A method and apparatus for stacking lithium batteries

Abstract

The application discloses a stacking method and device for lithium batteries, the method comprising: firstly, judging whether the size of each side of the stackable area is an integer multiple of the size of any side of the lithium battery to be stacked; then, if the size of each side of the stackable area is an integer multiple of the size of any side of the lithium battery to be stacked, determining at least one loop-shaped area in the stackable area and the center coordinates and directions of the lithium batteries to be stacked along each side of the stackable area according to the size of each side of the stackable area and the size of the lithium battery to be stacked; and then, placing the lithium battery to be stacked at the corresponding position of the at least one loop-shaped area according to the center coordinates and directions of the lithium battery to be stacked. The feasible stacking type corresponding to the lithium battery can be selected according to the geometric size and type of the lithium battery, thereby having better adaptability to the stacking scene of a large number of lithium batteries with different geometric and physical characteristics, and the stability of the stacking type can be improved.

Description

Technical Field

[0001] This invention belongs to the field of palletizing technology, and particularly relates to a palletizing method and apparatus for lithium batteries. Background Technology

[0002] In the lithium battery palletizing process, to reduce costs, automated palletizing equipment is often used, such as robots placing goods onto pallets to carry lithium batteries. However, current palletizing equipment is mainly used in regular stacking areas, and it often cannot plan reasonable stacking patterns in irregular stacking areas, resulting in poor stacking stability. Summary of the Invention

[0003] This invention provides a palletizing method and apparatus for lithium batteries, which solves the technical problem of poor pallet stability.

[0004] In a first aspect, the present invention provides a palletizing method for lithium batteries, comprising:

[0005] Obtain the stackable area of ​​the palletizer gripper, wherein the stackable area includes at least one edge;

[0006] The dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked are obtained. The stackable area includes a first side, a second side, a third side, and a fourth side.

[0007] Determine whether the dimensions of each side of the stackable area are integer multiples of the dimensions of any side of the lithium battery to be stacked;

[0008] If the dimensions of each side of the stackable area are all integer multiples of the dimensions of any side of the lithium battery to be stacked, then based on the dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked, at least one loop-shaped area is determined within the stackable area, as well as the center coordinates and orientation of the lithium battery to be stacked along each side of the stackable area.

[0009] Based on the center coordinates and orientation of the lithium battery to be stacked, place the lithium battery to be stacked at the corresponding position in the at least one loop-shaped area.

[0010] Furthermore, after determining whether the dimensions of each side of the stackable area are integer multiples of the dimension of any side of the lithium battery to be stacked, the method further includes:

[0011] If the size of one side of the stackable area is an integer multiple of the size of any side of the lithium battery to be stacked, then that side is taken as the first loop-shaped area side.

[0012] Determine whether the size of an edge adjacent to the stated edge is an integer multiple of the size of any side of the lithium battery to be stacked;

[0013] If the size of an edge adjacent to the stated edge is not an integer multiple of the size of any side of the lithium battery to be stacked, the stated edge is cut into at least two sub-edges, wherein the size of one sub-edge is an integer multiple of the size of any side of the lithium battery to be stacked, and the size of the other sub-edge is greater than the size of any side of the lithium battery to be stacked.

[0014] Define one sub-edge as a second circular region edge, and define the other sub-edge as another first circular region edge;

[0015] A loop-shaped region is formed based on the edges of the first loop-shaped region and the edges of the second loop-shaped region.

[0016] Furthermore, after defining the one sub-edge as a second circular region edge and defining the other sub-edge as another first circular region edge, the method further includes:

[0017] Another loop-shaped region is formed based on the edges of the other first loop-shaped region and the fourth loop-shaped region.

[0018] Furthermore, after placing the lithium battery to be stacked at the corresponding position in the at least one loop-shaped area according to the center coordinates and orientation of the lithium battery to be stacked, the method further includes:

[0019] Obtain the target placement positions of each target in the at least one loop-shaped region and the target orientation of the lithium battery to be stacked;

[0020] Detect the actual position and actual orientation of the lithium batteries to be stacked;

[0021] Compare the actual position with the target placement position and the actual posture with the target posture, respectively;

[0022] If the first difference between the actual position and the target placement position is within a first preset range, and the second difference between the actual posture and the target posture is within a second preset range, then at least one loop-shaped area is redefined within the placement area.

[0023] Furthermore, after comparing the actual position with the target placement position and the actual posture with the target posture, the method further includes:

[0024] If the first difference between the actual position and the target placement position is not within the first preset range, and / or the second difference between the actual posture and the target posture is not within the second preset range, then the process ends.

