Battery processing system and restraint rod scheduling method and device thereof

Abstract

The present application provides a battery processing system and a method and device for scheduling a restraining rod thereof. The battery processing system includes a first robot, a second robot, a restraining rod cache rack and a restraining rod loading vehicle. The first robot is used to stack a first battery package at a first stacking station, and the second robot is used to stack a second battery package at a second stacking station. The restraining rod cache rack is located between the first robot and the second robot. The restraining rod cache rack is provided with at least one cache position, and the restraining rod loading vehicle is arranged adjacent to the first robot. The method includes: determining the shortage of at least one cache position of the restraining rod cache rack; generating different replenishment signals based on the different shortage of at least one cache position; the first robot responds to different replenishment signals, selectively suspending the current task to give priority to completing the replenishment task or executing the current task first and then completing the replenishment task. The present application can complete the restraint of the battery package at the stacking station.

Description

Technical Field

[0001] The present application relates to the field of battery production, and in particular to a battery processing system and a restraint rod scheduling method and device thereof. Background Art

[0002] For the battery pack that has just been stacked, it is necessary to ensure the stability of the battery pack so that the pack will not tilt during the downward flow, and a restraint device is often required. The existing restraint method is to set up a separate restraint station and a release station, and use a motor to restrain from both ends to the middle at the restraint station. Although the restraint effect is good, the need to set up a restraint station and a release station separately will increase the length of the assembly line, thereby increasing the floor space of the assembly line. Moreover, the restraint station needs to be equipped with a restraint mechanism to complete the restraint work, and the release station needs to be equipped with a release mechanism to complete the release work, which also increases the cost and the initial design time. Moreover, there is also the risk of tipping and movement in the process of the battery pack flowing from the stacking station to the restraint station, and the restraint effect is not direct and timely enough. Summary of the invention

[0003] In order to solve the above technical problems, the present application provides a battery processing system and a restraint rod scheduling method and device thereof to solve the above technical problems.

[0004] In a first aspect, the present application provides a restraint rod scheduling method, which is applied to a battery processing system, wherein the battery processing system includes a first robot, a second robot, a restraint rod buffer rack and a restraint rod loading vehicle, wherein the first robot is used to stack a first battery package at a first stacking station, and the second robot is used to stack a second battery package at a second stacking station, wherein the restraint rod buffer rack is located between the first robot and the second robot, wherein the restraint rod buffer rack is provided with at least one buffer position, and the restraint rod loading vehicle is arranged adjacent to the first robot; the restraint rod scheduling method includes:

[0005] Determining a shortage of material in at least one cache position of the restraining rod cache rack;

[0006] generating different replenishment signals based on different shortage conditions of the at least one cache position;

[0007] The first robot selectively pauses a current task in response to different feeding signals to give priority to completing a feeding task of feeding the restraining rod buffer rack or performs the current task first and then completes the feeding task of feeding the restraining rod buffer rack, wherein the current task includes one of a stacking task and a restraining task of restraining the first battery package at the first stacking station using a restraining rod;

[0008] After the second robot completes lamination of the second battery package at the second lamination station, it clamps a restraining rod from the restraining rod cache rack to the second lamination station, and restrains the second battery package at the second lamination station through the restraining rod.

[0009] A second aspect of the present application provides a restraint rod scheduling device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to execute the steps of the restraint rod scheduling method described in the first aspect.

[0010] A third aspect of the present application provides a computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, and the computer program is executed by a processor to perform the steps of the restraint rod scheduling method described in the first aspect.

[0011] A fourth aspect of the present application provides a battery processing system, which includes a first robot, a second robot, a restraint rod cache rack and a restraint rod loading cart, the first robot is used to stack a first battery package at a first stacking station, the second robot is used to stack a second battery package at a second stacking station, the restraint rod cache rack is located between the first robot and the second robot, the restraint rod cache rack is provided with at least one cache position, and the restraint rod loading cart is arranged adjacent to the first robot; the battery processing system also includes a memory and a processor, the memory stores a computer program, and the processor runs the computer program to execute the steps of the restraint rod scheduling method described in the first aspect.

[0012] Thus, in the present application, different replenishment signals are generated based on the different material shortage conditions of the at least one cache position; the first robot responds to different replenishment signals, selectively suspends the current task to give priority to completing the replenishment task or executes the current task first and then completes the replenishment task, wherein the current task includes one of a stacking task and a restraining task of restraining the first battery package at the first stacking station using a restraint rod, thereby reducing waiting time and improving production rhythm, and the restraint of the first battery package and the second battery package by the restraint rod occurs at the first stacking station and the second stacking station respectively, compared with the need to additionally set up a restraining station and a de-constraining station in the prior art, there is no need to add additional stations, and there is no risk of the first battery package tipping over or overturning in the process from the first stacking station to the restraining station, or the risk of the second package tipping over or overturning in the process from the second stacking station to the restraining station in the prior art, which can reduce the length of the entire assembly line of the battery processing system, reduce the floor space, and reduce various costs caused by the restraining station and the de-constraining station. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 A schematic diagram of the structure of a battery processing system provided in one embodiment of the present application.

[0015] Figure 2 Schematic diagram of the process of the restraint rod scheduling method in one embodiment of the present application.

[0016] Figure 3 This is a schematic diagram of the process of the first robot performing a feeding task in one embodiment of the present application.

[0017] Figure 4 The figure is a flowchart of a first robot performing a restraint subtask in one embodiment.

[0018] Figure 5 The figure is a flowchart of a second robot performing a restraint subtask in one embodiment. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] In the description of the present application, the terms "first", "second", etc. are used to distinguish different objects rather than to describe a specific order, and therefore should not be understood as limiting the present application.

