Feeding method, discharging method, controller and computer readable storage medium

Abstract

The invention discloses a feeding method, a discharging method, a controller and a computer readable storage medium. According to the feeding method in the scheme, in the feeding process, whether the type of a battery cell of a front station is the same as that of a current material disc of a feeding position or not is judged in advance; and if the model of the current charging tray is incompatible with the model of the battery cell at the front station, the charging tray is cached in the stacking transverse displacement, but the stacking action is not executed. And after the battery cells of the type arrive at the front station again, the tray which is cached in the stacking transverse displacement is returned to the feeding station for continuous feeding, so that the loading capacity of the tray and the caching function of the delayed station are utilized to the maximum extent, and the production efficiency of the whole line is favorably improved. Manual intervention is designed at the feeding station, the function that empty trays and half-full trays can be stacked to flow into the next procedure is achieved, the event that a line body is blocked and cannot run due to sensor faults is prevented, the event that full trays cannot be discharged due to the fact that empty trays in a discharging area cannot flow back is prevented, and the flexibility of equipment is improved.

Description

Technical Field

[0001] The present invention relates to the field of battery technology, and in particular to a loading method, a unloading method, a controller and a computer-readable storage medium. Background Art

[0002] In today's battery cell manufacturing plants, there is a design requirement that the same production line needs to be compatible with two different types of battery cells. Therefore, it is necessary to design the fixtures to be compatible and the battery cell handling system to be compatible during the design process. This will maximize the time saved on switching fixtures due to frequent model changes on the battery cell production line.

[0003] At present, there is mostly no model switching in the process of battery cell production. Instead, phased production scheduling is carried out. After the production plan of the new model battery cell is confirmed, the fixture needs to be switched within a week. After the fixture switching is completed, the fixture is scheduled according to demand. The process is simple but wastes a lot of production time. Over time, the cost loss converted into production hours gradually exceeds the cost loss of equipment development. Therefore, it is urgent to design an efficient and compatible fixture handling control solution to solve this problem and achieve the goal of saving production costs.

[0004] The existing battery cell production line cannot solve the following problems: (1) When the battery cell model is frequently switched, the fixture switching cannot be completed in time. In order to save switching time, planners need to schedule production in advance based on experience to minimize the number of fixture switching, but this will lead to increased storage and handling costs.

[0005] (2) The current handling systems of battery cell production lines are all one-way handling systems. Once the loading and unloading stations are missed, manual intervention is required to bring the equipment to the predetermined state to prevent unexpected downtime. Summary of the invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a loading method, in which if the model of the current tray at the loading position is incompatible with the model of the battery cell at the previous station, the tray is cached in the stacking horizontal shift position, but the stacking action is not performed, so as to make full use of the loading capacity of the tray and the cache function of the delayed station, which is conducive to improving the production efficiency of the entire line.

[0007] The feeding method according to the first embodiment of the present invention comprises the following steps: Step S1: Obtain the current battery cell model of the front station; Step S2: Determine whether there is an unfilled tray at the stacking horizontal shift position corresponding to the current battery cell model. If so, the first conveying mechanism conveys the tray from the corresponding stacking horizontal shift position to the loading position. Otherwise, the first conveying mechanism conveys the tray from the corresponding tray bin to the loading position. Step S3: Read the tray model and determine whether the tray model is consistent with the cell model. If so, execute step S4; otherwise, manually place the tray at the loading position into the corresponding tray bin or the first conveying mechanism conveys the tray at the loading position to the corresponding stacking horizontal shift position, and return to step S1; Step S4: Loading the material by a loading robot; Step S5: Determine whether the tray is full, if so, go to step 6; otherwise, return to step S3; Step S6: The first conveying mechanism conveys the tray filled with battery cells at the upper material position to the corresponding palletizing transverse shift position for palletizing.

[0008] According to the loading method of an embodiment of the present invention, if the model of the current tray at the loading position is incompatible with the model of the battery cell at the previous station, the tray will be cached in the palletizing horizontal shift position, but the palletizing action will not be performed, thereby making full use of the loading capacity of the tray and the caching function of the delayed station, which is beneficial to improving the production efficiency of the entire line.

