Battery pairing waste discharge system and battery pairing waste discharge method

Abstract

The invention discloses a battery pairing waste discharge system and a battery pairing waste discharge method, and belongs to the technical field of battery production. The battery pairing and waste discharging system comprises a conveying line and a battery pairing and waste discharging system, wherein the conveying line comprises a feeding station, a discharging station, a plurality of temporary storage stations, a plurality of pairing stations and a plurality of waste discharging stations; the first executing mechanism is used for conveying a plurality of batteries to be distributed from the feeding station to the caching station and conveying a plurality of paired qualified batteries from the pairing station to the discharging station; and the second execution mechanism is used for distributing qualified batteries from the cache station to the pairing station and distributing unqualified batteries from the cache station to the waste discharge station. Through the cooperative use of the plurality of buffer stations, the first execution mechanism and the second execution mechanism, the production line rhythm is accelerated, and the battery yield is improved.

Description

Technical Field

[0001] The present application belongs to the field of battery production technology, and in particular, relates to a battery pairing waste discharge system and a battery pairing waste discharge method. Background Art

[0002] With the rapid development of industrial automation technology, the battery manufacturing industry is gradually transforming towards a highly automated and unmanned direction. In the process of automated battery production, in the traditional way, robots need to simultaneously undertake multiple tasks such as loading and unloading batteries, pairing qualified batteries, and discharging unqualified batteries, which makes the production rhythm easily limited by the robot's handling speed, which greatly limits the speed-up and increase of production lines. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a battery pairing waste discharge system and a battery pairing waste discharge method, which speeds up the production line cycle and increases the battery output.

[0004] In a first aspect, the present application provides a battery pairing waste discharge system, comprising:

[0005] A transport line, the transport line comprising a loading station, an unloading station, a plurality of buffer stations, a plurality of pairing stations and a plurality of waste discharge stations;

[0006] A first actuator, the first actuator is used to transport the multiple batteries to be distributed from the loading station to the buffer station, and to transport the multiple qualified batteries after pairing from the pairing station to the unloading station;

[0007] A second execution mechanism is used to allocate qualified batteries from the buffer station to the pairing station, and to allocate unqualified batteries from the buffer station to the waste station.

[0008] According to the battery pairing waste discharge system of the present application, through the coordinated use of the above-mentioned multiple buffer stations, the first actuator and the second actuator, on the one hand, the first actuator focuses on loading and unloading, reducing the workload of the first actuator, speeding up the production line rhythm, and increasing battery production. On the other hand, the task of the first actuator is simplified, reducing the logic programs and teaching points that need to be written, alleviating the pressure on programming and debugging personnel, and improving work efficiency. On the other hand, the first actuator can grab a larger number of batteries at a time, reducing waiting time and further improving the production rhythm. On the other hand, when debugging and changing the production line, the servo point teaching of the first actuator and the second actuator can be carried out in parallel, which greatly shortens the debugging cycle and improves debugging efficiency.

[0009] According to one embodiment of the present application, the second actuator includes:

[0010] A lifting unit, the lifting unit is used to drive a plurality of batteries to be distributed to perform lifting movements;

[0011] A translation unit, wherein an output end of the translation unit is connected to the lifting unit.

[0012] According to one embodiment of the present application, the buffer station, the pairing station and the waste discharge station are arranged along a straight line, and the buffer station is located between the pairing station and the waste discharge station; wherein the translation unit includes:

[0013] Power source;

[0014] A transmission belt, the output end of the power source is connected to the transmission belt, and the transmission belt is connected to the lifting unit.

[0015] According to one embodiment of the present application, the battery pairing waste discharge system further includes:

[0016] frame;

[0017] A first bracket, wherein the first bracket is fixedly mounted on the frame, and the buffer station and the pairing station are arranged on the first bracket;

[0018] The second bracket is movably mounted on the frame between a waste discharge loading position and a waste discharge unloading position, and the waste discharge station is arranged on the second bracket.

[0019] According to one embodiment of the present application, the battery pairing waste discharge system further includes:

[0020] The third actuator, the output end of which is connected to the second bracket, is used to drive the second bracket to be slidably installed on the frame between a waste discharge loading position and a waste discharge unloading position.

[0021] According to one embodiment of the present application, the battery pairing waste discharge system further includes:

[0022] A plurality of first sensors, the plurality of first sensors corresponding to the plurality of cache stations one by one, the first sensors being used to detect whether a battery is loaded on the corresponding cache station;

[0023] A plurality of second sensors, the plurality of second sensors corresponding to the plurality of pairing stations one by one, the second sensors being used to detect whether a battery is loaded on the corresponding pairing station;

[0024] A plurality of third sensors, each of the plurality of third sensors corresponds to the plurality of waste discharge stations one by one, and the third sensors are used to detect whether a battery is loaded on the corresponding waste discharge station when the second bracket moves to the waste discharge and loading position;

[0025] A plurality of fourth sensors, each of which corresponds to each of the plurality of waste discharge stations, and is used to detect whether batteries are loaded on the corresponding waste discharge stations when the second bracket moves to the waste discharge unloading position.

[0026] In a second aspect, the present application provides a battery pairing waste discharge method, which is applied to any of the battery pairing waste discharge systems described above, and the battery pairing waste discharge method comprises:

[0027] Controlling the first actuator to grab a plurality of batteries to be distributed at a loading station, and obtaining status information of the plurality of batteries to be distributed;

[0028] Controlling the first actuator to transport the plurality of batteries to be distributed to a plurality of cache stations;

[0029] Based on the status information of the plurality of batteries to be allocated, determining qualified batteries and unqualified batteries;

[0030] Controlling the second actuator to transport the qualified battery to the pairing station;

[0031] Controlling the second actuator to transport the unqualified batteries to a waste discharge station;

[0032] When all the pairing stations are loaded with the qualified batteries, the first actuator is controlled to transport the plurality of qualified batteries to the unloading station.

[0033] According to the battery pairing and waste discharge method of the present application, through the above-mentioned logic design for executing loading, pairing, waste discharge and unloading operations for the battery pairing and waste discharge system, on the one hand, the first actuator focuses on loading and unloading, which reduces the workload of the first actuator, speeds up the production line rhythm, and increases battery output. On the other hand, the task of the first actuator is simplified, which reduces the logic programs and teaching points that need to be written, reduces the pressure on programming and debugging personnel, and improves work efficiency. On the other hand, the first actuator can grab a larger number of batteries at a time, reduces waiting time, and further improves the production rhythm. On the other hand, when debugging and changing the production line, the servo point teaching of the first actuator and the second actuator can be carried out in parallel, which greatly shortens the debugging cycle and improves debugging efficiency.

[0034] According to one embodiment of the present application, controlling the second actuator to transport the qualified battery to the pairing station includes:

[0035] Control the second actuator to take out a plurality of batteries from the plurality of cache stations at a time;

[0036] Acquire the position information of the qualified battery among the plurality of batteries taken out and the position information of the pairing stations in an idle state among the plurality of pairing stations;

[0037] Obtaining a target pairing position of a second actuator based on the position information of the qualified battery among the plurality of batteries removed and the position information of the pairing station in an idle state among the plurality of pairing stations;

[0038] The second actuator is controlled to move to the target pairing position to place the corresponding qualified battery.