[0021] It should be noted that the illustrations provided in the embodiments of the present application are only used to illustrate the basic concept of the present application in a schematic manner. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0022] Please refer to Figure 1 , Figure 1It is a structural schematic diagram of a battery processing system 100 in an embodiment of the present application. The battery processing system 100 includes an assembly line 1, a first robot 2 and a second robot 3 located on both sides of the assembly line 1, a first stacking station 11, a restraining rod cache rack 12 and a second stacking station 13 arranged on the assembly line 1, and a restraining rod loading vehicle 4 located on the same side of the assembly line 1 as the first robot 2. Among them, the first stacking station 11 is closer to the upstream position of the assembly line 1, and the second stacking station 13 is closer to the downstream position of the assembly line 1. The restraining rod cache rack 12 is located between the first stacking station 11 and the second stacking station 13. The restraining rod cache rack 12 includes at least one cache position 121, and each cache position 121 is used to store a restraining rod 41. The first robot 2 is arranged adjacent to the first stacking station 11, and is used to stack a plurality of battery cells on the first stacking station 11 to form a first battery package 111. It is understandable that the first battery package 111 is formed by a plurality of single cells arranged in a horizontal plane along the thickness direction of the single cells. The second robot 3 is arranged adjacent to the second stacking station 13, and is used to stack a plurality of battery cells on the second stacking station 13 to form a second battery package 131. It is understandable that the second battery package 131 is formed by a plurality of single cells arranged in a horizontal plane along the thickness direction of the single cells. The first robot 2 is also used to supplement the restraining rod 41 on the restraining rod loading vehicle 4 to the vacant cache position in the restraining rod cache rack 12. In this embodiment, the battery processing system 100 includes two battery stacking stations and a plurality of other stations, wherein the two battery stacking stations are the first stacking station 11 and the second stacking station 13 as described above. Therefore, two battery packages, namely the first battery package 111 and the second battery package 131, can be produced simultaneously on one assembly line 1. When a pallet loaded with certain battery components flows to a certain workstation on assembly line 1, assembly line 1 stops flowing, and a push rod is used to lift the pallet so that the pallet is separated from assembly line 1. After the processing is completed at the workstation, the push rod is lowered, and the pallet returns to assembly line 1. Assembly line 1 starts flowing again to flow to the next workstation for processing.

[0023] When the first robot 2 completes the lamination of the first battery package 111, the first robot 2 clamps a restraining rod 41 from the restraining rod loading vehicle 4 or the restraining rod cache rack 12 and presses it down to the upper surface of the first battery package 111 to restrain the first battery package 111, thereby preventing the first battery package 111 from tipping over or deflecting during the process of flowing to the next station. When the second robot 3 completes the lamination of the second battery package 131, the second robot 3 clamps a restraining rod 41 from the restraining rod cache rack 12 and presses it down to the upper surface of the second battery package 131 to restrain the second battery package 131, thereby preventing the second battery package 131 from tipping over or deflecting during the process of flowing to the next station. When it is necessary to supplement the restraining rod 41 to the cache position of the restraining rod cache rack 12, the first robot 2 can clamp the restraining rod 41 from the restraining rod loading vehicle 4 and supplement it to the cache position in the restraining rod cache rack 12 that is currently in a vacant state. Therefore, the first robot 2 has three tasks, namely, stacking task, restraint task and refilling task, wherein the stacking task refers to stacking battery cells on the first stacking station 11 to form a first battery package 111, and the restraint task refers to clamping the restraint rod 41 from the restraint rod loading vehicle 4 and pressing it down onto the first battery package 111 located on the first stacking station 11 to restrain the first battery package 111 to avoid the risk of the first battery package 111 tipping over or overturning when flowing to the next station; in other embodiments, the first robot 2 can also clamp the restraint rod 41 from the restraint rod cache rack 12 when performing the restraint task, which is not limited here. The refilling task refers to adding the restraint rod 41 on the restraint rod loading vehicle 4 to the cache position of the restraint rod cache rack 12. The second robot 3 has two tasks, namely, a stacking task and a restraining task, wherein the stacking task refers to stacking battery cells on the second stacking station 13 to form a second battery package 131, and the restraining task refers to clamping the restraining rod 41 from the restraining rod cache rack 12 and pressing it down onto the second battery package 131 located on the second stacking station 13 to restrain the second battery package 131, so as to avoid the risk of the second battery package 131 tipping over or overturning when flowing to the next station. Among them, the restraining task includes a material picking subtask and a pressing subtask, wherein the material picking subtask refers to clamping the restraining rod 41 from the restraining rod cache rack 12 and placing it on the upper surface of the second battery package 131. The pressing subtask refers to pressing down the restraining rod 41 to restrain the second battery package 131.

[0024] In some embodiments, the restraining rod cache rack 12 is provided with a first opposing photoelectric sensor 122 for each cache position, and the first opposing photoelectric sensor 122 includes a first transmitting end and a first receiving end, and the first transmitting end and the first receiving end are respectively provided at opposite ends of the cache position. When there is a restraining rod 41 in the cache position, the signal emitted by the first transmitting end is blocked by the restraining rod 41, and the receiving end cannot receive the signal emitted by the first transmitting end. When there is no restraining rod 41 in the cache position, the signal emitted by the first transmitting end will not be blocked, and the first receiving end can receive the signal emitted by the first transmitting end. Therefore, the storage status of the cache position can be detected by the first opposing photoelectric sensor 122.

[0025] In some embodiments, a second opposing-type photoelectric sensor 411 is provided on the restraining rod loading vehicle 4 for each restraining rod 41 slot, and the second opposing-type photoelectric sensor 411 includes a second transmitting end and a second receiving end. The second transmitting end and the second receiving end are respectively arranged at opposite ends of the restraining rod 41 slot. When there is a restraining rod 41 in the restraining rod 41 slot, the signal emitted by the second transmitting end is blocked by the restraining rod 41, and the second receiving end cannot receive the signal emitted by the transmitting end. When there is no restraining rod 41 in the restraining rod 41 slot, the signal emitted by the second transmitting end will not be blocked, and the second receiving end can receive the signal emitted by the second transmitting end. Therefore, the loading status of the restraining rod 41 slot can be detected by the opposing-type photoelectric sensor.

[0026] In some embodiments, the process of the first robot 2 restraining the first battery package 111 is that after the first robot 2's gripper grabs the restraint rod 41, it comes to the top of the first battery package 111 and first uses the force brought by its cylinder to press down for a period of time. Since the contact surface between the restraint rod 41 and the first battery package 111 is installed with foam, it can withstand a large force. It is difficult to ensure that the restraint is in place by relying solely on the downward force of the cylinder. Therefore, after pressing down for a period of time, the first robot 2 will adjust its posture and use its large plate surface to perform a second stage of downward pressure. The downward force of the first robot 2 will further compact the restraint rod 41, so that it is fully in contact with the first battery package 111 and is subjected to force.