[0009] According to some embodiments of the present invention, in step S6, the palletizing includes a first transport mechanism transporting the pallet that has been horizontally displaced for palletizing to a palletizing platform for palletizing.

[0010] According to some embodiments of the present invention, the material tray includes: a first material tray and a second material tray, and the first material tray and the second material tray respectively accommodate different types of battery cells.

[0011] According to some embodiments of the present invention, the palletizing transverse shift includes: a first palletizing transverse shift and a second palletizing transverse shift, the first palletizing transverse shift and the second palletizing transverse shift are respectively located on both sides of the upper material position, and the first palletizing transverse shift and the second palletizing transverse shift are respectively placed on the first material tray and the second material tray.

[0012] According to some embodiments of the present invention, the material tray bin comprises: a first material tray bin and a second material tray bin, wherein the first material tray bin and the second material tray bin are respectively used to place the first material tray and the second material tray.

[0013] According to some embodiments of the present invention, the first conveying mechanism includes: a first conveyor belt and a second conveyor belt, the first conveyor belt is used to convey the first material tray of the first material tray bin to the upper material position, and the second conveyor belt is used to convey the second material tray of the second material tray bin to the upper material position.

[0014] The blanking method according to the second aspect of the present invention comprises the following steps: Step T1: Get the current battery cell model of the rear station; Step T2: Determine whether the tray of the destacking platform corresponding to the current battery cell model is an empty tray. If so, return to step T1; otherwise, the second conveying mechanism conveys the corresponding tray to the unloading position; Step T3: Read the tray model of the unloading position, and determine whether the tray model is consistent with the battery cell model of the subsequent station. If so, execute step T4, otherwise execute step T6; Step T4: Determine whether the number of cells of this model remaining in the tray of the unloading position is less than the number of cells that can be accommodated at a single time in the subsequent station and the tray is the last tray of cells of this model. If so, execute step T6; otherwise, the unloading robot unloads the cells; Step T5: Repeat the above steps T1-T4.

[0015] Step T6: The second conveying mechanism conveys the tray from the unloading position to the depalletizing transverse shift position, and then returns to step T1.

[0016] According to some embodiments of the present invention, in step T2, the second conveying mechanism conveys the corresponding material tray to the unloading position, including the second transporting mechanism transports the material tray on the destacking platform to the destacking transverse displacement position, and the second conveying mechanism conveys the material tray at the destacking transverse displacement position to the unloading position.

[0017] According to some embodiments of the present invention, the material tray includes: a first material tray and a second material tray, and the first material tray and the second material tray respectively accommodate different types of battery cells.

[0018] According to some embodiments of the present invention, the destacking transverse shift includes: a first destacking transverse shift and a second destacking transverse shift, the first destacking transverse shift and the second destacking transverse shift are respectively located on both sides of the unloading position, and the first destacking transverse shift and the second destacking transverse shift are respectively used to place different types of material trays.

[0019] According to an embodiment of the third aspect of the present invention, the controller includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the controller executes the steps of the loading method and / or the steps of the unloading method.

[0020] According to the computer-readable storage medium of the embodiment of the fourth aspect of the present invention, a computer program is stored, and when the computer program is executed by a processor, the processor executes the steps of the loading method and / or the steps of the unloading method.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a flow chart of a feeding method according to an embodiment of the present invention; Figure 2 Detailed description of the invention Figure 4 is a flow chart of a material discharging method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0024] Reference below Figure 1-Figure 2 A material loading method according to an embodiment of the present invention is described, a material unloading method is also proposed, and a controller and a computer-readable storage medium including the material unloading method and the material unloading method are proposed.

[0025] like Figure 1 As shown, the feeding method comprises the following steps: Step S1: Obtain the current battery cell model of the previous station, that is, obtain the model of the battery cell processed by the previous station.

[0026] Step S2: Determine whether there is an unfilled tray in the palletizing horizontal shift position corresponding to the current battery cell model.

[0027] If yes, the first conveying mechanism conveys the tray from the corresponding palletizing horizontal shift to the loading position, otherwise the first conveying mechanism conveys the tray from the corresponding tray bin to the loading position. In other words, if there is an unfilled tray on the palletizing horizontal shift, the first conveying mechanism puts the tray to the loading position and waits for the loading robot to load the tray.