[0039] According to one embodiment of the present application, the pairing station, the buffer station and the waste discharge station are all set to 2n, the second actuator includes n pick-and-place stations for taking out n batteries at a time, the positions of the 2n pairing stations are numbered 1 to 2n, the positions of the 2n buffer stations are numbered 2n+1 to 4n, the positions of the n pick-and-place stations are numbered 4n+1 to 5n, and the positions of the 2n waste discharge stations are numbered 5n+1 to 7n;

[0040] The target pairing position T x Determined by the following calculation formula:

[0041] T x ∈{T1,T2,T3……T 6n+1};

[0042] x = AB-2n+2;

[0043] Among them, {T1, T2, T3...T 6n+1} is the set of all motion positions of the second actuator, A is the minimum position number of the pick-and-place station loaded with the qualified battery, B is the minimum position number of the pairing station in the idle state, and n is a positive integer.

[0044] According to one embodiment of the present application, controlling the second actuator to transport the qualified battery to the pairing station includes:

[0045] Controlling the second actuator to take out multiple batteries from multiple cache stations at one time;

[0046] Acquire the position information of the unqualified battery among the plurality of batteries removed and the position information of the idle waste discharge station among the plurality of waste discharge stations;

[0047] Based on the position information of the unqualified battery among the plurality of batteries removed and the position information of the idle waste discharge station among the plurality of waste discharge stations, a target waste discharge position of the second actuator is obtained;

[0048] The second actuator is controlled to move to the target waste discharge position to place the corresponding unqualified battery.

[0049] According to one embodiment of the present application, the pairing station, the buffer station and the waste discharge station are all set to 2n, the second actuator includes n pick-and-place stations for taking out n batteries at a time, the positions of the 2n pairing stations are numbered 1 to 2n, the positions of the 2n buffer stations are numbered 2n+1 to 4n, the positions of the n pick-and-place stations are numbered 4n+1 to 5n, and the positions of the 2n waste discharge stations are numbered 5n+1 to 7n;

[0050] The target waste discharge position T y It is obtained by the following calculation formula:

[0051] T y ∈{T1,T2,T3……T 6n+1};

[0052] y = C - D + 3n + 1;

[0053] Among them, {T1, T2, T3...T 6n+1} is the set of all moving positions of the second actuator, C is the minimum position number of the waste discharge station in an idle state, D is the minimum position number of the pick-up and place station loaded with the unqualified battery, and n is a positive integer.

[0054] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0056] Figure 1 is a schematic diagram of the structure of a battery pairing waste discharge system and a battery provided in an embodiment of the present application;

[0057] Figure 2 is a schematic diagram of the structure of a battery pairing waste discharge system provided in an embodiment of the present application;

[0058] Figure 3 It is a partial structural schematic diagram of a battery pairing waste discharge system provided in an embodiment of the present application;

[0059] Figure 4It is a schematic diagram of the active positions of the second bracket and the waste discharge station provided in the embodiment of the present application;

[0060] Figure 5 It is a schematic diagram of the position numbering of the pairing station, the buffer station, the waste discharge station and the pick-and-place station provided in the embodiment of the present application;

[0061] Figure 6 This is one of the flow diagrams of the paired waste discharge method of batteries provided in the embodiments of the present application;

[0062] Figure 7 This is the second flow chart of the battery pairing waste discharge method provided in the embodiment of the present application.

[0063] Reference numerals:

[0064] Battery paired waste system 100,

[0065] A first sensor 101, a second sensor 102, a third sensor 103, and a fourth sensor 104;

[0066] A frame 110, a first bracket 120, and a second bracket 130;

[0067] Buffer station 140, matching station 150, waste discharge station 160;

[0068] First actuator 170;

[0069] The second actuator 180, the lifting unit 181, the pick-and-place station 1811, the translation unit 182, the power source 1821, and the transmission belt 1822;

[0070] The third executive body 190;

[0071] Battery 200. DETAILED DESCRIPTION

[0072] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0073] The embodiment of the present application provides a battery pairing waste discharge system 100 .

[0074] Reference below Figure 1-Figure 7 A battery pairing waste discharge system 100 according to an embodiment of the present application is described.

[0075] In some embodiments, Figure 1 and Figure 2As shown, the battery pairing waste discharge system 100 includes: a transport line, a first actuator 170 and a second actuator 180 .

[0076] The transport line includes a loading station, an unloading station, a plurality of buffer stations 140, a plurality of pairing stations 150 and a plurality of waste discharge stations 160; the first actuator 170 is used to transport a plurality of batteries 200 to be distributed from the loading station to the buffer station 140, and to transport a plurality of qualified batteries 200 after pairing from the pairing station 150 to the unloading station; the second actuator 180 is used to distribute qualified batteries 200 from the buffer station 140 to the pairing station 150, and to distribute unqualified batteries 200 from the buffer station 140 to the waste discharge station 160.

[0077] Exemplarily, the loading station may be the end station of a device on the production line, and the unloading station may be the start station of the next device on the production line.

[0078] The battery 200 may be a cylindrical battery, a blade battery, a square battery, a soft-pack battery, etc., which is not limited here.

[0079] For example, Figure 1 As shown, the battery 200 is a blade battery.

[0080] A plurality of refers to two or more than two, for example, in some embodiments, Figure 5 As shown, the transport line includes eight buffer stations 140 , eight pairing stations 150 , and eight waste discharge stations 160 .

[0081] The first actuator 170 may be, but is not limited to, a robot, a conveyor belt, or a servo handling device, etc., and the second actuator 180 may be, but is not limited to, a robot, a conveyor belt, or a servo handling device, etc.

[0082] For example, in some embodiments, the first actuator 170 is a robot, and the second actuator 180 is a servo handling device.

[0083] In actual implementation, Figure 1 and Figure 2As shown, the first actuator 170 can grab multiple batteries 200 at a single time at the loading station, and the status information of the multiple batteries 200 will be transmitted to the first actuator 170. If the multiple batteries 200 are all qualified products, the multiple batteries 200 do not need to be paired and discharged, and can be directly placed from the loading station to the unloading station for the next process; if there are both qualified products and unqualified products among the multiple batteries 200, the first actuator 170 will transport the multiple batteries 200 from the loading station to the multiple buffer stations 140 respectively, and at the same time, the multiple batteries 200 will be placed in the unloading station. The status information of each battery 200 is transmitted to the second actuator 180 for distribution, and then the second actuator 180 moves the qualified products placed in the cache station 140 to the matching station 150. After qualified batteries 200 are placed in multiple matching stations, the first actuator 170 grabs multiple qualified batteries 200 on multiple matching stations 150 and transports them to the unloading station for the next process, and the second actuator 180 moves the unqualified products placed in the cache station 140 to the waste discharge station 160 for subsequent waste discharge operations.

[0084] It should be noted that in actual production, the probability of multiple batteries 200 being unqualified products is extremely low. If multiple batteries 200 are unqualified products, they should still be handed over to the battery pairing waste disposal system 100 for waste disposal.

[0085] The battery pairing waste discharge system 100 provided in the embodiment of the present application, through the coordinated use of the above-mentioned multiple buffer stations, the first actuator 170 and the second actuator 180, on the one hand, the first actuator 170 focuses on loading and unloading, reducing the workload of the first actuator 170, speeding up the production line rhythm, and increasing the output of batteries 200; on the other hand, the task of the first actuator 170 is simplified, reducing the logic programs and teaching points that need to be written, alleviating the pressure on programming and debugging personnel, and improving work efficiency; on the other hand, the first actuator 170 can grab a larger number of batteries 200 at a time, reducing waiting time and further improving the production rhythm; on the other hand, during production line debugging and changeover, the servo point teaching of the first actuator 170 and the second actuator 180 can be carried out in parallel, greatly shortening the debugging cycle and improving debugging efficiency.

