Cart changeover method and system

Abstract

A cart changeover method and system. The method comprises: when a cart to be detected reaches a preset position, acquiring the current blueprint information of said cart, wherein a tray is placed on the upper surface of the said cart, and the tray is used for bearing a part to be transferred; when the current blueprint information is first blueprint information, determining a first vertical warehouse corresponding to the first blueprint information, wherein the first vertical warehouse comprises at least one target limiting block required by the first blueprint information; and on the basis of the at least one target limiting block in the first vertical warehouse, adjusting one or more initial limiting blocks on the tray, so that the tray matches said part, and thus allows said part to be placed.

Description

A trolley changing method and system

[0001] Cross-reference to Related Applications

[0002] The present disclosure is based on and claims priority to Chinese Patent Application No. 202410458903.8, filed on April 16, 2024, entitled "A trolley changing method and system", the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of automatic assembly, and in particular to a trolley changing method and system. BACKGROUND

[0004] With the continuous development of energy storage technology, the types of power batteries are also increasing, and the compatibility requirements of production lines are also increasing. Among them, the battery production line mainly uses semi-automatic equipment to realize the processing, assembly, conveying and detection of batteries and other processes.

[0005] In related technologies, a transfer device is used in the battery production line to transfer the battery components of the previous process to the next process for assembly, but each transfer device can only adapt to one size of battery components, and cannot automatically adapt to different sizes of products. When the product is changed, the transfer device needs to be manually replaced, resulting in low production efficiency.

[0006] SUMMARY

[0007] The purpose of the present disclosure is to provide a trolley changing method and system that can reduce labor costs and production costs, and also improve production efficiency when the product is changed.

[0008] To achieve the above purpose, the technical solution of the present disclosure is as follows:

[0009] In a first aspect, the present disclosure provides a trolley changing method, the trolley changing method comprising:

[0010] When the to-be-tested trolley reaches the preset position, the current blueprint information of the to-be-tested trolley is obtained; wherein the upper surface of the to-be-tested trolley is provided with a tray, and the tray is used to carry the to-be-transferred components;

[0011] When the current blueprint information is first blueprint information, a first vertical warehouse corresponding to the first blueprint information is determined; wherein the first vertical warehouse includes at least one target limiting block required by the first blueprint information;

[0012] According to the at least one target limiting block in the first vertical warehouse, one or more initial limiting blocks on the tray are adjusted to match the tray with the to-be-transferred components, so that the to-be-transferred components can be placed.

[0013] Through the technical means, when the to-be-tested trolley reaches the preset position, the corresponding vertical warehouse can be automatically selected according to the current blueprint information, and at least one target limiting block required by the current blueprint information is stored in the vertical warehouse, thereby improving the production efficiency during product changeover; in addition, the limiting block is automatically replaced during product changeover, the robot changeover logic is simple, multiple sensors do not need to be configured, the automation degree of the equipment is also improved, and the labor cost and production cost are reduced; and by adjusting the at least one initial limiting block on the tray, the to-be-transported part of various specification parameters can also be adapted, and the compatibility is improved.

[0014] In some embodiments, the method further comprises: before the to-be-tested trolley reaches the preset position, determining that at least one target limiting block required by the first blueprint information has been placed in the first vertical warehouse.

[0015] Through the technical means, before the to-be-tested trolley reaches the preset position, at least one target limiting block required by the first blueprint information has been placed in the first vertical warehouse, that is, the target limiting block required by the first blueprint information has been prepared, thereby avoiding the problem of prolonged production cycle caused by the need for repair due to the inadaptation of the limiting block, and improving the production efficiency during product changeover.

[0016] In some embodiments, before the to-be-tested trolley reaches the preset position, determining that at least one target limiting block required by the first blueprint information has been placed in the first vertical warehouse comprises: in response to a first operation instruction, controlling the first vertical warehouse to move from an initial position to a first limiting position; at the first limiting position, placing at least one target limiting block required by the first blueprint information in the first vertical warehouse based on a first placing action; and in response to a second operation instruction, controlling the first vertical warehouse to return to the initial position from the first limiting position.

[0017] Through the technical means, first, the first vertical warehouse is controlled to move from the initial position to the first limiting position, and then at least one target limiting block required by the first blueprint information is placed in the first vertical warehouse at the first limiting position; after the placement is completed, the first vertical warehouse is controlled to return to the initial position from the first limiting position, so that when the current blueprint information is determined to be the first blueprint information, the target limiting block required can be directly grabbed from the corresponding first vertical warehouse, thereby improving the production efficiency during product changeover.

