limit block, so that the pallet can match the components to be transported of various box sizes.

[0349] It should be noted that, in this disclosure, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0350] The serial numbers of the above-mentioned embodiments of the present disclosure are for description only and do not represent the advantages or disadvantages of the embodiments.

[0351] The methods disclosed in the several method embodiments provided in this disclosure can be arbitrarily combined without conflict to obtain new method embodiments.

[0352] The features disclosed in the several product embodiments provided in this disclosure can be arbitrarily combined without conflict to obtain new product embodiments.

[0353] The features disclosed in several method or device embodiments provided in this disclosure may be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0354] The above description is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the present disclosure, and they should all be covered by the protection scope of the present disclosure. Industrial Applicability

[0355] This disclosure proposes a matching control method and system. The method is applied to a controller and a robot, which includes a gripper mechanism at the end of a robotic arm. The matching system comprises a test vehicle, the robot, a storage mechanism, and a lifting mechanism. This system can accommodate components with varying specifications and parameters, improving compatibility. It also reduces labor and production costs, thereby increasing production efficiency.

Claims

1. A matching control method, the method comprising: When the trolley to be tested arrives at the preset position, the current blueprint information of the trolley to be tested is obtained; wherein a pallet is placed on the upper surface of the trolley to be tested, and the pallet is used to carry the parts to be transferred; Determine the target blueprint information of the vehicle to be tested, wherein the target blueprint information is associated with the specification parameters of the component to be transported; When the current blueprint information is inconsistent with the target blueprint information, at least one limit block on the pallet is controlled to adjust its position so that the pallet matches the component to be transferred so as to be able to place the component to be transferred.

2. The method according to claim 1, wherein: Before controlling at least one limit block on the tray to adjust the position, the method further includes: Controlling the driving member to perform a first driving action to drive the transmission member to move to an initial position; After the position adjustment of at least one limit block on the tray is completely completed, the method further includes: controlling the driving member to perform a second driving action to drive the transmission member to move to an axial positioning position corresponding to the target blueprint information.

3. The method according to claim 1 or 2, wherein: The controlling at least one limit block on the tray to adjust the position includes: Send a control instruction to the robot; wherein the control instruction is used to control the gripper mechanism provided on the robot to grasp and release at least one limit block on the pallet, so that the adjusted position of the at least one limit block conforms to the corresponding limit block position in the target blueprint information.

4. The method according to claim 3, wherein: The sending of control instructions to the robot comprises: A first control instruction is sent to the robot, wherein the first control instruction is used to control the gripper mechanism to grab the limit block on the pallet from the position to be grabbed, and control the gripper mechanism to place the limit block to the position to be placed in the pallet, and the position of the limit block conforms to the corresponding limit block position in the target blueprint information.

5. The method according to claim 3, wherein: The limit block at least includes a first size limit block and a second size limit block; and sending a control instruction to the robot includes: If the limit block on the pallet is a limit block of the first size, and the corresponding limit block in the target blueprint information is a limit block of the second size, a second control instruction is sent to the robot, and the second control instruction is used to control the gripper mechanism to grab the limit block of the first size on the pallet from the to-be-grabbed position and put it into the preset storage position, and to control the gripper mechanism to grab the limit block of the second size from the preset storage position and place the limit block of the second size into the to-be-placed position in the pallet, and the position of the limit block of the second size conforms to the corresponding limit block position in the target blueprint information.

6. The method according to claim 4 or 5, wherein: The sending of control instructions to the robot also includes: A photographing instruction is sent to the robot, wherein the photographing instruction is used to control a visual inspection system arranged on the robot to take photos of the position to be grasped and the position to be placed, and to perform offset compensation on the positions of the position to be grasped and the position to be placed.

7. The method according to claim 6, wherein: The sending of control instructions to the robot also includes: Controlling the visual inspection system on the robot to move to a photographing position of the position to be grasped, and sending a first photographing instruction to the robot; wherein the first photographing instruction is used to instruct the visual inspection system to take a photograph of the position to be grasped; After the visual inspection system completes photographing the position to be grasped, controlling the visual inspection system to perform calculations based on the photographed first image to determine a first offset of the position to be grasped; Compensating an initial position of the position to be grasped according to the first offset to determine a target position of the position to be grasped; A first grasping instruction is sent to the robot to control the grasping mechanism to move toward the position to be grasped and after moving to the target position of the position to be grasped, the grasping mechanism is controlled to grasp the limit block on the position to be grasped based on the first grasping instruction.