[0086] In some embodiments, Figure 1 and Figure 3 As shown, the second actuator 180 includes a lifting unit 181 and a translation unit 182 .

[0087] The lifting unit 181 is used to drive the multiple batteries 200 to be distributed to perform lifting movements; the output end of the translation unit 182 is connected to the lifting unit 181 .

[0088] The lifting unit 181 can carry a certain number of batteries 200 and has sufficient lifting stability and precision. The lifting unit 181 can be driven by hydraulic pressure, pneumatic pressure or electric pressure, depending on the design requirements of the battery pairing waste discharge system 100. Specifically, the lifting unit 181 can achieve lifting and lowering actions through a driving device (such as a motor, a cylinder or a hydraulic cylinder) installed at the bottom, and the driving device is connected to the lifting platform through a transmission mechanism (such as a screw, a chain or a gear), thereby driving the lifting platform to move up and down.

[0089] The translation unit 182 needs to have sufficient driving force and precision to enable the battery 200 to be moved to the target position smoothly and accurately. Specifically, the translation unit 182 can use a linear guide, a slide rail, a transmission belt 1822 or a roller to achieve horizontal movement, and the driving method can include motor drive, cylinder drive or hydraulic drive, etc. By controlling the movement of the driving device, the translation unit 182 can accurately move the battery 200 to the top of the pairing station 150 or the waste discharge station 160.

[0090] In actual implementation, Figure 1 and Figure 3 As shown, when the battery 200 needs to be allocated, the lifting unit 181 is first raised to lift the battery 200 from the buffer station 140, and then the translation unit 182 is started to move the lifting unit 181 and the battery 200 thereon to the designated position. After reaching the target position, the lifting unit 181 is lowered to place the battery 200 on the target station. During the whole process, the lifting unit 181 and the translation unit 182 need to cooperate closely so that the battery 200 can move smoothly and accurately.

[0091] It should be noted that in actual design, the second actuator 180 can be flexibly adjusted according to different production requirements. For example, by changing the motion parameters of the lifting unit 181 and the translation unit 182, batteries 200 of different sizes and weights can be adapted.

[0092] The battery pairing waste discharge system 100 provided in the embodiment of the present application, through the coordinated work of the above-mentioned lifting unit 181 and the translation unit 182, the second actuator 180 can efficiently distribute the battery 200, reduce manual intervention and waiting time, and thus improve production efficiency. At the same time, the design of the lifting unit 181 and the translation unit 182 takes into account the stability and precision requirements, and realizes the smooth and accurate distribution of the battery 200 during the distribution process, which helps to reduce the risk of damage and misoperation of the battery 200. In addition, by integrating the lifting and translation functions into the second actuator 180, the overall structure of the battery pairing waste discharge system 100 is simplified, the complexity and maintenance cost of the battery pairing waste discharge system 100 are reduced, and the reliability and durability of the battery pairing waste discharge system 100 are improved.

[0093] In some embodiments, Figure 1 and Figure 3 As shown, the buffer station 140 , the mating station 150 and the waste discharge station 160 are arranged along a straight line, and the buffer station 140 is located between the mating station 150 and the waste discharge station 160 ; wherein the translation unit 182 includes: a power source 1821 and a transmission belt 1822 .

[0094] like Figure 1 As shown, the output end of the power source 1821 is connected to the transmission belt 1822 , and the transmission belt 1822 is connected to the lifting unit 181 .

[0095] It is understandable that, based on the fact that the buffer station 140, the pairing station 150, and the waste discharge station 160 are arranged in a straight line, and the buffer station 140 is located between the pairing station 150 and the waste discharge station 160, this layout simplifies the movement path of the battery 200 between the buffer station 140, the pairing station 150, and the waste discharge station 160, reduces unnecessary turns and waiting time, and improves production efficiency. In actual applications, the buffer station 140, the pairing station 150, and the waste discharge station 160 may be distinguished by physical partitions or markings so that the battery 200 can be allocated and processed at the correct location.

[0096] The power source 1821 provides the energy required for the translation unit 182 to move. Specifically, the power source 1821 can be a motor, a cylinder, a hydraulic cylinder, etc., which is not limited here.

[0097] For example, in some embodiments, Figure 1 As shown, the power source 1821 is a motor.

[0098] The transmission belt 1822 is used to convert the output of the power source 1821 into mechanical motion and transmit it to the lifting unit 181. Specifically, the output end of the power source 1821 is connected to the transmission belt 1822, and the transmission belt 1822 is fixedly connected to the lifting unit 181. When the power source 1821 is started, the power source 1821 drives the transmission belt 1822 to move, thereby driving the lifting unit 181 and the battery 200 thereon to move linearly in the horizontal direction.

[0099] In actual implementation, Figure 1 and Figure 3For example, the lifting mechanism includes a plurality of lifting cylinders arranged on both sides of the transport line and a support frame on which the cylinders on both sides are installed. The lifting cylinders on both sides are respectively supported at both ends of the battery 200 along the length direction. The plurality of lifting cylinders on one side correspond to the plurality of batteries 200 one by one. In other words, each battery 200 can be independently lifted and lowered by using the two corresponding lifting cylinders. The support frame is fixedly connected to the transmission belt 1822, and the frame 110 is auxiliaryly provided with a linear guide structure for sliding with the support frame to improve the sliding accuracy. When the battery 200 needs to be allocated, the plurality of lifting cylinders are lifted together to lift the plurality of batteries 200 from the buffer station 140, and then the power source 1821 is started, the output shaft of the power source 1821 rotates, and the transmission belt 1822 is driven to move in the target direction, thereby driving the plurality of lifting cylinders fixed thereon to move to the target position together. After reaching the target position, the lifting cylinder loaded with the target battery 200 in the plurality of cylinders descends, thereby placing the target battery 200 on the target station.

[0100] The battery pairing waste discharge system 100 provided in the embodiment of the present application reduces the moving time and waiting time of the battery 200 between the workstations through the above-mentioned linear layout of the workstations and the efficient translation unit 182, improves production efficiency, simplifies the overall structure of the battery pairing waste discharge system 100, and reduces the complexity and maintenance cost of the battery pairing waste discharge system 100. In addition, based on the advantages of smooth movement and low noise of the transmission belt 1822, it helps to reduce the vibration and noise of the battery pairing waste discharge system 100, and improve the stability and reliability of the battery pairing waste discharge system 100. In addition, the linear layout makes full use of the space between the workstations, reduces the floor space, and improves the space utilization rate.

[0101] In some embodiments, Figure 1 As shown, the battery pairing waste discharge system 100 further includes: a frame 110 , a first bracket 120 and a second bracket 130 .

[0102] like Figure 1 , Figure 3 and Figure 4 As shown, the first bracket 120 is fixedly installed on the frame 110, and the buffer station 140 and the pairing station 150 are arranged on the first bracket 120; the second bracket 130 is movably installed on the frame 110 between the waste discharge loading position and the waste discharge unloading position, and the waste discharge station 160 is arranged on the second bracket 130.

[0103] The frame 110 serves as a supporting base for the entire battery pairing waste discharge system 100, and provides sufficient stability and rigidity to maintain stability and accuracy during the operation of the battery pairing waste discharge system 100. Specifically, the frame 110 can be made of a solid metal material, such as steel or aluminum alloy.