[0027] In some embodiments, the process of the first robot 2 restraining the first battery package 111 using the restraining rod 41 includes the following steps:

[0028] The first robot 2 moves the clamping claw to the top of the first battery package 111 and slowly lowers the restraining rod 41 onto the first battery package 111. The slow speed is to ensure that the restraining rod 41 only applies downward pressure to the first battery package 111 when in contact with the first battery package 111. The first robot 2 stops after the cylinder rebounds a certain distance.

[0029] The electromagnetic valve of the cylinder is powered off, and the cylinder moves to the middle discharge position to discharge the force in the cylinder, thereby avoiding the influence of force on the single battery of the first battery package 111 when the clamping jaws are opened.

[0030] The first robot 2 opens the clamping cylinder of the restraining rod 41 , and the first robot 2 moves to the top of the first battery package 111 .

[0031] After the cylinder of the first robot 2 is pressed down, the applied force is limited and cannot directly ensure that the restraint rod 41 presses the first battery package 111. Therefore, the first robot 2 changes its posture, turns the large plate face downward, and uses this surface to contact the restraint rod 41, giving it a downward pressure, and lifts it up after traveling a fixed distance. At this point, the placement of the restraint rod 41 is completed.

[0032] Thus, the force of the cylinder plus the downward force of the first robot 2 can give the restraint rod 41 a force of two hundred kilograms, firmly fixing the single cells of the first battery package 111 before the first battery package 111 flows, thereby avoiding the risk of the single cells of the first battery package 111 tipping over during the flow. Compared with using motors to restrain from both ends, this method is the most timely and effective. The use of motors for restraint requires a separate workstation, and the first battery package 111 has a great risk of tipping over when flowing into the restraint station, and if the first battery package 111 itself is crooked, the restraint effect of the motor is not impressive, and the timeliness requirements are not met. The use of the first robot 2 to complete the restraint ensures the timeliness of the restraint and saves material costs and design costs.

[0033] In some embodiments, the second robot 3 restrains the second battery package 131 in the following process: after the second robot 3's gripper grabs the restraint rod 41, it comes to the top of the second battery package 131 and first uses the force brought by its cylinder to press down for a period of time. Since the contact surface between the restraint rod 41 and the second battery package 131 is installed with foam, it can withstand a large force. It is difficult to ensure that the restraint is in place by the pressure of the cylinder alone. Therefore, after pressing down for a period of time, the second robot 3 will adjust its posture and use its large clamp surface to perform a second-stage downward pressure. The downward pressure of the second robot 3 will further compact the restraint rod 41, so that it is in full contact with the second battery package 131 and is subjected to force.

[0034] In some embodiments, the process of the second robot 3 restraining the second battery package 131 using the restraining rod 41 includes the following steps:

[0035] The second robot 3 translates the clamp to the top of the second battery package 131 and slowly lowers the restraint rod 41 onto the second battery package 131. The slow speed is to ensure that the restraint rod 41 only applies downward pressure to the second battery package 131 when in contact with the second battery package 131. The second robot 3 stops after the cylinder rebounds a certain distance.

[0036] The electromagnetic valve of the cylinder is powered off, and the cylinder moves to the middle release position to release the force in the cylinder, thereby avoiding the influence of force on the single battery of the second battery package 131 when the clamping jaws are opened.

[0037] The second robot 3 opens the clamping cylinder of the restraining rod 41 , and the second robot 3 moves to the top of the second battery package 131 .

[0038] After the cylinder of the second robot 3 completes the downward pressure, the applied force is limited and cannot directly ensure that the restraint rod 41 presses the second battery package 131. Therefore, the second robot 3 changes its posture, turns the large plate face downward, and uses this face to contact the restraint rod 41, giving it a downward pressure, and lifts it up after traveling a fixed distance. At this point, the placement of the restraint rod 41 is completed.

[0039] Thus, the force of the cylinder plus the downward force of the second robot 3 can give the restraint rod 41 a force of two hundred kilograms, firmly fixing the single cells of the second battery package 131 before the second battery package 131 flows, thereby avoiding the risk of the single cells of the second battery package 131 tipping over during the flow. Compared with using motors to restrain from both ends, this method is the most timely and effective. The use of motors for restraint requires a separate workstation, and the second battery package 131 has a great risk of tipping over when flowing into the restraint station, and if the second battery package 131 itself is crooked, the restraint effect of the motor is not impressive, and the timeliness requirements cannot be met. The use of the second robot 3 to complete the restraint ensures the timeliness of the restraint and saves material costs and design costs.

[0040] In some embodiments, the battery processing system 100 also includes a restraint rod scheduling device 10. The restraint rod scheduling device 10 includes a processor 5 and a memory 6. The memory 6 is electrically connected to the processor 5, and the processor 5 is respectively connected to the first robot 2 and the second robot 3 for communication. In some embodiments, the processor may be, but is not limited to, a PLC (Programmable Logic Controller). In other embodiments, the processor 5 may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a readily available programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc. The memory 6 may include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a disk or an optical disk, etc. The technology used for the communication connection may be, but is not limited to, Ethernet control automation technology EtherCAT, etc., where CAT is Control Automation Technology. In some embodiments, the first through-beam photoelectric sensor 122 and the second through-beam photoelectric sensor 411 are respectively connected to the processor 5 for communication, so as to report the status of each cache position of the restraining rod cache rack 12 and the status of each restraining rod 41 slot of the restraining rod loading vehicle 4 to the processor 5. The memory 6 stores a computer program, and the processor 5 runs the computer program to execute the steps of the restraining rod 41 scheduling method based on the reported data of the first through-beam photoelectric sensor 122 and the second through-beam photoelectric sensor 411 and the respective working states of the first robot 2 and the second robot 3, so as to comprehensively schedule the first robot 2 and the second robot 3, so as to better match the production rhythm of the battery processing system 100, improve production efficiency, and reduce waiting time.