[0028] The tray is provided with a plurality of receiving slots for receiving battery cells. If there is an empty receiving slot, the tray is not full.

[0029] If there are no unfilled trays on the palletizing transverse shift position, the first conveying mechanism conveys the trays in the tray bin to the loading position.

[0030] Step S3: Read the tray model and determine whether the tray model is consistent with the battery cell model.

[0031] The controller may include: a first reading device, which reads the information of the material tray at the upper material position, determines the model of the material tray, and thus determines whether the material tray model is consistent with the battery cell model.

[0032] If yes, execute step S4; otherwise, manually place the tray of the loading position into the corresponding tray bin or the first conveying mechanism conveys the tray of the loading position to the corresponding stacking transverse shift position, and return to step S1. In other words, if the tray model of the loading position is inconsistent with the battery cell model, you can choose to manually put the tray of the loading position back into the corresponding tray bin, or you can choose to cache the tray in the corresponding stacking transverse shift position through the first conveying mechanism, wait for the previous station to process the corresponding battery cell, and then return the tray cached in the stacking transverse shift position to the loading position for loading.

[0033] Therefore, manual intervention is designed at the loading station to stack empty and half-full trays and flow them into the next process, preventing the line from being blocked and unable to run due to sensor failure, and the full tray from being unable to be unloaded due to the inability to flow back into the unloading area due to the empty trays, thereby improving the flexibility of the equipment.

[0034] Step S4: Loading by the loading robot. Specifically, after the battery cell is processed at the front station, the loading robot grabs the battery cell and places the battery cell in the material tray at the loading station.

[0035] The multiple receiving slots of the material tray are grouped, and the number of receiving slots in each group is consistent with the number of battery cells that the loading robot can load at a single time.

[0036] The loading position can be provided with: a sensor, the sensor is electrically connected to the controller, the sensor obtains the number and position information of the empty receiving slots of the material tray, and the controller enables the loading robot to place the battery cells in the empty receiving slots of the material tray according to the information obtained by the sensor and plan the optimal path.

[0037] Step S5: Determine whether the material tray is full. If so, execute step 6; otherwise, return to step S3.

[0038] That is to say, if the tray is not full, it is determined that the current battery cell model of the previous station is consistent with the tray model. If they are consistent, loading will continue. If they are inconsistent, you can choose to manually put the tray at the loading position back into the corresponding tray bin, or you can choose to cache the tray at the corresponding stacking horizontal shift position through the first conveying mechanism, wait for the previous station to process the corresponding battery cell, and then return the tray cached in the stacking horizontal shift position to the loading position for loading.

[0039] Step S6: The first conveying mechanism conveys the tray filled with cells at the upper material position to the corresponding palletizing horizontal shift position for palletizing. Specifically, in step S5, if the tray is full, the first conveying mechanism conveys the tray filled with cells at the upper material position to the corresponding palletizing horizontal shift position for palletizing, and the palletizing enters the next process.

[0040] In step S6, palletizing includes the first conveying mechanism conveying the pallet at the palletizing transverse shift position to the palletizing platform for palletizing. That is, after the pallet is full, the first conveying mechanism conveys the full pallet to the corresponding palletizing transverse shift position, and then the first conveying mechanism can convey the pallet at the palletizing transverse shift position to the palletizing platform for palletizing, and the third conveying mechanism conveys the pallet to the next process.

[0041] In this application, during the loading process, it is determined in advance whether the battery cell model of the front station is the same as the current tray of the loading station. If the model of the current tray is incompatible with the battery cell model of the front station, the tray is cached in the stacking horizontal shift position, but the stacking action is not performed. When the battery cell of this model arrives at the front station again, the tray cached in the stacking horizontal shift position is returned to the loading station for further loading. In this way, the loading capacity of the tray and the cache function of the delayed station are maximized, which is conducive to improving the production efficiency of the entire line.