[0104] The first bracket 120 is fixedly mounted on the frame 110, and is used to carry the buffer station 140 and the pairing station 150. Specifically, the first bracket 120 can be firmly mounted on the frame 110 by bolts, welding or other fixed connection methods, which are not limited here.

[0105] The second bracket 130 is movably mounted on the frame 110 between the waste discharge loading position and the waste discharge unloading position, and is used to carry the waste discharge station 160. Specifically, the second bracket 130 can be movably mounted through a slide rail, a cylinder, a motor or other driving mechanism. This design allows the second bracket 130 to be moved to different positions as needed during the waste discharge process to perform loading and unloading operations.

[0106] Among them, the waste discharge loading position and waste discharge unloading position are Figure 4 As shown in the figure, the waste discharge loading position is arranged near the first bracket 120 to facilitate the allocation of unqualified batteries 200 to the waste discharge station 160, and the waste discharge unloading position is arranged near the edge of the frame 110 to facilitate manual or other methods to complete the unloading operation.

[0107] The battery pairing waste discharge system 100 provided in the embodiment of the present application, through the layout design of the above-mentioned buffer station 140, the pairing station 150 and the waste discharge station 160 on the first bracket 120 and the second bracket 130, helps to optimize the workflow, especially the movable design of the second bracket 130, so that the waste discharge station 160 can be moved to different positions as needed during the waste discharge process, thereby improving the flexibility and efficiency of the battery pairing waste discharge system 100. At the same time, the modular design of the frame 110, the first bracket 120 and the second bracket 130 makes it easier to maintain and upgrade the battery pairing waste discharge system 100. If a station needs to be replaced or upgraded, it only needs to be removed from the corresponding bracket and then a new station can be installed.

[0108] In some embodiments, Figure 1 , Figure 3 and Figure 4 As shown, the battery pairing exhaust system 100 further includes: a third actuator 190 .

[0109] like Figure 4 As shown, the output end of the third actuator 190 is connected to the second bracket 130, and is used to drive the second bracket 130 to be slidably installed on the frame 110 between the waste discharge loading position and the waste discharge unloading position.

[0110] The third actuator 190 needs to have sufficient driving force, precision and stability to enable the second bracket 130 to move smoothly and accurately. Specifically, the third actuator 190 can be driven by a motor, a cylinder, a hydraulic cylinder, etc., which is not limited here.

[0111] For example, in some embodiments, Figure 1 and Figure 3 As shown, the third actuator 190 is driven by a cylinder.

[0112] In this embodiment, if Figure 1 and Figure 3 As shown, the third actuator 190 can be installed on the frame 110 by bolt connection or other connection methods, and is located below the first bracket 120 and the second bracket 130. The output end of the third actuator 190 is fixedly connected to the bottom surface of the second bracket 130, and the frame 110 is auxiliaryly provided with a linear guide structure for sliding cooperation with the second bracket 130 to improve the sliding accuracy.

[0113] The battery pairing waste discharge system 100 provided in the embodiment of the present application, through the setting of the above-mentioned third actuator 190, enables the second bracket 130 to automatically move between the waste discharge loading position and the waste discharge unloading position, thereby improving the degree of automation of the battery pairing waste discharge system 100 and reducing manual intervention. At the same time, under the driving action of the third actuator 190, the second bracket 130 can slide smoothly and accurately, thereby optimizing the workflow of the entire battery pairing waste discharge system 100 and improving work efficiency.

[0114] In some embodiments, Figure 1 , Figure 3 and Figure 4 As shown, the battery pairing exhaust system 100 further includes: a plurality of first sensors 101 , a plurality of second sensors 102 , a plurality of third sensors 103 and a plurality of fourth sensors 104 .

[0115] like Figure 1 , Figure 3 and Figure 4 As shown, multiple first sensors 101 correspond one-to-one to multiple cache stations 140, and the first sensor 101 is used to detect whether the corresponding cache station 140 is loaded with a battery 200; multiple second sensors 102 correspond one-to-one to multiple matching stations 150, and the second sensors 102 are used to detect whether the corresponding matching station 150 is loaded with a battery 200; multiple third sensors 103 correspond one-to-one to multiple waste discharge stations 160, and the third sensors 103 are used to detect whether the corresponding waste discharge station 160 is loaded with a battery 200 when the second bracket 130 moves to the waste discharge loading position; multiple fourth sensors 104 correspond one-to-one to multiple waste discharge stations 160, and the fourth sensors 104 are used to detect whether the corresponding waste discharge station 160 is loaded with a battery 200 when the second bracket 130 moves to the waste discharge unloading position.

[0116] Here, multiple means two or more than two. For example, in some embodiments, Figure 5 As shown, eight pairing stations 150 , eight buffer stations 140 , and eight waste discharge stations 160 are provided, and correspondingly, eight first sensors 101 , eight second sensors 102 , eight third sensors 103 , and eight fourth sensors 104 are provided.

[0117] The first sensor 101 may be a photoelectric sensor, a pressure sensor, a proximity sensor, etc., which is not limited here.

[0118] For example, in some embodiments, the first sensor 101 is a photoelectric sensor.

[0119] The second sensor 102 may be a photoelectric sensor, a pressure sensor, a proximity sensor, etc., which is not limited here.

[0120] For example, in some embodiments, the second sensor 102 is a photoelectric sensor.

[0121] The third sensor 103 may be a photoelectric sensor or a proximity sensor, etc., which is not limited here.

[0122] For example, in some embodiments, the third sensor 103 is a photoelectric sensor.

[0123] The fourth sensor 104 may be a photoelectric sensor or a proximity sensor, etc., which is not limited here.

[0124] For example, in some embodiments, the fourth sensor 104 is a photoelectric sensor.

[0125] It should be noted that the battery pairing and waste discharge system 100 also includes a control system, and the first sensor 101, the second sensor 102, the third sensor 103 and the fourth sensor 104 are all connected to the control system, and the control system performs corresponding operations such as caching, pairing, and waste discharge according to the signals of the first sensor 101, the second sensor 102, the third sensor 103 and the fourth sensor 104. Among them, the control system includes but is not limited to PLC (Programmable Logic Controller) and HMI (Human Machine Interface).

[0126] The battery pairing and waste discharge system 100 provided in the embodiment of the present application can greatly improve the accuracy of the battery pairing and waste discharge system 100 and reduce the possibility of misoperation and damage to the battery 200 by real-time monitoring of the battery 200 during the caching, pairing and waste discharge processes through the above-mentioned multiple first sensors 101, multiple second sensors 102, multiple third sensors 103 and multiple fourth sensors 104. On the one hand, each sensor can provide real-time feedback on the existence of the battery 200, so that the control system can respond and execute corresponding operations more quickly, thereby improving the operating efficiency of the entire battery pairing and waste discharge system 100. On the other hand, each sensor corresponds to a specific workstation, which makes it easier to locate the problem and perform maintenance when a fault occurs.

[0127] The present application also provides a battery 200 pairing and waste discharge method, which is applied to the battery pairing and waste discharge system 100 of any of the above solutions.

[0128] In some embodiments, Figure 6 As shown, the paired waste discharge method of the battery 200 includes: step 310 , step 320 , step 330 , step 340 , step 350 and step 360 .

[0129] Step 310 : Control the first actuator 170 to grab the multiple batteries 200 to be distributed at the loading station, and obtain status information of the multiple batteries 200 to be distributed.

[0130] In actual execution, after the control system receives the material picking signal issued by the loading station, the material release permission signal and the safety signal issued by the buffer station 140, the control system issues an instruction, which is used to control the first actuator 170 to grab multiple batteries 200 at the loading station. While the first actuator 170 is picking up materials, the status information of the multiple batteries 200 will be synchronized to the first actuator 170.