[0025] In a second aspect, the present invention provides a palletizing device for lithium batteries, comprising:

[0026] The first acquisition module is configured to acquire the stackable area of ​​the palletizer gripper, wherein the stackable area includes at least one edge.

[0027] The second acquisition module is configured to acquire the dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked, wherein the stackable area includes a first side, a second side, a third side, and a fourth side.

[0028] The first judgment module is configured to determine whether the dimensions of each side of the stackable area are integer multiples of the dimensions of any side of the lithium battery to be stacked;

[0029] The determination module is configured to, if the dimensions of each side of the stackable area are all integer multiples of the dimensions of any side of the lithium battery to be stacked, then, based on the dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked, determine at least one loop-shaped area within the stackable area and the center coordinates and orientation of the lithium battery to be stacked along each side of the stackable area.

[0030] The placement module is configured to place the lithium battery to be stacked at the corresponding position of the at least one loop-shaped area according to the center coordinates and orientation of the lithium battery to be stacked.

[0031] Furthermore, the palletizing device also includes:

[0032] The first definition module is configured to define a first loop-shaped area edge if the size of one side of the stackable area is an integer multiple of the size of any side of the lithium battery to be stacked.

[0033] The second judgment module is configured to determine whether the size of a certain edge adjacent to the edge is an integer multiple of the size of any side of the lithium battery to be stacked;

[0034] The cutting module is configured to cut the edge into at least two sub-edges if the size of an edge adjacent to the edge is not an integer multiple of the size of any side of the lithium battery to be stacked. The size of one sub-edge is an integer multiple of the size of any side of the lithium battery to be stacked, and the size of the other sub-edge is greater than the size of any side of the lithium battery to be stacked.

[0035] The second definition module defines one sub-edge as a second circular region edge and the other sub-edge as another first circular region edge.

[0036] The generation module is configured to form a circular region based on the edges of the first circular region and the edges of the second circular region.

[0037] The palletizing method and apparatus for lithium batteries disclosed in this application can select a feasible palletizing type according to the geometric dimensions and type of lithium batteries, thereby providing better adaptability to palletizing scenarios with a large number of lithium batteries with different geometric and physical characteristics, and improving the stability of the palletizing type. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A flowchart illustrating a palletizing method for lithium batteries according to an embodiment of the present invention;

[0040] Figure 2 This is a structural block diagram of a palletizing device for lithium batteries provided in an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Please see Figure 1 The diagram shows a flowchart of a palletizing method for lithium batteries according to this application.

[0043] like Figure 1 As shown, the palletizing method for lithium batteries specifically includes the following steps:

[0044] Step S101: Obtain the stackable area of ​​the palletizer gripper, wherein the stackable area includes at least one edge.

[0045] Step S102: Obtain the dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked. The stackable area includes a first side, a second side, a third side, and a fourth side.

[0046] In this step, if the size of one side of the stackable area is an integer multiple of the size of any side of the lithium battery to be stacked, then that side is designated as the first loop area side.

[0047] Determine whether the size of an edge adjacent to another edge is an integer multiple of the size of any side of the lithium battery to be stacked;

[0048] If the size of an edge adjacent to another edge is not an integer multiple of the size of any side of the lithium battery to be stacked, the edge is cut into at least two sub-edges, wherein the size of one sub-edge is an integer multiple of the size of any side of the lithium battery to be stacked, and the size of the other sub-edge is greater than the size of any side of the lithium battery to be stacked.

[0049] Define one sub-edge as a second-order region edge, and define the other sub-edge as another first-order region edge;

[0050] A circular region is formed based on the edges of the first and second circular regions.

[0051] Another loop region is formed based on the edges of another first loop region and a fourth loop region.

[0052] Step S103: Determine whether the dimensions of each side of the stackable area are integer multiples of the dimensions of any side of the lithium battery to be stacked.

[0053] Step S104: If the dimensions of each side of the stackable area are integer multiples of the dimensions of any side of the lithium battery to be stacked, then based on the dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked, at least one U-shaped area is determined within the stackable area, as well as the center coordinates and orientation of the lithium battery to be stacked along each side of the stackable area.

[0054] Step S105: Based on the center coordinates and orientation of the lithium battery to be stacked, place the lithium battery to be stacked at the corresponding position of the at least one loop-shaped area.