[0041] For some examples, please refer to Figure 2 , Figure 2 : is a flow chart of the method for scheduling the restraint rod 41 in one embodiment of the present application. It is understandable that the execution order of the method for scheduling the restraint rod 41 can be adjusted according to actual needs, and the steps of the method for scheduling the restraint rod 41 can be increased or decreased according to actual needs, which is not limited here. The method for scheduling the restraint rod 41 includes:

[0042] Step 20: Determine whether the at least one cache position 121 of the restraining rod cache rack 12 is out of material, if yes, proceed to step 21, if no, return to step 20;

[0043] Step 21: Determine the shortage of at least one cache position of the restraining rod cache rack 12.

[0044] Step 22: Generate different replenishment signals based on different shortage conditions of the at least one cache location 121 .

[0045] Step 23: The first robot 2 responds to different feeding signals and selectively pauses the current task to give priority to completing the feeding task of feeding the restraint rod cache rack 12 or executes the current task first and then completes the feeding task of feeding the restraint rod cache rack 12, wherein the current task includes one of the stacking task and the restraint task of restraining the first battery pack 111 at the first stacking station 11 using the restraint rod 41.

[0046] Step 24: After the second robot 3 completes the lamination of the second battery package 131 at the second lamination station 13, it clamps a restraint rod 41 from the restraint rod cache rack 12 to the second lamination station 13, and restrains the second battery package 131 at the second lamination station 13 through the restraint rod 41.

[0047] Thus, in the present application, different replenishment signals are generated based on the different shortage conditions of the at least one cache position 121; the first robot 2 responds to different replenishment signals, selectively suspends the current task to give priority to the replenishment task or executes the current task first and then completes the replenishment task, wherein the current task includes one of the stacking task and the restraining task of restraining the first battery package 111 at the first stacking station 11 using the restraining rod 41, thereby reducing the waiting time and improving the production cycle, and the restraining rod 41 is used to restrain the first battery package 111 and the second battery package 1 The restraint of 31 occurs at the first stacking station 11 and the second stacking station 13 respectively. Compared with the prior art which requires additional restraint stations and de-restraint stations, there is no need to add additional stations, and there is no risk of the first battery package 111 tipping over or overturning in the process from the first stacking station 11 to the restraint station, or the risk of the second package tipping over or overturning in the process from the second stacking station 13 to the restraint station in the prior art. The length of the entire assembly line 1 of the battery processing system 100 can be reduced, the floor space can be reduced, and the various costs caused by the restraint stations and the de-restraint stations can be reduced.

[0048] In some embodiments, the at least one cache position 121 includes a first cache position 123 and a second cache position 124 arranged along the assembly line 1 direction of the battery processing system 100, the first cache position 123 is arranged closer to the first stacking station 11 than the second cache position 124, and the second cache position 124 is arranged closer to the second stacking station 13 than the first cache position 123; it can be understood that in other embodiments, the at least one cache position 121 may include one, three or more cache positions, which is not limited here.

[0049] In some embodiments, generating different replenishment signals based on different shortage conditions of the at least one cache location 121 includes:

[0050] When the at least one cache position 121 is out of material, a first replenishment signal is generated;

[0051] The first robot 2 responds to different feeding signals and selectively pauses the current task to complete the feeding task first or performs the current task first and then completes the feeding task, including:

[0052] The first robot 2 responds to the first feeding signal, pauses the current task, completes the feeding task first, and then returns to continue executing the current task.

[0053] Thus, when all the cache positions of the restraint rod cache rack 12 are out of material, the processor 5 will immediately dispatch the first robot 2 to replenish the material, so that the second robot 3 can obtain the restraint rod 41 on the restraint rod cache rack 12 without waiting after completing the stacking task. Moreover, the restraint process of the second battery package 131 using the restraint rod 41 occurs at the second stacking station 13. Compared with the prior art that requires additional restraint stations and deconstraint stations, there is no need to add additional stations, and there is no risk of tipping or overturning in the process from the second stacking station 13 to the restraint station in the prior art. The length of the entire assembly line 1 of the battery processing system 100 can be reduced, the floor space can be reduced, the various costs caused by the restraint stations and deconstraint stations can be reduced, the waiting time can be reduced, and the production rhythm can be improved.

[0054] In some embodiments, the first robot 2 responds to the first feeding signal, pauses the current task, preferentially completes the feeding task of feeding the restraint rod buffer rack 12, and then returns to continue to perform the current task, including any of the following situations:

[0055] The first robot 2 is currently performing a stacking task. After completing the stacking of the battery cell on the current gripper in response to the first feeding signal, the first robot 2 pauses the current stacking task, grabs a restraining rod 41 from the restraining rod loading vehicle 4 and adds it to the restraining rod buffer rack 12 to preferentially complete the feeding task of feeding the restraining rod buffer rack 12, and then returns to complete the stacking task;

[0056] The first robot 2 is not currently performing a stacking task, and the second robot 3 is currently performing a stacking task, then the first robot 2 continuously clamps two restraining rods 41 and adds them to the first cache position 123 and the second cache position 124 of the restraining rod cache rack 12 to complete the task of replenishing materials to the restraining rod cache rack 12;

[0057] The first robot 2 is not currently performing a lamination task, and the second robot 3 sends a signal requesting to take a restraining rod 41, then the first robot 2 clamps a restraining rod 41 and adds it to the restraining rod cache rack 12 and then leaves, the second robot 3 completes the task of taking the restraining rod 41 after the first robot 2 leaves the restraining rod cache rack 12, and the first robot 2 continuously clamps two restraining rods 41 and adds them to the restraining rod cache rack 12 after the second robot 3 completes the task of taking the restraining rod 41 to complete the task of replenishing the restraining rod cache rack 12;

[0058] The first robot 2 is currently performing a restraint task, so the restraint task is suspended, a restraint rod 41 is clamped from the restraint rod loading vehicle 4 to be added to the restraint rod buffer rack 12 to preferentially complete the task of replenishing the restraint rod buffer rack 12, and then the restraint task is continued;

[0059] When the first robot 2 is taking a restraining rod 41 from the restraining rod loading trolley 4 to restrain the first battery package 111, the currently clamped restraining rod 41 is first added to the restraining rod cache rack 12 to prioritize the task of replenishing the restraining rod cache rack 12, and then another restraining rod 41 is clamped to restrain the first battery package 111 to complete the restraining task.