[0131] Step 320 , controlling the first actuator 170 to transport the multiple batteries 200 to be distributed to the multiple buffer stations 140 .

[0132] When there are both qualified and unqualified products among the multiple batteries 200, the first actuator 170 transports the captured multiple batteries 200 to the multiple cache stations 140, wherein the number of batteries 200 captured by the first actuator 170 at one time is consistent with the number of the multiple cache stations 140.

[0133] The case where all the multiple batteries 200 are qualified products and the case where all the multiple batteries 200 are unqualified products have been described in detail above and will not be repeated here.

[0134] Step 330 : Based on the status information of the plurality of batteries 200 to be allocated, determine qualified batteries 200 and unqualified batteries 200 .

[0135] When the first actuator 170 places the plurality of batteries 200 in the plurality of cache stations 140 respectively, the first actuator 170 may synchronize the status information of the plurality of batteries 200 to the plurality of cache stations 140 , so as to be subsequently allocated by the second actuator 180 .

[0136] Step 340 , controlling the second actuator 180 to transport the qualified battery 200 to the pairing station 150 .

[0137] After the battery 200 arrives at the cache position, the control system issues an instruction to instruct the second actuator 180 to pick up the material. After receiving the instruction, the second actuator 180 moves to the corresponding cache station 140 to take out multiple batteries 200, which may include qualified batteries 200 and unqualified batteries 200. After taking out, the control system issues an instruction to instruct the second actuator 180 to perform a distribution action. After receiving the instruction, the second actuator 180 moves to the corresponding pairing station 150 and places the qualified battery 200.

[0138] Step 350 , controlling the second actuator 180 to transport the unqualified batteries 200 to the waste discharge station 160 .

[0139] After the battery 200 arrives at the cache position, the control system issues an instruction to instruct the second actuator 180 to take the material. After receiving the instruction, the second actuator 180 moves to the corresponding cache station 140 to take out multiple batteries 200, which may include qualified batteries 200 and unqualified batteries 200. After taking out, the control system issues an instruction to instruct the second actuator 180 to perform a distribution action. After receiving the instruction, the second actuator 180 moves to the corresponding waste discharge station 160 and places the unqualified batteries 200.

[0140] Step 360 : When all the pairing stations 150 are loaded with qualified batteries 200 , control the first actuator 170 to transport the paired qualified batteries 200 to the unloading station.

[0141] After multiple pairing stations 150 are full, the control system issues an instruction to instruct the first actuator 170 to unload materials. After receiving the instruction, the first actuator 170 moves to the corresponding pairing station 150 to clamp all qualified batteries 200, and moves to the unloading station to place all the qualified batteries 200 taken out.

[0142] It should be noted that the present application does not limit the execution order of the pairing process and the waste discharge process. Specifically, in some embodiments, the second actuator 180 may first transport all qualified batteries 200 to the corresponding pairing station 150, and then transport the remaining unqualified batteries 200 to the corresponding waste discharge station 160; in other embodiments, the second actuator 180 may first transport all unqualified batteries 200 to the corresponding waste discharge station 160, and then transport the remaining qualified batteries 200 to the corresponding pairing station 150.

[0143] The pairing and waste discharge method of batteries 200 provided in the embodiment of the present application, through the above-mentioned logic design for the battery pairing and waste discharge system 100 to perform loading, pairing, waste discharge and unloading operations, on the one hand, the first actuator 170 focuses on loading and unloading, reducing the workload of the first actuator 170, accelerating the production line rhythm, and increasing the output of batteries 200. On the other hand, the task of the first actuator 170 is simplified, reducing the logic programs and teaching points that need to be written, alleviating the pressure on programming and debugging personnel, and improving work efficiency. On the other hand, the first actuator 170 can grab a larger number of batteries 200 at a time, reducing waiting time and further improving the production rhythm. On the other hand, during production line debugging and changeover, the servo point teaching of the first actuator 170 and the second actuator 180 can be carried out in parallel, greatly shortening the debugging cycle and improving debugging efficiency.

[0144] In some embodiments, step 340, controlling the second actuator 180 to transport the qualified battery 200 to the pairing station 150, includes:

[0145] Controlling the second actuator 180 to take out a plurality of batteries 200 from a plurality of buffer stations 140 at a time;

[0146] Acquire the position information of the qualified battery 200 among the multiple batteries 200 taken out and the position information of the pairing stations 150 in an idle state among the multiple pairing stations 150;

[0147] Based on the position information of the qualified battery 200 among the multiple batteries 200 taken out and the position information of the pairing stations 150 in an idle state among the multiple pairing stations 150, a target pairing position of the second actuator 180 is obtained;

[0148] The second actuator 180 is controlled to move to the target pairing position to place the corresponding qualified battery 200 .

[0149] Specifically, the number of batteries 200 removed at a time by the second actuator 180 may be equal to the number of cache stations 140, or the number of batteries 200 removed at a time by the second actuator 180 may be an integer divisor of the number of cache stations 140, which is not limited here.

[0150] For example, in some embodiments, the number of cache stations 140 is four, and the number of batteries 200 that the second actuator 180 can take out at a time is also four.

[0151] For example, in some other embodiments, Figure 5 As shown, the number of cache stations 140 is 8, and the number of batteries 200 that can be taken out at a time by the second actuator 180 is also 4.

[0152] For example, in some other embodiments, the number of cache stations 140 is 9, and the number of batteries 200 that can be taken out at a time by the second actuator 180 is also 3.

[0153] In actual implementation, Figure 1 , Figure 3 , Figure 6 and Figure 7 As shown, when multiple first sensors 101 detect that multiple cache stations 140 are loaded with batteries 200, the multiple first sensors 101 will feedback signals to the control system, and the control system issues an instruction to instruct the second actuator 180 to pick up materials. The second actuator 180 can take out all or part of the batteries 200 on the multiple cache stations 140 at a time. After taking out, the control system can obtain the position information of qualified batteries 200 among the multiple batteries 200 taken out, and obtain the position information of the pairing stations 150 in an idle state among the multiple pairing stations 150 fed back by some second sensors 102. After obtaining the above information, the control system can process the information and finally confirm the target pairing position of the second actuator 180. Based on the target pairing position, the control system issues an instruction to control the movement of the second actuator 180 on which the multiple batteries 200 are placed. After receiving the instruction, the second actuator 180 on which the multiple batteries 200 are placed moves to the target pairing position, and then places the corresponding qualified batteries 200 on the corresponding pairing stations 150. When the multiple second sensors 102 detect that the multiple pairing stations 150 are full, the multiple second sensors 102 will feedback signals to the control system, and the control system will issue instructions to the first actuator 170 to unload materials. After confirming safety, the first actuator 170 will grab the multiple qualified batteries 200 on the multiple pairing stations 150 to the unloading station to complete the unloading.

[0154] It should be noted that in actual applications, when the control system processes the position information of qualified batteries 200 among the multiple batteries 200 taken out and the position information of the pairing stations 150 that are in an idle state among the multiple pairing stations 150, it is usually necessary to obtain interference avoidance information and include the interference avoidance information in the considerations for confirming the target pairing position.