[0055] In this step, the target placement positions and target postures of the lithium batteries to be stacked are obtained in at least one loop-shaped area; the actual placement position and actual posture of the lithium batteries to be stacked are detected; the actual position is compared with the target placement position and the actual posture is compared with the target posture; if the first difference between the actual position and the target placement position is within a first preset range and the second difference between the actual posture and the target posture is within a second preset range, then at least one loop-shaped area is re-determined in the stackable area.

[0056] If the first difference between the actual position and the target placement position is not within the first preset range, and / or the second difference between the actual posture and the target posture is not within the second preset range, then the process ends.

[0057] In summary, the method of this application first determines whether the dimensions of each side of the stackable area are integer multiples of the dimensions of any side of the lithium battery to be stacked. Then, if the dimensions of each side of the stackable area are integer multiples of the dimensions of any side of the lithium battery to be stacked, at least one loop-shaped area is determined within the stackable area, along with the center coordinates and orientation of the lithium batteries to be stacked along each side of the stackable area, based on the dimensions of each side of the stackable area and the dimensions of the lithium batteries to be stacked. Finally, based on the center coordinates and orientation of the lithium batteries to be stacked, the lithium batteries are placed at the corresponding positions within the at least one loop-shaped area. This method allows for the selection of feasible stacking patterns based on the geometry and type of the lithium batteries, thus providing better adaptability to stacking scenarios with a large number of lithium batteries exhibiting different geometric and physical characteristics, and improving stacking stability.

[0058] Please see Figure 2 The diagram shows a structural block diagram of a palletizing device for lithium batteries according to this application.

[0059] like Figure 2 As shown, the palletizing device 200 for lithium batteries includes a first acquisition module 210, a second acquisition module 220, a first judgment module 230, a determination module 240, and a placement module 250.

[0060] The system includes a first acquisition module 210, configured to acquire a stackable area of ​​the palletizer gripper, the stackable area including at least one side; a second acquisition module 220, configured to acquire the dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked, the stackable area including a first side, a second side, a third side, and a fourth side; a first judgment module 230, configured to determine whether the dimensions of each side of the stackable area are integer multiples of the dimensions of any side of the lithium battery to be stacked; a determination module 240, configured to, if the dimensions of each side of the stackable area are integer multiples of the dimensions of any side of the lithium battery to be stacked, determine at least one loop-shaped area within the stackable area and the center coordinates and orientation of the lithium battery to be stacked along each side of the stackable area; and a placement module 250, configured to place the lithium battery to be stacked at the corresponding position of the at least one loop-shaped area according to the center coordinates and orientation of the lithium battery to be stacked.

[0061] It should be understood that Figure 2 The modules and references described in the document Figure 1 The steps described in the text correspond to those in the method described above. Therefore, the operations, features, and corresponding technical effects described above also apply to the method described in the text. Figure 2 The various modules in the document will not be described in detail here.

[0062] In one specific embodiment, the palletizing device further includes: a first definition module configured to define an edge as a first loop-shaped region edge if the size of an edge of the stackable area is an integer multiple of the size of any side of the lithium battery to be palletized; a second judgment module configured to determine whether the size of an edge adjacent to an edge is an integer multiple of the size of any side of the lithium battery to be palletized; a cutting module configured to cut an edge into at least two sub-edges if the size of an edge adjacent to an edge is not an integer multiple of the size of any side of the lithium battery to be palletized, wherein the size of one sub-edge is an integer multiple of the size of any side of the lithium battery to be palletized, and the size of the other sub-edge is greater than the size of any side of the lithium battery to be palletized; the second definition module defining one sub-edge as a second loop-shaped region edge and defining the other sub-edge as another first loop-shaped region edge; and a generation module configured to form a loop-shaped region based on the first loop-shaped region edge and the second loop-shaped region edge.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A palletizing method for lithium batteries, characterized in that, include: Obtain the stackable area of ​​the palletizer gripper, wherein the stackable area includes at least one edge; The dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked are obtained. The stackable area includes a first side, a second side, a third side, and a fourth side. Determine whether the dimensions of each side of the stackable area are integer multiples of the dimensions of any side of the lithium battery to be stacked; If the size of one side of the stackable area is an integer multiple of the size of any side of the lithium battery to be stacked, then that side is taken as the first loop-shaped area side. Determine whether the size of an edge adjacent to the stated edge is an integer multiple of the size of any side of the lithium battery to be stacked; If the size of an edge adjacent to the stated edge is not an integer multiple of the size of any side of the lithium battery to be stacked, the stated edge is cut into at least two sub-edges, wherein the size of one sub-edge is an integer multiple of the size of any side of the lithium battery to be stacked, and the size of the other sub-edge is greater than the size of any side of the lithium battery to be stacked. Define one sub-edge as a second circular region edge, and define the other sub-edge as another first circular region edge; A loop-shaped region is formed based on the edges of the first loop-shaped region and the edges of the second loop-shaped region; Another loop-shaped region is formed by the other first loop-shaped region edge and another edge adjacent to the other first loop-shaped region edge; If the dimensions of each side of the stackable area are all integer multiples of the dimensions of any side of the lithium battery to be stacked, then based on the dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked, at least one loop-shaped area is determined within the stackable area, as well as the center coordinates and orientation of the lithium battery to be stacked along each side of the stackable area. Based on the center coordinates and orientation of the lithium battery to be stacked, place the lithium battery to be stacked at the corresponding position in the at least one loop-shaped area.