8. The method according to claim 6 or 7, wherein: The sending of control instructions to the robot also includes: Controlling the visual inspection system on the robot to move to a photographing position of the position to be placed, and sending a second photographing instruction to the robot; wherein the second photographing instruction is used to instruct the visual inspection system to take a photograph of the position to be placed; After the visual inspection system completes photographing the position to be placed, controlling the visual inspection system to perform calculations based on the photographed second image to determine a second offset of the position to be placed; Compensating an initial position of the position to be placed according to the second offset to determine a target position of the position to be placed; A first placement instruction is sent to the robot to control the gripper mechanism to move to the position to be placed and after moving to the target position of the position to be placed, the gripper mechanism is controlled to place a limit block at the position to be placed based on the first placement instruction.

9. The method according to any one of claims 1 to 8, wherein: The method further comprises: When the adjusted position of the at least one limit block matches the limit block position in the target blueprint information, the support The tray is successfully matched with the part to be transferred.

10. The method according to any one of claims 1 to 9, wherein: The method further includes: pre-building the target blueprint information according to the specification parameters of the component to be transferred; The target blueprint information is pre-built according to the specification parameters of the parts to be transferred, including: Determine at least one change plate for supporting the component to be transferred and a limit block located on the at least one change plate according to the specification parameters of the component to be transferred; According to the limit blocks on the at least one change plate, the hole position numbers of the limit blocks on the at least one change plate are determined, and the hole position numbers are correspondingly written into the limit block positions of the at least one change plate in the target blueprint information.

11. The method according to claim 10, wherein: The method further comprises: If the hole position sequence number of a change plate in the target blueprint information is zero, it is determined that no limit block is placed at the position indicated by the hole position sequence number in the change plate; If the hole position sequence number of a change plate in the target blueprint information is non-zero, it is determined to place a limit block at the position indicated by the hole position sequence number in the change plate.

12. The method according to any one of claims 1 to 9, wherein: When controlling at least one limit block on the tray to adjust the position, the method further includes: In response to the first operation instruction, displaying current pick-and-release information on the human-computer interaction interface; The current grab and release information at least includes: the number of grab and release times, the grab count, the release count, the position of the limit block to be grabbed and the position of the limit block to be placed.

13. The method according to claim 12, wherein: The method further comprises: Based on the current pick-and-place information, the limit block on the tray is controlled to be adjusted from the limit block position to be picked up to the limit block position to be placed.

14. The method according to claim 12 or 13, wherein: The method further comprises: After the position adjustment based on the current pick-and-release information is completed, updating the current pick-and-release information on the human-computer interaction interface; The updating of the current grab and release information in the human-computer interaction interface includes: controlling the grab and release times, the grab count and the release count to respectively perform an addition operation, and updating the limit block position to be grabbed to a new limit block position to be grabbed, and updating the limit block position to be placed to a new limit block position to be placed.

15. A matching control method, applied to a robot, wherein the robot comprises a gripper mechanism disposed at the end of a mechanical arm, the method comprising: When the trolley to be tested arrives at the preset position, if the controller detects that the current blueprint information of the trolley to be tested is inconsistent with the target blueprint information, the controller receives the control instruction sent by the controller; wherein a pallet is placed on the trolley to be tested, and the pallet is used to carry the parts to be transferred; Based on the control instruction, the gripper mechanism is controlled to perform a gripping and releasing action on at least one limit block on the pallet so that the pallet matches the component to be transferred.

16. The method according to claim 15, wherein: The controlling the gripper mechanism to perform a gripping and releasing action on at least one limit block on the pallet based on the control instruction includes: receiving a first control instruction sent by the controller; Based on the first control instruction, the gripper mechanism is controlled to grab the limit block on the pallet from the position to be grabbed, and the gripper mechanism is controlled to place the limit block to the position to be placed in the pallet, and the position of the limit block conforms to the corresponding limit block position in the target blueprint information.