[0155] The pairing and waste disposal method of batteries 200 provided in the embodiment of the present application, through the logic design of the distribution process of the above-mentioned qualified batteries 200, on the one hand, the second actuator 180 takes out multiple batteries 200 at a time and then distributes and places the qualified batteries 200 one by one, thereby avoiding the tedious process of the second actuator 180 going back and forth between the buffer station 140 and the pairing station 150 for multiple times, thereby simplifying the travel path of the second actuator 180 and reducing the total stroke of the second actuator 180, thereby speeding up production efficiency and reducing the use cost of the battery pairing and waste disposal system 100. On the other hand, the control system can intelligently select the optimal pairing station 150 so that the qualified batteries 200 can be quickly and accurately placed in the correct position, thereby helping to improve the pairing accuracy and optimize the pairing process.

[0156] In some embodiments, step 350, controlling the second actuator 180 to transport the qualified battery 200 to the pairing station 150, includes:

[0157] Controlling the second actuator 180 to take out a plurality of batteries 200 from a plurality of buffer stations 140 at a time;

[0158] Acquire the position information of the unqualified battery 200 among the multiple batteries 200 taken out and the position information of the idle waste discharge station 160 among the multiple waste discharge stations 160;

[0159] Based on the position information of the unqualified battery 200 among the multiple batteries 200 taken out and the position information of the idle waste discharge station 160 among the multiple waste discharge stations 160, a target waste discharge position of the second actuator 180 is obtained;

[0160] The second actuator 180 is controlled to move to the target waste discharge position to place the corresponding unqualified battery 200.

[0161] In actual implementation, Figure 1 , Figure 3 , Figure 6 and Figure 7As shown, when multiple first sensors 101 detect that multiple cache stations 140 are loaded with batteries 200, the multiple first sensors 101 will feedback signals to the control system, and the control system issues an instruction for instructing the second actuator 180 to take materials. The second actuator 180 can take out all or part of the batteries 200 on the multiple cache stations 140 at a time. After taking out, the control system can obtain the position information of the unqualified batteries 200 among the multiple batteries 200 taken out, and obtain the position information of the idle waste discharge stations 160 among the multiple waste discharge stations 160 fed back by some third sensors 103. After obtaining the above information, the control system can process the information and finally confirm the target waste discharge position of the second actuator 180. Based on the target waste discharge position, the control system issues an instruction for controlling the movement of the second actuator 180 on which the multiple batteries 200 are placed. After receiving the instruction, the second actuator 180 on which the multiple batteries 200 are placed moves to the target waste discharge position, and then places the corresponding unqualified batteries 200 on the corresponding waste discharge station 160. When multiple third sensors 103 detect that multiple waste discharge stations 160 at the waste discharge and loading position are full, multiple third sensors 103 will feedback signals to the control system, and the control system will issue a prompt message to the relevant operating personnel. After manual confirmation of safety, the waste discharge button is pressed, and the third actuator 190 is pushed out to move the unqualified batteries 200 at the waste discharge and loading position to the waste discharge and unloading position. When multiple fourth sensors 104 detect that multiple waste discharge stations 160 at the waste discharge and unloading position are full, multiple fourth sensors 104 will feedback signals to the control system, and the control system will issue a prompt message to the relevant operating personnel. After manual confirmation of safety, manual unloading is performed. After all the unqualified batteries 200 are taken out, the waste discharge button is pressed, the third actuator 190 is retracted, and the multiple waste discharge stations 160 return to the waste discharge and loading position to wait for the next loading by the second actuator 180.

[0162] The paired waste discharge method of batteries 200 provided in the embodiment of the present application, through the logic design of the distribution process of the above-mentioned unqualified batteries 200, on the one hand, the second actuator 180 takes out multiple batteries 200 at a time and then distributes and places the unqualified batteries 200 one by one, thereby avoiding the tedious process of the second actuator 180 going back and forth between the buffer station 140 and the waste discharge station 160 for multiple times, thereby simplifying the travel path of the second actuator 180 and reducing the total stroke of the second actuator 180, thereby speeding up production efficiency and reducing the use cost of the battery paired waste discharge system 100. On the other hand, the control system can intelligently select the optimal waste discharge station 160 so that the unqualified batteries 200 can be quickly and accurately placed in the correct position, thereby helping to improve the accuracy of waste discharge and thus optimizing the waste discharge process.

[0163] In some embodiments, 2n pairing stations 150, buffer stations 140, and waste discharge stations 160 are all provided, and the second actuator 180 includes n pick-and-place stations 1811 for taking out n batteries 200 at a time, the positions of the 2n pairing stations 150 are numbered 1 to 2n, the positions of the 2n buffer stations 140 are numbered 2n+1 to 4n, the positions of the n pick-and-place stations 1811 are numbered 4n+1 to 5n, and the positions of the 2n waste discharge stations 160 are numbered 5n+1 to 7n;

[0164] Target pairing position T x Determined by the following calculation formula:

[0165] T x ∈{T1,T2,T3……T 6n+1};

[0166] x = AB-2n+2;

[0167] Among them, {T1, T2, T3...T 6n+1} is the set of all motion positions of the second actuator, A is the minimum position number of the pick-and-place station 1811 loaded with qualified batteries 200, B is the minimum position number of the pairing station 150 in an idle state, and n is a positive integer.

[0168] like Figure 5 As shown, taking n=4 as an example, 8 pairing stations 150, caching stations 140 and waste discharge stations 160 are all set, and the second actuator 180 includes 4 pick-and-place stations 1811 for taking out 4 batteries 200 at a time, the positions of the 8 pairing stations 150 are numbered 1 to 8, the positions of the 8 cache stations 140 are numbered 9 to 16, the positions of the 4 pick-and-place stations 1811 are numbered 17 to 20, and the positions of the 8 waste discharge stations 160 are numbered 21 to 28. In this case, the second actuator 180 includes T1 to T 25 These 25 sports positions.

[0169] In actual implementation, refer to Figure 5(As shown in the figure, the second actuator 180 is located at position T1), the second actuator 180 can first take out four batteries 200 corresponding to position numbers 13, 14, 15 and 16 in the eight cache stations 140 at a time, that is, the second actuator 180 moves to position T1, specifically, pick-and-place station 181117 takes the battery 200 corresponding to cache station 14013, pick-and-place station 181118 takes the battery 200 corresponding to cache station 14014, pick-and-place station 181119 takes the battery 200 corresponding to cache station 14015, and pick-and-place station 181120 takes the battery 200 corresponding to cache station 14016. The battery 200 corresponding to the station 14016; after the above-mentioned 4 batteries 200 are distributed, the second actuator 180 can take out the four batteries 200 corresponding to the position numbers 9, 10, 11 and 12 in the 8 cache stations 140. Specifically, the pick-up and place station 181117 takes the battery 200 corresponding to the cache station 1409, the pick-up and place station 181118 takes the battery 200 corresponding to the cache station 14010, the pick-up and place station 181119 takes the battery 200 corresponding to the cache station 14011, and the pick-up and place station 181120 takes the battery 200 corresponding to the cache station 14012.

[0170] After the second actuator 180 takes out four batteries 200 from the buffer station 140, for example, if the minimum position number A of the pick-and-place station 1811 loaded with qualified batteries 200 is 20, and the minimum position number B of the pairing station 150 in an idle state is 1, then x=20-1-6=13, and the target pairing position is T 13 At this time, the control system controls the second drive mechanism to move to T 13 Position, the qualified battery 200 corresponding to the pick-and-place station 181120 is placed on the pairing station 1501. If the minimum position number A of the pick-and-place station 1811 loaded with qualified batteries 200 is 17, and the minimum position number B of the pairing station 150 in an idle state is 8, then x=17-8-6=3, and the target pairing position is T3. At this time, the control system controls the second drive mechanism to move to the T3 position, and places the qualified battery 200 corresponding to the pick-and-place station 181117 on the pairing station 1508.