2. The palletizing method for lithium batteries according to claim 1, characterized in that, After placing the lithium battery to be stacked at the corresponding position in the at least one loop-shaped area according to the center coordinates and orientation of the lithium battery to be stacked, the method further includes: Obtain the target placement positions of each target in the at least one loop-shaped region and the target orientation of the lithium battery to be stacked; Detect the actual position and actual orientation of the lithium batteries to be stacked; Compare the actual position with the target placement position and the actual posture with the target posture, respectively; If the first difference between the actual position and the target placement position is within a first preset range, and the second difference between the actual posture and the target posture is within a second preset range, then at least one loop-shaped area is redefined within the placement area.

3. The palletizing method for lithium batteries according to claim 2, characterized in that, After comparing the actual position with the target placement position and the actual attitude with the target attitude, the method further includes: If the first difference between the actual position and the target placement position is not within the first preset range, and / or the second difference between the actual posture and the target posture is not within the second preset range, then the process ends.

4. A palletizing device for lithium batteries according to any one of claims 1-3, characterized in that, include: The first acquisition module is configured to acquire the stackable area of ​​the palletizer gripper, wherein the stackable area includes at least one edge. The second acquisition module is configured to acquire the dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked, wherein the stackable area includes a first side, a second side, a third side, and a fourth side. The first judgment module is configured to determine whether the dimensions of each side of the stackable area are integer multiples of the dimensions of any side of the lithium battery to be stacked; If the size of one side of the stackable area is an integer multiple of the size of any side of the lithium battery to be stacked, then that side is taken as the first loop-shaped area side. Determine whether the size of an edge adjacent to the stated edge is an integer multiple of the size of any side of the lithium battery to be stacked; If the size of an edge adjacent to the stated edge is not an integer multiple of the size of any side of the lithium battery to be stacked, the stated edge is cut into at least two sub-edges, wherein the size of one sub-edge is an integer multiple of the size of any side of the lithium battery to be stacked, and the size of the other sub-edge is greater than the size of any side of the lithium battery to be stacked. Define one sub-edge as a second circular region edge, and define the other sub-edge as another first circular region edge; A loop-shaped region is formed based on the edges of the first loop-shaped region and the edges of the second loop-shaped region; The determination module is configured to, if the dimensions of each side of the stackable area are all integer multiples of the dimensions of any side of the lithium battery to be stacked, then, based on the dimensions of each side of the stackable area and the dimensions of the lithium battery to be stacked, determine at least one loop-shaped area within the stackable area and the center coordinates and orientation of the lithium battery to be stacked along each side of the stackable area. The placement module is configured to place the lithium battery to be stacked at the corresponding position of the at least one loop-shaped area according to the center coordinates and orientation of the lithium battery to be stacked.

5. A palletizing device for lithium batteries according to claim 4, characterized in that, The palletizing device further includes: The first definition module is configured to define a first loop-shaped area edge if the size of one side of the stackable area is an integer multiple of the size of any side of the lithium battery to be stacked. The second judgment module is configured to determine whether the size of a certain edge adjacent to the edge is an integer multiple of the size of any side of the lithium battery to be stacked; The cutting module is configured to cut the edge into at least two sub-edges if the size of an edge adjacent to the edge is not an integer multiple of the size of any side of the lithium battery to be stacked. The size of one sub-edge is an integer multiple of the size of any side of the lithium battery to be stacked, and the size of the other sub-edge is greater than the size of any side of the lithium battery to be stacked. The second definition module defines one sub-edge as a second circular region edge and the other sub-edge as another first circular region edge. The generation module is configured to form a circular region based on the edges of the first circular region and the edges of the second circular region.

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