[0042] According to some embodiments of the present invention, a tray includes: a first tray and a second tray, and the first tray and the second tray respectively accommodate different types of battery cells. Specifically, the first tray and the second tray have different sizes. This solution is applicable to battery cells of two different sizes, and stacking areas of two types of trays are respectively provided on opposite sides of the upper material position, the first tray is used to place one type of battery cell, and the second tray is used to place another type of battery cell. The first tray and the second tray are respectively provided with numbers, and the size of the tray is judged by identifying the number of the tray, thereby judging the type of the tray.

[0043] In some embodiments, the palletizing transverse shift includes: a first palletizing transverse shift and a second palletizing transverse shift, the first palletizing transverse shift and the second palletizing transverse shift are respectively located on both sides of the loading position, and the first palletizing transverse shift and the second palletizing transverse shift are respectively placed on the first palletizing tray and the second palletizing tray. Specifically, the first palletizing transverse shift and the second palletizing transverse shift are respectively arranged on the opposite sides of the loading position, the first palletizing transverse shift and the second palletizing transverse shift correspond to the first palletizing platform and the second palletizing platform, respectively, the first palletizing tray on the first palletizing transverse shift can be transported to the first palletizing platform for palletizing, and the second palletizing tray on the second palletizing transverse shift can be transported to the second palletizing platform for palletizing.

[0044] In addition, at most one material tray can be placed on the first palletizing transverse shift position and the second palletizing transverse shift position to avoid congestion on the palletizing transverse shift position.

[0045] In some embodiments, the tray bin includes: a first tray bin and a second tray bin, and the first tray bin and the second tray bin respectively hold the first tray and the second tray. Specifically, the first tray bin is used to hold the first tray, and when the battery cell processed at the current station corresponds to the first tray, the first conveying mechanism conveys the first tray from the first tray bin to the loading position, and the first tray is loaded at the loading position; the second tray bin is used to hold the second tray, and when the battery cell processed at the current station corresponds to the second tray, the second conveying mechanism conveys the second tray from the second tray bin to the loading position, and the second tray is loaded at the loading position.

[0046] In some embodiments, the first conveying mechanism includes: a first conveyor belt and a second conveyor belt, the first conveyor belt is used to convey the first material tray of the first material tray bin to the loading position, and the second conveyor belt is used to convey the second material tray of the second material tray bin to the loading position. Specifically, like Figure 2 As shown, the blanking method comprises the following steps: Step T1: Get the current battery cell model of the subsequent station. That is, get the model of the battery cell processed by the subsequent station. After the unloading robot grabs the battery cell, the battery cell flows into the subsequent station for processing.

[0047] Step T2: Determine whether the tray of the destacking platform corresponding to the current battery cell model is an empty tray.

[0048] If yes, return to step T1, otherwise the second conveying mechanism conveys the corresponding tray to the unloading position. In other words, if the destacking platform corresponding to the current battery cell model processed by the subsequent station is an empty tray, wait for destacking. If the destacking platform corresponding to the current battery cell model processed by the subsequent station is not an empty tray, the second conveying mechanism conveys the corresponding tray from the destacking horizontal shift position to the unloading position.

[0049] Step T3: Read the tray model of the unloading position and determine whether the tray model is consistent with the battery model of the subsequent station. If so, execute step T4, otherwise execute step T6. If the tray model is inconsistent with the battery model of the subsequent station, the first conveying mechanism conveys the tray of the unloading position to the corresponding destacking horizontal shift position to wait for unloading.

[0050] Step T4: Determine whether the number of cells remaining in the tray of the unloading position is less than the number of cells that can be accommodated at a single time in the subsequent station and the tray is the last tray of cells of this type. If so, execute step T6, otherwise the unloading robot unloads the cells. Specifically, if the number of cells remaining in the tray of the unloading position is less than the number of cells that can be accommodated at a single time in the subsequent station and the tray is the last tray of cells of this type, that is, the cells remaining in the tray are not enough for processing at the subsequent station, the tray is cached in the destacking horizontal shift position, and the unloading continues until the subsequent supply of cells is sufficient.

[0051] If the number of cells remaining in the tray of this model at the unloading position is sufficient for one processing at the subsequent workstation, the unloading robot will unload the material.

[0052] Step T5: Repeat the above steps T1-T4. Specifically, if there are still trays on the depalletizing platform, return to step T1 and continue to repeat the unloading operation.