[0060] Therefore, when the first robot 2 receives the first request for replenishment signal, since the first request for replenishment signal indicates that there are no restraining rods 41 available on the restraining rod cache rack 12, if the restraining rods 41 are not replenished in time, the second robot 3 will need to stop and wait for the first robot 2 to complete the task of replenishing materials from the restraining rod loading vehicle 4 to the restraining rod cache rack 12 before it can perform the restraining task. In addition, during the stacking process, if the second stacking station 13 completes stacking first and there are no restraining rods 41 available, the stacked second battery package 131 will not be able to flow away, which will seriously affect the production rhythm. Therefore, if the first robot 2 is currently performing the stacking task The first robot 2, after stacking the battery cells on the current gripper to the first stacking station 11 to form a part of the first battery package 111, pauses the current stacking task, clamps a restraining rod 41 from the restraining rod loading trolley 4 to add it to the restraining rod buffer rack 12 for use by the second robot 3 to give priority to completing the feeding task of replenishing the restraining rod buffer rack 12, and then continues to complete the stacking task; if the first robot 2 is performing a restraining task, then pauses the restraining task, clamps a restraining rod 41 from the restraining rod loading trolley 4 to add it to the restraining rod buffer rack 12 to give priority to completing the feeding task of replenishing the restraining rod buffer rack 12, and then continues Continue to complete the restraint task to improve the production rhythm; if the first robot 2 is not currently performing the stacking task, and the second robot 3 is currently performing the stacking task, then the first robot 2 continuously adds two restraint rods 41 to the restraint rod cache rack 12 to complete the task of replenishing the restraint rod cache rack 12, because the second robot 3 is currently performing a restraint task and will not perform the restraint task, therefore, it will not move to the area where the restraint rod cache rack 12 is located, and will not interfere with the first robot 2 in the area where the restraint rod cache rack 12 is located. Therefore, two restraint rods 41 can be continuously added to the restraint rod cache rack 12 to complete the replenishment of the restraint rod cache rack 12. If the first robot 2 is not currently performing the stacking task, and the second robot 3 sends a signal requesting to take the restraining rod 41, the first robot 2 clamps a restraining rod 41 and adds it to the restraining rod cache rack 12 before leaving to prioritize the task of replenishing the restraining rod cache rack 12. The second robot 3 completes the task of taking the restraining rod 41 after the first robot 2 leaves the restraining rod cache rack 12. After the second robot 3 completes the task of taking the restraining rod 41, the first robot 2 continuously clamps two restraining rods 41 and adds them to the restraining rod cache rack 12 to complete the task of replenishing the restraining rod cache rack 12. Therefore, the replenishing task can be completed in the time gap between the first robot 2 performing the stacking task and the restraining task and the second robot 3 performing the stacking task and the restraining task, thereby reducing waiting time and improving production rhythm.

[0061] In some embodiments, generating different replenishment signals based on different shortage conditions of the at least one cache location 121 includes:

[0062] When the first cache position 123 of the at least one cache position 121 is out of material, a second replenishment signal is generated;

[0063] The first robot 2 responds to different feeding signals, selectively suspends the current task to give priority to completing the feeding task of feeding the restraining rod buffer rack 12, or performs the current task first and then completes the feeding task of feeding the restraining rod buffer rack 12, including:

[0064] The first robot 2 responds to the second feeding signal and executes the feeding task of feeding the restraint rod cache rack 12 after completing the current task.

[0065] Therefore, since the priority of the second request for replenishment signal is lower than the priority of the first request for replenishment signal, the second request signal indicates that the restraint rod cache rack 12 still has restraint rods 41 available for use by the second robot 3. Therefore, the first robot 2 responds to the second request for replenishment signal and then executes the replenishment task of replenishing the restraint rod cache rack 12 after completing the current task, which can further improve the production rhythm.

[0066] In some embodiments, the first robot 2 responds to the second feeding signal and performs a feeding task of feeding the restraint rod buffer rack 12 after completing the current task, including any of the following situations:

[0067] When the first robot 2 receives the second request for refilling signal, it is currently executing a stacking task, and then continues to execute the stacking task until the stacking task is completed, and then executes the refilling task of refilling the restraining rod buffer rack 12;

[0068] When the first robot 2 receives the second request for replenishment signal, it is not currently performing the stacking task, but there is a signal requesting the restraint rod 41 to press the first battery package 111. Then, the first robot 2 takes the restraint rod 41 from the restraint rod loading vehicle 4 and preferentially presses the first battery package 111 to complete the restraint task, and then performs the replenishment task of replenishing the restraint rod cache rack 12.

[0069] Therefore, when the first robot 2 receives the second feeding signal, if the first robot 2 has a stacking task, the first robot 2 is not scheduled to feed immediately, but to continue the stacking work to improve the cycle time. When the first robot 2 has no stacking task, but there is a signal that the first robot 2 requests to take the restraining rod 41 to compact the battery package, the first robot 2 is scheduled to take the restraining rod 41 and then compact the first battery package 111 to complete the restraining task, because when the second robot 3 has the restraining rod 41 available, the signal of the restraining rod 41 compacting the battery package has the highest priority, and after compaction, the package can wait to flow away, thereby improving the production cycle.

[0070] In some embodiments, the method for dispatching the restraining rod 41 further includes:

[0071] While the first robot 2 is performing the material replenishment task in response to the first material replenishment request signal or the second material replenishment request signal, a material-removal-not-permitted signal is sent to the second robot 3 .

[0072] Thus, since the distance between the first cache position 123 and the second cache position 124 is relatively small, in order to avoid interference between the first robot 2 and the second robot 3, only one of the first robot 2 and the second robot 3 can perform a task at the restraining rod cache rack 12 at the same time. Therefore, when the first robot 2 performs the material replenishment task, the second robot 3 cannot perform the material fetching subtask. When the second robot 3 performs the material fetching subtask, the first robot 2 cannot perform the material replenishment task of replenishing the restraining rod cache rack 12. It can be understood that in other embodiments, the distance between the first cache position 123 and the second cache position 124 is relatively large. Even if the gripper of the first robot 2 and the gripper of the second robot 3 appear at the restraining rod cache rack 12 at the same time, there will be no interference. Therefore, when the first robot 2 performs the material replenishment task of replenishing the restraining rod cache rack 12, the second robot 3 can perform the material fetching subtask. Thus, the production cycle can be further improved.