[0171] It can be understood that the principle followed by the design logic of the above calculation formula is: a part of the pick-and-place stations 1811 loaded with qualified batteries 200 among the multiple pick-and-place stations 1811 are allocated in the order of position numbers from small to large; some pairing stations 150 in an idle state are also allocated in the order of position numbers from small to large.

[0172] The pairing and waste discharge method of the battery 200 provided in the embodiment of the present application introduces a clear numbering system and an optimized pairing strategy, and the control system can automatically calculate the target pairing position T according to the current position status of the qualified battery 200 and the status of the pairing station 150. x , and guide the actuator to perform corresponding operations, making the pairing process more automated and intelligent, reducing pairing errors caused by human errors and machine failures, and improving the accuracy and consistency of waste discharge operations, thereby improving overall production efficiency and quality. In addition, as the scale of production expands or shrinks, it is only necessary to increase or decrease the number of pairing stations 150, cache stations 140, pick-and-place stations 1811, and waste discharge stations 160 accordingly, without the need for large-scale reconstruction or modification of the entire battery pairing and waste discharge system 100.

[0173] In some embodiments, 2n pairing stations 150, buffer stations 140, and waste discharge stations 160 are all provided, and the second actuator 180 includes n pick-and-place stations 1811 for taking out n batteries 200 at a time, the positions of the 2n pairing stations 150 are numbered 1 to 2n, the positions of the 2n buffer stations 140 are numbered 2n+1 to 4n, the positions of the n pick-and-place stations 1811 are numbered 4n+1 to 5n, and the positions of the 2n waste discharge stations 160 are numbered 5n+1 to 7n;

[0174] Target waste discharge position T y It is obtained by the following calculation formula:

[0175] T y ∈{T1,T2,T3……T 6n+1};

[0176] y = C - D + 3n + 1;

[0177] Among them, {T1, T2, T3...T 6n+1} is the set of all moving positions of the second actuator, C is the minimum position number of the waste discharge station 160 in an idle state, D is the minimum position number of the pick-up and place station 1811 loaded with unqualified batteries 200, and n is a positive integer.

[0178] like Figure 5 As shown, taking n=4 as an example, 8 pairing stations 150, caching stations 140 and waste discharge stations 160 are all set, and the second actuator 180 includes 4 pick-and-place stations 1811 for taking out 4 batteries 200 at a time, the positions of the 8 pairing stations 150 are numbered 1 to 8, the positions of the 8 cache stations 140 are numbered 9 to 16, the positions of the 4 pick-and-place stations 1811 are numbered 17 to 20, and the positions of the 8 waste discharge stations 160 are numbered 21 to 28. In this case, the second actuator 180 includes T1 to T 25These 25 sports positions.

[0179] In actual implementation, refer to Figure 5 (As shown in the figure, the second actuator 180 is located at position T1), the second actuator 180 can first take out four batteries 200 corresponding to position numbers 13, 14, 15 and 16 in the eight cache stations 140 at a time, that is, the second actuator 180 moves to position T1, specifically, pick-and-place station 181117 takes the battery 200 corresponding to cache station 14013, pick-and-place station 181118 takes the battery 200 corresponding to cache station 14014, pick-and-place station 181119 takes the battery 200 corresponding to cache station 14015, and pick-and-place station 181120 takes the battery 200 corresponding to cache station 14016. The battery 200 corresponding to the station 14016; after the above-mentioned 4 batteries 200 are distributed, the second actuator 180 can take out the four batteries 200 corresponding to the position numbers 9, 10, 11 and 12 in the 8 cache stations 140. Specifically, the pick-up and place station 181117 takes the battery 200 corresponding to the cache station 1409, the pick-up and place station 181118 takes the battery 200 corresponding to the cache station 14010, the pick-up and place station 181119 takes the battery 200 corresponding to the cache station 14011, and the pick-up and place station 181120 takes the battery 200 corresponding to the cache station 14012.

[0180] After the second actuator 180 takes out four batteries 200 from the buffer station 140, for example, if the minimum position number C of the idle waste discharge station 160 is 21, and the minimum position number D of the pick-and-place station 1811 loaded with unqualified batteries 200 is 20, then y=21-20+13=14, and the target waste discharge position is T 14 At this time, the control system controls the second drive mechanism to move to T 14 Position, the unqualified battery 200 corresponding to the pick-and-place station 181120 is placed on the waste discharge station 16021. If the minimum position number C of the waste discharge station 160 in the idle state is 28, and the minimum position number D of the pick-and-place station 1811 loaded with unqualified batteries 200 is 17, then y = 28-17+13 = 24, and the target waste discharge position is T 24 At this time, the control system controls the second drive mechanism to move to T 24 Position, and place the unqualified battery 200 corresponding to the pick-and-place station 181117 on the waste discharge station 16028.

[0181] It can be understood that the principle followed by the design logic of the above calculation formula is: a part of the pick-and-place stations 1811 loaded with unqualified batteries 200 among the multiple pick-and-place stations 1811 are allocated in the order of position numbers from small to large; some of the waste discharge stations 160 that are idle are also allocated in the order of position numbers from small to large.

[0182] The paired waste discharge method of the battery 200 provided in the embodiment of the present application introduces a clear numbering system and an optimized waste discharge strategy, and the control system can automatically calculate the target waste discharge position T according to the current position status of the unqualified battery 200 and the waste discharge station 160 status. y , and guide the actuator to perform corresponding operations, making the waste discharge process more automated and intelligent, reducing waste discharge errors caused by human errors and machine failures, and improving the accuracy and consistency of waste discharge operations, thereby improving overall production efficiency and quality. In addition, as the scale of production expands or shrinks, it is only necessary to increase or decrease the number of pairing stations 150, cache stations 140, pick-and-place stations 1811, and waste discharge stations 160 accordingly, without the need for large-scale reconstruction or modification of the entire battery pairing and waste discharge system 100.

[0183] When n=4, the second actuator 180 moves to T1-T 25 For the corresponding relationship between the pick-up and place station 1811 and the transport line, please refer to Table 1 below.

[0184] Table 1

[0185] Correspondence between pick-and-place station 1811 and transport line Second actuator 180 position 17-13、18-14、19-15、20-16 <![CDATA[T1]]> 17-9、18-10、19-11、20-12 <![CDATA[T2]]> 17-8 <![CDATA[T3]]> 17-7、18-8 <![CDATA[T4]]> 17-6、18-7、19-8 <![CDATA[T5]]> 17-5、18-6、19-7、20-8 <![CDATA[T6]]> 17-4、18-5、19-6、20-7 <![CDATA[T7]]> 17-3、18-4、19-5、20-6 <![CDATA[T8]]> 17-2、18-3、19-4、20-5 <![CDATA[T9]]> 17-1、18-2、19-3、20-4 <![CDATA[T 10 ]]> 18-1、19-2、20-3 <![CDATA[T 11 ]]> 19-1、20-2 <![CDATA[T 12 ]]> 20-1 <![CDATA[T 13 ]]> 20-21 <![CDATA[T 14 ]]> 19-21、20-22 <![CDATA[T 15 ]]> 18-21、19-22、20-23 <![CDATA[T 16 ]]> 17-21、18-22、19-23、20-24 <![CDATA[T 17 ]]> 17-22、18-23、19-24、20-25 <![CDATA[T 18 ]]> 17-23、18-24、19-25、20-26 <![CDATA[T 19 ]]> 17-24、18-25、19-26、20-27 <![CDATA[T 20 ]]> 17-25、18-26、19-27、20-28 <![CDATA[T 21 <!-- 14 -->]]> 17-26、18-27、19-28 <![CDATA[T 22 ]]> 17-27、18-28 <![CDATA[T 23 ]]> 17-28 <![CDATA[T 24 ]]> Avoidance position: waste discharge side <![CDATA[T 25 ]]>

[0186] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0187] In the description of the present application, 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 application 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 a limitation on the present application.