[0053] Step T6: The second conveying mechanism conveys the tray from the unloading position to the destacking transverse shifting position, and then returns to step T1. If the post-processing position does not process this type of battery cell, it waits for unloading at the destacking transverse shifting position; if this type of battery cell is not available, it waits for battery cell supply at the destacking transverse shifting position.

[0054] In some embodiments, in step T2, the second conveying mechanism conveys the corresponding material tray to the unloading position, including the second handling mechanism conveying the material tray on the destacking platform to the destacking transverse displacement position, and the second conveying mechanism conveys the material tray at the destacking transverse displacement position to the unloading position. Specifically, after obtaining the battery cell model processed by the rear station, the second handling mechanism conveys the corresponding material tray from the destacking platform to the destacking transverse displacement position for unstacking. The second conveying mechanism then conveys the material tray at the destacking transverse displacement position to the unloading position for unloading.

[0055] The feeding method also includes: a tray release mode, which is divided into inching and continuous. The inching mode is used for individual half-full trays to quickly enter the next process to prevent product defects caused by not proceeding to the next process for a long time. Each inching can only release one tray. The first transport mechanism can transport the trays in the palletizing transverse movement area to the palletizing platform for palletizing, and the third transport mechanism transports the pallet to the next process.

[0056] When the continuous mode is started, after the continuous unloading tray is started, the front station will no longer load materials, and the tray will flow directly into the next process, and no processing action will be performed after reaching the next process. This ensures that when the front station is waiting for materials, the tray will flow continuously between the first conveying mechanism and the second conveying mechanism, and the unloading position can unload materials normally.

[0057] In some embodiments, the destacking transverse shift includes: a first destacking transverse shift and a second destacking transverse shift, the first destacking transverse shift and the second destacking transverse shift are respectively located on both sides of the unloading position, and the first destacking transverse shift and the second destacking transverse shift respectively place different types of trays. Specifically, the first destacking transverse shift and the second destacking transverse shift are respectively arranged on the opposite sides of the unloading position, and the first destacking transverse shift and the second destacking transverse shift correspond to the first destacking platform and the second destacking platform respectively. The trays of different types may include: a first tray and a second tray, the first tray on the first destacking transverse shift can be transported to the first destacking platform for destacking, and the second tray on the second destacking transverse shift can be transported to the second destacking platform for destacking.

[0058] In some embodiments, the unloading tray is returned to the first conveying bin and the second conveying bin for loading at the loading position.

[0059] According to an embodiment of the third aspect of the present invention, the controller includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the controller executes the steps of the loading method and / or the steps of the unloading method.

[0060] Based on the description of the above method embodiment and device embodiment, the embodiment of the present application also provides a controller. The controller includes at least a processor, a memory, and an input / output unit. The above processor can be a central processing unit (CPU), which is the computing and control core of the computer system and the final execution unit for information processing and program running.

[0061] According to the computer-readable storage medium of the embodiment of the fourth aspect of the present invention, a computer program is stored. When the computer program is executed by a processor, the processor executes the steps of the loading method and / or the steps of the unloading method.

[0062] The computer storage medium may be stored in the memory of the controller. The computer storage medium is used to store a computer program. The computer program includes program instructions. The processor may execute the program instructions stored in the memory.

[0063] In one embodiment, the controller described above in the embodiment of the present application can be used to perform a series of processes, including the method in any of the embodiments shown in FIG.-FIG ., etc.

[0064] The embodiment of the present application also provides a computer storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It is understandable that the computer storage medium here can include both built-in storage media in electronic devices and, of course, extended storage media supported by electronic devices. The computer storage medium provides a storage space that stores the operating system of the electronic device. In addition, one or more instructions suitable for being loaded and executed by a processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer storage medium here can be a high-speed RAM memory, or a non-volatile memory, such as at least one disk storage; optionally, it can also be at least one computer storage medium located away from the aforementioned processor.

[0065] In one embodiment, one or more instructions stored in a computer storage medium may be loaded and executed by a processor to implement the corresponding steps in the above embodiment; in a specific implementation, one or more instructions in a computer storage medium may be loaded and executed by a processor. Figure 1-Figure 2 Any steps in the method will not be repeated here.