[0073] In some embodiments, executing the method for dispatching the restraining rod 41 further includes:

[0074] When the first cache position 123 of the at least one cache position 121 has material and the second cache position 124 is out of material, no replenishment signal is generated.

[0075] Therefore, when it is determined that the first cache position 123 has material and the second cache position 124 has no material, since the restraining rod 41 on the first cache position 123 will affect the first robot 2 to replenish material to the second cache position 124, it is determined that no material is replenished at present and no replenishment signal is generated.

[0076] In some embodiments, the determining whether the at least one cache position 121 of the restraining rod cache rack 12 is out of material includes:

[0077] Whether there is a shortage of material in each cache position of the at least one cache position 121 is determined by a through-beam photoelectric sensor.

[0078] In some embodiments, executing the method for dispatching the restraining rod 41 further includes:

[0079] When the first cache position 123 of the at least one cache position 121 has material and the second cache position 124 has material, no replenishment signal is generated.

[0080] Thus, when it is determined that there is material in the first cache position 123 and the second cache position 124, since the second robot 3 is currently using the restraint rod 41, it is determined that no material is replenished at present and no replenishment signal is generated. The first robot 2 performs its stacking task or restraint task to improve the production rhythm.

[0081] For some examples, please refer to Figure 3 , Figure 3 The figure is a flow chart of the first robot performing a feeding task in one embodiment of the present application. The first robot 2 performs a feeding task including:

[0082] Step S31: The first robot 2 clamps the prepared restraint rod 41 in the restraint rod loading vehicle 4.

[0083] Specifically, the restraint rod loading cart 4 is manually pushed into position, and the lifting button of the restraint rod loading cart 4 is pressed, and the cylinder lifts up the restraint rod loading cart 4. The restraint rod loading cart 4 enters the ready state, and after it is in position, a second photoelectric sensor 411 will detect the material status of each restraint rod 41 slot of the restraint rod loading cart 4. The processor 5 determines the slot where the restraint rod loading cart 4 has material, and sends the slot number to the first robot 2. The first robot 2 walks to the slot number and clamps the clamp after the sensor on its clamp detects the restraint rod 41.

[0084] Step S32 : sending the shortage position on the restraining rod cache rack 12 to the first robot 2 , and the first robot 2 loads the clamped restraining rod 41 to the shortage position on the restraining rod cache rack 12 .

[0085] Specifically, the processor 5 sends the material shortage position on the restraint rod cache rack 12 to the first robot 2, and the first robot 2 moves to the material shortage position on the restraint rod cache rack 12 according to the material shortage position. The cylinder of the clamp of the first robot 2 that clamps the restraint rod 41 opens, and the first robot 2 leaves.

[0086] For some examples, please refer to Figure 4 , Figure 4 FIG. 1 is a flow chart of the first robot performing the restraint subtask in one embodiment. The process of the first robot 2 performing the restraint subtask includes the following steps:

[0087] Step S341: The first robot 2 moves the clamping claw to the top of the first battery package 111, and slowly lowers the restraining rod 41 onto the first battery package 111. After the cylinder rebounds for a certain distance, the first robot 2 stops. The slow speed is to ensure that the restraining rod 41 only applies downward pressure to the first battery package 111 when in contact with the first battery package 111.

[0088] Step S342: the first robot 2 cuts off the power to the solenoid valve of its cylinder, moves the cylinder to the middle release position, releases the force in the cylinder, and avoids the influence of force on the single battery of the first battery package 111 when opening the gripper.

[0089] Step S343 : the first robot 2 opens the clamping cylinder of the restraining rod 41 and moves to the top of the first battery package 111 .

[0090] Step S344: The first robot 2 changes its posture, places the large plate face downward, contacts the restraint rod 41 with this face, applies downward pressure to it, and lifts it up after walking a fixed distance, so that the restraint rod 41 is placed. After the cylinder of the first robot 2 is pressed down, the applied force is limited, and it cannot directly ensure that the restraint rod 41 is pressed against the first battery package 111, so the first robot 2 changes its posture, places the large plate face downward, contacts the restraint rod 41 with this face, applies downward pressure to it, and lifts it up after walking a fixed distance, so that the restraint rod 41 is placed.

[0091] Therefore, the force of the cylinder plus the downward pressure of the first robot 2 can give the restraint rod 41 a greater force, and the single battery of the first battery package 111 is firmly fixed before the first battery package 111 flows, thereby avoiding the risk of the single battery of the first battery package 111 tipping over during the flow. Compared with using a motor to restrain from both ends, this method is the most timely and effective. The use of a motor for restraint requires a separate workstation, and the first battery package 111 has a great risk of tipping over when flowing into the restraint workstation, and if the first battery package 111 itself is crooked, the restraint effect of the motor is not considerable, and the timeliness requirement cannot be met. The use of the first robot 2 to complete the restraint ensures the timeliness of the restraint and saves material and design costs.

[0092] For some examples, please refer to Figure 5 , Figure 5 FIG. 1 is a flow chart of the second robot performing the restraint subtask in one embodiment. The process of the second robot 3 performing the restraint subtask includes the following steps:

[0093] Step S351: The second robot 3 moves the clamping claw to the top of the second battery package 131, and slowly lowers the restraining rod 41 onto the second battery package 131. After the cylinder rebounds for a certain distance, the second robot 3 stops. The slow speed is to ensure that the restraining rod 41 only applies downward pressure to the second battery package 131 when in contact with the second battery package 131.

[0094] Step S352: the second robot 3 cuts off the power to the solenoid valve of its cylinder, moves the cylinder to the middle release position, releases the force in the cylinder, and avoids the influence of force on the single battery of the second battery package 131 when opening the gripper.

[0095] Step S353 : the second robot 3 opens the clamping cylinder of the restraining rod 41 and moves to the top of the second battery package 131 .