[0188] In the description of this application, "first feature" or "second feature" may include one or more of the features.

[0189] In the description of the present application, “plurality” means two or more.

[0190] In the description of the present application, a first feature being “on” or “under” a second feature may include that the first and second features are directly in contact with each other, or may include that the first and second features are not in direct contact with each other but are in contact with each other via another feature therebetween.

[0191] In the description of the present application, “above”, “over” and “above” a first feature to a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0192] Other structures of ... according to the embodiments of the present application, such as ... and ..., and operations are known to ordinary technicians in the field and will not be described in detail here.

[0193] 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 application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0194] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A battery pairing waste discharge system, characterized in that: include: A transport line, the transport line comprising a loading station, an unloading station, a plurality of buffer stations, a plurality of pairing stations and a plurality of waste discharge stations; A first actuator, the first actuator is used to transport the multiple batteries to be distributed from the loading station to the buffer station, and to transport the multiple qualified batteries after pairing from the pairing station to the unloading station; A second execution mechanism is used to allocate qualified batteries from the buffer station to the pairing station, and to allocate unqualified batteries from the buffer station to the waste station.

2. The battery pairing waste discharge system according to claim 1, characterized in that: The second actuator comprises: A lifting unit, the lifting unit is used to drive a plurality of batteries to be distributed to perform lifting movements; A translation unit, wherein an output end of the translation unit is connected to the lifting unit.

3. The battery pairing waste discharge system according to claim 2, characterized in that: The buffer station, the pairing station and the waste discharge station are arranged along a straight line, and the buffer station is located between the pairing station and the waste discharge station; wherein the translation unit comprises: Power source; A transmission belt, the output end of the power source is connected to the transmission belt, and the transmission belt is connected to the lifting unit.

4. The battery pairing waste discharge system according to claim 1, characterized in that: Also includes: frame; A first bracket, wherein the first bracket is fixedly mounted on the frame, and the buffer station and the pairing station are arranged on the first bracket; The second bracket is movably mounted on the frame between a waste discharge loading position and a waste discharge unloading position, and the waste discharge station is arranged on the second bracket.

5. The battery pairing waste discharge system according to claim 4, characterized in that: Also includes: The third actuator, the output end of which is connected to the second bracket, is used to drive the second bracket to be slidably installed on the frame between a waste discharge loading position and a waste discharge unloading position.

6. The battery pairing waste discharge system according to claim 4, characterized in that: Also includes: A plurality of first sensors, the plurality of first sensors corresponding to the plurality of cache stations one by one, the first sensors being used to detect whether a battery is loaded on the corresponding cache station; A plurality of second sensors, the plurality of second sensors corresponding to the plurality of pairing stations one by one, the second sensors being used to detect whether a battery is loaded on the corresponding pairing station; A plurality of third sensors, each of the plurality of third sensors corresponds to the plurality of waste discharge stations one by one, and the third sensors are used to detect whether a battery is loaded on the corresponding waste discharge station when the second bracket moves to the waste discharge and loading position; A plurality of fourth sensors, each of which corresponds to each of the plurality of waste discharge stations, and is used to detect whether batteries are loaded on the corresponding waste discharge stations when the second bracket moves to the waste discharge unloading position.

7. A battery pairing waste discharge method, applied to the battery pairing waste discharge system according to any one of claims 1 to 6, characterized in that: include: Controlling the first actuator to grab a plurality of batteries to be distributed at a loading station, and obtaining status information of the plurality of batteries to be distributed; Controlling the first actuator to transport the plurality of batteries to be distributed to a plurality of cache stations; Based on the status information of the plurality of batteries to be allocated, determining qualified batteries and unqualified batteries; Controlling the second actuator to transport the qualified battery to the pairing station; Controlling the second actuator to transport the unqualified batteries to a waste discharge station; When all the pairing stations are loaded with the qualified batteries, the first actuator is controlled to transport the plurality of qualified batteries to the unloading station.

8. The battery pairing waste discharge method according to claim 7, characterized in that: The controlling the second actuator to transport the qualified battery to the pairing station comprises: Control the second actuator to take out a plurality of batteries from the plurality of cache stations at a time; Acquire the position information of the qualified battery among the plurality of batteries taken out and the position information of the pairing stations in an idle state among the plurality of pairing stations; Obtaining a target pairing position of a second actuator based on the position information of the qualified battery among the plurality of batteries removed and the position information of the pairing station in an idle state among the plurality of pairing stations; The second actuator is controlled to move to the target pairing position to place the corresponding qualified battery.

9. The battery pairing waste discharge method according to claim 8, characterized in that: The pairing stations, the buffer stations and the waste discharge stations are all provided with 2n, the second actuator includes n pick-and-place stations for taking out n batteries at a time, the positions of the 2n pairing stations are numbered 1 to 2n, the positions of the 2n buffer stations are numbered 2n+1 to 4n, the positions of the n pick-and-place stations are numbered 4n+1 to 5n, and the positions of the 2n waste discharge stations are numbered 5n+1 to 7n; The target pairing position T x Determined by the following calculation formula: T x ∈{T1,T2,T3……T 6n+1 }; x = AB-2n+2; Among them, {T1, T2, T3...T 6n+1 } is the set of all motion positions of the second actuator, A is the minimum position number of the pick-and-place station loaded with the qualified battery, B is the minimum position number of the pairing station in the idle state, and n is a positive integer.

10. The battery pairing waste discharge method according to claim 7, characterized in that: The controlling the second actuator to transport the qualified battery to the pairing station comprises: Controlling the second actuator to take out multiple batteries from multiple cache stations at one time; Acquire the position information of the unqualified battery among the plurality of batteries removed and the position information of the idle waste discharge station among the plurality of waste discharge stations; Based on the position information of the unqualified battery among the plurality of batteries removed and the position information of the idle waste discharge station among the plurality of waste discharge stations, a target waste discharge position of the second actuator is obtained; The second actuator is controlled to move to the target waste discharge position to place the corresponding unqualified battery.

11. The battery pairing waste discharge method according to claim 10, characterized in that: The pairing stations, the buffer stations and the waste discharge stations are all provided with 2n, the second actuator includes n pick-and-place stations for taking out n batteries at a time, the positions of the 2n pairing stations are numbered 1 to 2n, the positions of the 2n buffer stations are numbered 2n+1 to 4n, the positions of the n pick-and-place stations are numbered 4n+1 to 5n, and the positions of the 2n waste discharge stations are numbered 5n+1 to 7n; The target waste discharge position T y It is obtained by the following calculation formula: T y ∈{T1,T2,T3……T 6n+1 }; y = C - D + 3n + 1; Among them, {T1, T2, T3...T 6n+1 } is the set of all moving positions of the second actuator, C is the minimum position number of the waste discharge station in an idle state, D is the minimum position number of the pick-up and place station loaded with the unqualified battery, and n is a positive integer.

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