[0066] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0067] In the description of the present invention, it should be understood 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 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 present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0068] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0069] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A feeding method, characterized in that: The following steps are involved: Step S1: Obtain the current battery cell model of the front station; Step S2: Determine whether there is an unfilled tray at the stacking horizontal shift position corresponding to the current battery cell model. If so, the first conveying mechanism conveys the tray from the corresponding stacking horizontal shift position to the loading position. Otherwise, the first conveying mechanism conveys the tray from the corresponding tray bin to the loading position. Step S3: Read the tray model and determine whether the tray model is consistent with the cell model. If so, execute step S4; otherwise, manually place the tray at the loading position into the corresponding tray bin or the first conveying mechanism conveys the tray at the loading position to the corresponding stacking horizontal shift position, and return to step S1; Step S4: Loading the material by a loading robot; Step S5: Determine whether the tray is full, if so, go to step 6; otherwise, return to step S3; Step S6: The first conveying mechanism conveys the tray filled with battery cells at the upper material position to the corresponding palletizing transverse shift position for palletizing.

2. The feeding method according to claim 1, characterized in that: In the step S6, the palletizing includes the first transport mechanism transporting the pallet that has been horizontally displaced for palletizing to the palletizing platform for palletizing.

3. The feeding method according to claim 1, characterized in that: The material tray comprises: a first material tray and a second material tray, wherein the first material tray and the second material tray respectively accommodate battery cells of different types.

4. The feeding method according to claim 3, characterized in that: The palletizing transverse shift includes: a first palletizing transverse shift and a second palletizing transverse shift, the first palletizing transverse shift and the second palletizing transverse shift are respectively located on both sides of the loading position, and the first palletizing transverse shift and the second palletizing transverse shift are respectively used to place the first material tray and the second material tray.

5. The feeding method according to claim 3, characterized in that: The material tray bin includes: a first material tray bin and a second material tray bin, and the first material tray bin and the second material tray bin are used to place the first material tray and the second material tray respectively.

6. The feeding method according to claim 5, characterized in that: The first conveying mechanism includes: a first conveyor belt and a second conveyor belt, the first conveyor belt is used to convey the first material tray of the first material tray bin to the upper material position, and the second conveyor belt is used to convey the second material tray of the second material tray bin to the upper material position.

7. A material cutting method, characterized in that: The following steps are involved: Step T1: The controller obtains the current battery cell model of the rear station; Step T2: Determine whether the tray of the destacking platform corresponding to the current battery cell model is an empty tray. If so, return to step T1; otherwise, the second conveying mechanism conveys the corresponding tray to the unloading position; Step T3: The controller reads the tray model of the unloading position and determines whether the tray model is consistent with the battery cell model of the subsequent station. If so, execute step T4, otherwise execute step T6; Step T4: Determine whether the number of cells of this model remaining in the tray of the unloading position is less than the number of cells that can be accommodated at a single time in the subsequent station and the tray is the last tray of cells of this model. If so, execute step T6; otherwise, the unloading robot unloads the cells; Step T5: repeat the above steps T1-T4; Step T6: The second conveying mechanism conveys the tray from the unloading position to the depalletizing transverse shift position, and then returns to step T1.

8. The blanking method according to claim 7, characterized in that: In step T2, the second conveying mechanism conveys the corresponding tray to the unloading position, including: the second transporting mechanism transports the tray on the destacking platform to the destacking transverse displacement position, and the second conveying mechanism transports the tray at the destacking transverse displacement position to the unloading position.

9. The blanking method according to claim 8, characterized in that: The destacking transverse shift includes: a first destacking transverse shift and a second destacking transverse shift, the first destacking transverse shift and the second destacking transverse shift are respectively located on both sides of the unloading position, and the first destacking transverse shift and the second destacking transverse shift are respectively used to place trays of different types.

10. A controller, characterized in that: It includes a processor and a memory, the memory stores a computer program, and when the computer program is executed by the processor, the controller executes the steps of the loading method as described in any one of claims 1 to 6 and / or the steps of the unloading method as described in any one of claims 7 to 9.

11. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the processor executes the steps of the loading method according to any one of claims 1 to 6 and / or the steps of the unloading method according to any one of claims 7 to 9.

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