[0096] Step S354: The second robot 3 changes its posture, with its large plate facing downward, and contacts the restraint rod 41 with this surface, giving it a downward pressure, and lifts it up after walking a fixed distance, so that the restraint rod 41 is placed. After the cylinder of the second robot 3 is pressed down, due to the limited force applied, it cannot directly ensure that the restraint rod 41 presses the second battery pack 131131, so the second robot 3 changes its posture, with its large plate facing downward, and contacts the restraint rod 41 with this surface, giving it a downward pressure, and lifts it up after walking a fixed distance, so that the restraint rod 41 is placed.

[0097] Thus, the force of the cylinder plus the downward force of the second robot 3 can give the restraint rod 41 a force of two hundred kilograms, firmly fixing the single cells of the second battery package 131 before the second battery package 131 flows, thereby avoiding the risk of the single cells of the second battery package 131 tipping over during the flow. Compared with using motors to restrain from both ends, this method is the most timely and effective. The use of motors for restraint requires a separate workstation, and the second battery package 131 has a great risk of tipping over when flowing into the restraint station, and if the second battery package 131 itself is crooked, the restraint effect of the motor is not impressive, and the timeliness requirements cannot be met. The use of the second robot 3 to complete the restraint ensures the timeliness of the restraint and saves material costs and design costs.

[0098] In some embodiments, the restraint rod loading vehicle 4 is provided with an even number of restraint rods 41, for example, 20 restraint rods 41. The battery processing system 100 can stack two battery packages at a time, namely, the first battery package 111 and the second battery package 131. Before the first robot 2 stacks the first battery package 111, it first adds two restraint rods 41 to the restraint rod cache rack 12. After the second battery package 131 is stacked, the second robot 3 takes a restraint rod 41 from the restraint rod cache rack 12 to restrain the second battery package 131. After the first robot 2 stacks the first battery package 111, it first adds two restraint rods 41 to the restraint rod cache rack 12. After the first robot 2 completes the lamination and restraint of two first battery packages 111, a restraint rod 41 is clamped from the restraint rod loading trolley 4 to restrain the first battery package 111; after the second robot 3 completes the lamination and restraint of two second battery packages 131 again, another restraint rod 41 is clamped from the restraint rod buffer rack 12 to restrain the second battery package 131. At this time, after the first robot 2 completes the lamination and restraint of two first battery packages 111, another restraint rod 41 is clamped from the restraint rod loading trolley 4 to restrain the first battery package 111. Therefore, after the first robot 2 completes the lamination and restraint of two first battery packages 111 and the second robot 3 completes the lamination and restraint of two second battery packages 131, a total of four restraint rods 41 are consumed. Therefore, two lamination cycles will consume an even number of restraint rods 41, and finally the restraint rods 41 will be perfectly consumed. Therefore, it is necessary to determine whether an odd number of restraint rods 41 or an even number of restraint rods 41 are loaded on the restraint rod loading vehicle 4. If an odd number of restraint rods 41 are loaded on the restraint rod loading vehicle 4, there will be one restraint rod 41 left on the restraint rod loading vehicle 4, resulting in waste. Therefore, the restraint rod 41 scheduling method further includes:

[0099] Determine whether only one restraint rod 41 is left on the restraint rod loading vehicle 4 after completing the feeding task of one restraint rod 41;

[0100] If yes, stop loading and wait for replacement of the fully loaded restraint rod loading vehicle 4.

[0101] Therefore, the scheduling method of the present application is suitable for production lines with long material incoming intervals, and can clarify the working sequence of the first robot 2 and the second robot 3 to reduce uncertainty.

[0102] It is understandable that, in some other embodiments, a first replenishment signal is generated when the at least one cache position 121 is out of material, but a second replenishment signal is not generated when the first cache position 123 of the at least one cache position 121 is out of material. Therefore, each replenishment of the first robot 2 is to supplement two restraint rods 41. Although this sacrifices some beats, the beat stability is better.

[0103] The present application also provides a computer-readable storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. The computer-readable storage medium stores a computer program, which can be executed by the processor 5 to execute the steps of the method for scheduling the restraint rod 41:

[0104] Determining a shortage of material in at least one cache position 121 of the restraining rod cache rack 12;

[0105] generating different replenishment signals based on different material shortage conditions of the at least one cache position 121;

[0106] The first robot 2 selectively pauses the current task in response to different feeding signals to give priority to completing the feeding task of feeding the restraining rod buffer rack 12 or performs the current task first and then completes the feeding task of feeding the restraining rod buffer rack 12, wherein the current task includes one of a stacking task and a restraining task of restraining the first battery package 111 at the first stacking station 11 using the restraining rod 41;

[0107] After the second robot 3 completes the lamination of the second battery package 131 at the second lamination station 13 , it clamps a restraint rod 41 from the restraint rod cache rack 12 to the second lamination station 13 , and restrains the second battery package 131 at the second lamination station 13 through the restraint rod 41 .

[0108] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0109] The above is an implementation method of the embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the embodiment of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A method for scheduling a restraining rod, characterized in that: The invention is applied to a battery processing system, the battery processing system comprises a first robot, a second robot, a restraint rod buffer rack and a restraint rod loading vehicle, the first robot is used to stack a first battery package at a first stacking station, the second robot is used to stack a second battery package at a second stacking station, the restraint rod buffer rack is located between the first robot and the second robot, the restraint rod buffer rack is provided with at least one buffer position, and the restraint rod loading vehicle is arranged adjacent to the first robot; the restraint rod scheduling method comprises: Determining a shortage of material in at least one cache position of the restraining rod cache rack; generating different replenishment signals based on different shortage conditions of the at least one cache position; The first robot selectively pauses a current task in response to different feeding signals to give priority to completing a feeding task of feeding the restraining rod buffer rack or performs the current task first and then completes the feeding task of feeding the restraining rod buffer rack, wherein the current task includes one of a stacking task and a restraining task of restraining the first battery package at the first stacking station using a restraining rod; After the second robot completes lamination of the second battery package at the second lamination station, it clamps a restraining rod from the restraining rod cache rack to the second lamination station, and restrains the second battery package at the second lamination station through the restraining rod.