17. The method according to claim 15, wherein: The limit block includes at least a first size limit block and a second size limit block; and based on the control instruction, controlling the gripper mechanism to grasp and release at least one limit block on the pallet includes: If the limit block on the tray is a limit block of the first size, and the corresponding limit block in the target blueprint information is a limit block of the second size, receiving a second control instruction sent by the controller; Based on the second control instruction, the gripper mechanism is controlled to grab the first size limit block on the pallet from the position to be grabbed and put it into the preset storage position, and the gripper mechanism is controlled to grab the second size limit block from the preset storage position and place the second size limit block into the position to be placed in the pallet, and the position of the second size limit block conforms to the corresponding limit block position in the target blueprint information.

18. The method according to claim 16 or 17, wherein: The gripper mechanism also includes a visual detection system, and the method further includes: Receiving a photographing instruction sent by the controller; Based on the photographing instruction, the visual inspection system is controlled to take photographs of the position to be grasped and the position to be placed, and offset compensation is performed on the positions of the position to be grasped and the position to be placed according to the photographed images.

19. The method according to claim 18, wherein: The controlling the gripper mechanism to grasp and release at least one limit block on the pallet based on the control instruction further includes: After the visual inspection system is moved to a photographing position of a position to be grasped, a first photographing instruction sent by the controller is received; Based on the first photographing instruction, photograph the position to be grasped by the visual inspection system, and perform calculation according to the photographed first image to determine a first offset of the position to be grasped; Compensating an initial position of the position to be grasped according to the first offset to determine a target position of the position to be grasped; A first grabbing instruction sent by the controller is received, the gripper mechanism is controlled to move toward the position to be grabbed, and after moving to the target position of the position to be grabbed, the gripper mechanism grabs the limit block on the position to be grabbed.

20. The method according to claim 18 or 19, wherein: The controlling the gripper mechanism to grasp and release at least one limit block on the pallet based on the control instruction further includes: After the visual inspection system is moved to the photographing position to be placed, receiving a second photographing instruction sent by the controller; Based on the second photographing instruction, photograph the position to be placed by the visual inspection system, and perform calculation according to the photographed second image to determine a second offset of the position to be placed; Compensating an initial position of the position to be placed according to the second offset to determine a target position of the position to be placed; A first placement instruction sent by the controller is received, the gripper mechanism is controlled to move toward the position to be placed, and after moving to the target position of the position to be placed, a limit block is placed toward the position to be placed by the gripper mechanism.

21. A matching system, comprising: The trolley to be tested comprises a pallet and at least one stop block arranged on the pallet, wherein the pallet is used to carry the parts to be transferred, and the at least one stop block is used to limit the position of the parts to be transferred on the pallet; A robot, wherein a gripper mechanism is provided on a mechanical arm of the robot, and the robot is used to drive the gripper mechanism to move; A storage mechanism, arranged at a position corresponding to the robot, and used for storing a limit block; A lifting mechanism is arranged at a position corresponding to the robot, and is used to lift and support the trolley to be tested; Among them, when the trolley to be tested reaches the preset position and the current blueprint information of the trolley to be tested is inconsistent with the target blueprint information of the trolley to be tested, the gripper mechanism can grasp or release the limit block, and under the drive of the robot, can transport the limit block to the position corresponding to the position to be placed in the pallet, or transport the limit block to the preset storage position in the storage mechanism; wherein the target blueprint information is associated with the specification parameters of the parts to be transferred.

22. The matching system according to claim 21, wherein: The pallet comprises a pallet frame, a transverse clamping assembly and a longitudinal clamping assembly; wherein, The transverse clamping assembly comprises a transverse clamping member and a transverse transmission member, wherein the transverse clamping member is slidably connected to the pallet frame and has a transverse mounting portion, and the limit block can be connected to the transverse clamping member through the transverse mounting portion; the transverse transmission member is in transmission connection with the transverse clamping member; during the movement of the transverse transmission member, the transverse clamping member can be driven to move along the first direction; The longitudinal clamping assembly includes a longitudinal clamping member and a longitudinal transmission member. The longitudinal clamping member is slidably connected to the pallet frame and has a longitudinal mounting portion. The limit block can be connected to the longitudinal clamping member through the longitudinal mounting portion. The longitudinal transmission member is transmission-connected to the longitudinal clamping member. During the movement of the longitudinal transmission member, the longitudinal clamping member can be driven to move along a second direction. The second direction has an angle with the first direction.