2. The method for dispatching the restraining rod according to claim 1, characterized in that: The at least one cache position includes a first cache position and a second cache position arranged along the assembly line direction of the battery processing system, the first cache position is arranged closer to the first lamination station than the second cache position, and the second cache position is arranged closer to the second lamination station than the first cache position; Generating different replenishment signals based on different shortage conditions of the at least one cache bit includes: When the at least one cache location is out of material, a first replenishment signal is generated; The first robot responds to different feeding signals, selectively suspends the current task to give priority to completing the feeding task of feeding the restraining rod cache rack, or performs the current task first and then completes the feeding task of feeding the restraining rod cache rack, including: The first robot responds to the first feeding signal, suspends the current task, prioritizes completing the feeding task of feeding the restraint rod cache rack, and then returns to continue executing the current task.

3. The method for dispatching the restraining rod according to claim 2, characterized in that: The first robot responds to the first feeding signal, suspends the current task, preferentially completes the feeding task of feeding the restraining rod buffer rack, and then returns to continue to perform the current task, including any of the following situations: The first robot is currently performing a stacking task. After the first robot completes the stacking of the battery cell on the current gripper in response to the first refilling signal, the first robot pauses the stacking task, grabs a restraining rod from the restraining rod loading vehicle and adds it to the restraining rod buffer rack to complete the refilling task first, and then returns to complete the stacking task; The first robot is not currently performing a stacking task, and the second robot is currently performing a stacking task, then the first robot continuously clamps two restraining rods and adds them to the first cache position and the second cache position of the restraining rod cache rack to complete the material replenishment task; The first robot is not currently performing a stacking task, and the second robot sends a signal requesting to take a restraining rod, then the first robot clamps a restraining rod and adds it to the restraining rod cache rack and leaves, the second robot completes the task of taking the restraining rod after the first robot leaves the restraining rod cache rack, and the first robot continuously clamps two restraining rods and adds them to the restraining rod cache rack after the second robot completes the task of taking the restraining rod, to complete the replenishing task; The first robot is currently performing a restraint task, then suspends the restraint task, clamps a restraint rod from the restraint rod loading vehicle to add it to the restraint rod buffer rack to complete the replenishment task first, and then continues to complete the restraint task; When the first robot is taking a restraining rod from the restraining rod loading vehicle to restrain the first battery package, the currently clamped restraining rod is first added to the restraining rod cache rack to prioritize the replenishment task, and then a restraining rod is clamped to restrain the first battery package to complete the restraint task.

4. The method for dispatching a restraining rod according to claim 1 or 3, characterized in that: The at least one cache position includes a first cache position and a second cache position arranged along the assembly line direction of the battery processing system, the first cache position is arranged closer to the first lamination station than the second cache position, and the second cache position is arranged closer to the second lamination station than the first cache position; Generating different replenishment signals based on different shortage conditions of the at least one cache bit includes: When a first cache position of the at least one cache position is out of material, a second replenishment signal is generated; The first robot responds to different feeding signals, selectively suspends the current task to give priority to completing the feeding task of feeding the restraining rod cache rack, or performs the current task first and then completes the feeding task of feeding the restraining rod cache rack, including: The first robot responds to the second feeding signal and, after completing the current task, performs a feeding task of feeding the restraint rod cache rack.

5. The method for dispatching the restraining rod according to claim 4, characterized in that: The first robot responds to the second feeding signal and performs a feeding task of feeding the restraining rod buffer rack after completing the current task, including any of the following situations: When the first robot receives the second material replenishment request signal, it is currently executing a stacking task, and then continues to execute the stacking task until the stacking task is completed, and then executes the material replenishment task of replenishing the restraint rod buffer rack; When the first robot receives the second request for replenishment signal, it is not currently performing the stacking task, but there is a signal requesting the restraint rod to press the first battery package. Then, after the first robot takes the restraint rod from the restraint rod loading vehicle, it preferentially presses the first battery package to complete the restraint task, and then performs the replenishment task of replenishing the restraint rod cache rack.

6. The method for dispatching the restraining rod according to claim 5, characterized in that: The restraint rod scheduling method also includes: While the first robot is performing a replenishment task in response to the first replenishment request signal or the second replenishment request signal, a material-removal-not-permitted signal is sent to the second robot.

7. The method for dispatching a restraining rod according to claim 1, characterized in that: The at least one cache position includes a first cache position and a second cache position arranged along the assembly line direction of the battery processing system, the first cache position is arranged closer to the first lamination station than the second cache position, and the second cache position is arranged closer to the second lamination station than the first cache position; The restraint rod scheduling method comprises: When the first cache position of the at least one cache position has material and the second cache position is out of material, no replenishment signal is generated.

8. The method for dispatching a restraining rod according to claim 1, characterized in that: The restraint rod scheduling method also includes: Determine whether only one restraint rod is left on the restraint rod loading vehicle after completing the task of replenishing one restraint rod; If yes, stop loading and wait for replacement of the fully loaded restraint bar loading cart.

9. The method for dispatching a restraining rod according to claim 1, characterized in that: The step of determining whether the at least one cache position of the restraining rod cache rack is out of material comprises: Whether there is a shortage of material in each cache position of the at least one cache position is determined by a through-beam photoelectric sensor.

10. The method for dispatching a restraining rod according to claim 1, characterized in that: The restraint rod scheduling method comprises: After the first robot completes lamination of the first battery package at the first lamination station, it clamps a restraint rod from the restraint rod cache rack or the restraint rod loading vehicle to the first lamination station, and restrains the first battery package through the restraint rod.

11. A restraint rod scheduling device, characterized in that: The invention comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor runs the computer program to execute the steps of the restraint rod scheduling method according to any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to perform the steps of the restraint rod scheduling method according to any one of claims 1 to 10.

13. A battery processing system, characterized in that: The battery processing system includes a first robot, a second robot, a restraint rod cache rack and a restraint rod loading cart, the first robot is used to stack a first battery package at a first stacking station, the second robot is used to stack a second battery package at a second stacking station, the restraint rod cache rack is located between the first robot and the second robot, the restraint rod cache rack is provided with at least one cache position, and the restraint rod loading cart is arranged adjacent to the first robot; the battery processing system also includes a memory and a processor, the memory stores a computer program, and the processor runs the computer program to execute the steps of the restraint rod scheduling method described in any one of claims 1 to 10.

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