23. The matching system according to claim 22, wherein: The longitudinal clamping member includes a first longitudinal clamping member and a second longitudinal clamping member, and the first longitudinal clamping member and the second longitudinal clamping member are both transmission-connected to the longitudinal transmission member; during the movement of the longitudinal transmission member, the first longitudinal clamping member and the second longitudinal clamping member can be driven to move closer to or away from each other, so that the first longitudinal clamping member and the second longitudinal clamping member cooperate to fix the component to be transferred.

24. The matching system according to claim 23, wherein: The first longitudinal clamping member includes a first profile changing plate and at least one first limit block arranged on the first profile changing plate; The second longitudinal clamping member includes a second profile changing plate and at least one second limit block arranged on the second profile changing plate; Wherein, a plurality of the longitudinal mounting parts are arranged at intervals on the first change plate and the second change plate, a longitudinal connecting part is arranged at the bottom of the first limit block and the second limit block, and the longitudinal mounting part and the longitudinal connecting part are detachably connected.

25. The matching system according to any one of claims 22 to 24, wherein: The transverse clamping member includes a first transverse clamping member and a second transverse clamping member which are arranged opposite to each other, wherein the first transverse clamping member is in transmission connection with the transverse transmission member, and the second transverse clamping member is fixed on the pallet frame; during the movement of the transverse transmission member, the first transverse clamping member can be driven to move toward or away from the second transverse clamping member, so that the first transverse clamping member and the second transverse clamping member cooperate to clamp the component to be transferred.

26. The matching system according to claim 25, wherein: The first transverse clamping member includes a third profile changing plate and at least one third limit block arranged on the third profile changing plate; The second transverse clamping member includes a fourth profile changing plate and at least one fourth limit block arranged on the fourth profile changing plate; Among them, the third change plate and the fourth change plate are both provided with a plurality of the transverse mounting parts at intervals, the bottoms of the third limit block and the fourth limit block are both provided with transverse connecting parts, and the transverse mounting parts and the transverse connecting parts are detachably connected.

27. The matching system according to any one of claims 21 to 26, wherein: The gripper mechanism comprises: a connecting member, a moving component and a gripper component; the gripper mechanism is arranged on the mechanical arm of the robot through the connecting member; the moving component is arranged on the connecting member; the gripper component is arranged on the moving component; driven by the moving component, the gripper component can move in a direction close to or away from the position to be placed.

28. The matching system according to claim 27, wherein: The moving assembly includes a vertical driving member and a vertical sliding assembly; the vertical sliding assembly is arranged on the connecting member, and the gripping assembly is arranged on the vertical sliding assembly; one end of the vertical driving member is connected to the connecting member, and the other end is connected to the gripping assembly; Driven by the vertical driving member, the gripper assembly can generate movement along the extension direction of the vertical sliding assembly.

29. The matching system according to claim 27 or 28, wherein: The gripper assembly includes a gripper driving member and at least two gripper members; one of the gripper members is slidably disposed on the moving assembly, one end of the gripper driving member is connected to the moving assembly, and the other end is connected to a gripper member slidably disposed on the moving assembly; under the drive of the gripper driving member, at least two of the gripper members can approach each other to grip the limit block, or at least two of the grippers can be separated from each other to release the limit block.

30. The matching system according to any one of claims 27 to 29, wherein: The gripper mechanism also includes a visual detection system; the visual detection system can be electrically connected to the controller, and the visual detection system is used to take pictures of the position to be grasped and the position to be placed, and to compensate for the offset of the position to be grasped and the position to be placed.

31. A matching system according to any one of claims 21 to 30, wherein: The storage mechanism comprises a supporting assembly and a bearing assembly, the bearing assembly is slidably arranged on the supporting assembly, the bearing assembly has a storage portion adapted to the limiting block, and the supporting assembly is used to support the bearing assembly.

32. The matching system according to claim 31, wherein: The support assembly includes two brackets arranged opposite to each other, and the bearing assembly includes a plurality of bearing plates, on which the storage portion is arranged, and each of the bearing plates is slidably arranged between the two brackets.

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