[0018] In some embodiments, adjusting one or more initial limiting blocks on the tray according to at least one target limiting block in the first vertical warehouse comprises: sending a control instruction to the robot; wherein the control instruction is used to control a grabbing mechanism arranged on the robot to perform a grabbing and placing action on the at least one target limiting block in the first vertical warehouse and the one or more initial limiting blocks on the tray, so that the adjusted tray matches the to-be-transported part.

[0019] Through the technical means, the controller sends a control instruction to the robot, the robot can control the gripper on the robot to pick and place the limiting blocks on the first vertical warehouse and the tray to be picked and placed, and the tray can be matched with the parts to be transferred, so that the tray can adapt to parts to be transferred with various specification parameters, thereby improving the compatibility.

[0020] In some embodiments, the first vertical warehouse includes a first storage location and a second storage location, and sending a control instruction to the robot includes: sending a first control instruction to the robot, the first control instruction being used to control the gripper to pick up the first initial limiting block on the tray from the to-be-picked position and place it into the first storage location, and control the gripper to pick up the first target limiting block from the second storage location and place it into the to-be-placed position in the tray, so that the adjusted tray is matched with the parts to be transferred.

[0021] Through the technical means, the controller sends a control instruction to the robot, the robot can control the gripper on the robot to pick and place the limiting blocks on the first vertical warehouse and the tray to be picked and placed, and the tray can be matched with the parts to be transferred, so that the tray can adapt to parts to be transferred with various specification parameters, thereby improving the compatibility.

[0022] In some embodiments, sending a first control instruction to the robot includes: sending a first photographing instruction to the robot, the first photographing instruction being used to control the visual detection system arranged on the robot to take pictures of the to-be-picked position and the to-be-placed position, and to compensate the position of the to-be-picked position and the to-be-placed position according to the photographed images; sending a first pick-and-place instruction to the robot, the first pick-and-place instruction being used to control the gripper to pick up the first initial limiting block on the tray from the to-be-picked position and place it into the first storage location, and control the gripper to pick up the first target limiting block from the second storage location and place it into the to-be-placed position in the tray, so that the adjusted tray is matched with the parts to be transferred.

[0023] Through the technical means, since the robot is provided with the gripper and the visual detection system, the visual detection system can be controlled by the controller to visually guide and correct the deviation of the picking position, and the target position to be reached by the gripper assembly in the gripper can be accurately determined according to the corresponding offset data, so that the gripper assembly can be moved to the determined target position by the controller, and then the gripper assembly can be moved to the accurate picking position to pick and place the limiting blocks, thereby improving the efficiency of the limiting block replacement or position adjustment, and further improving the production efficiency during product changeover.

[0024] In some embodiments, the sending of the control instruction to the robot comprises: sending a second control instruction to the robot, the second control instruction being used to control the gripping mechanism to grip the second initial limiting block on the tray from the to-be-gripped position and place the second initial limiting block into the to-be-placed position in the tray, so that the adjusted tray matches the to-be-transported component.

[0025] By the above technical means, when the limiting blocks on the tray are adjusted, for example, the limiting blocks on the tray are moved from the hole position number of a certain conversion plate to the hole position number of another conversion plate, or from a hole position number of a certain conversion plate to another hole position number, the second control instruction is sent to the robot at this time, the tray can be matched with the to-be-transported component, so that the tray can adapt to to-be-transported components of various specification parameters, thereby improving the compatibility.

[0026] In some embodiments, the sending of the second control instruction to the robot comprises: sending a second photographing instruction to the robot, the second photographing instruction being used to control the visual detection system arranged on the robot to take pictures of the to-be-gripped position and the to-be-placed position, and to compensate the position of the to-be-gripped position and the to-be-placed position according to the photographed images; sending a second gripping and placing instruction to the robot, the second gripping and placing instruction being used to control the gripping mechanism to grip the second initial limiting block on the tray from the to-be-gripped position and place the second initial limiting block into the to-be-placed position in the tray, so that the adjusted tray matches the to-be-transported component.

[0027] By the above technical means, since the robot is provided with the gripping mechanism and the visual detection system, the visual detection system can be controlled by the controller to visually guide the deviation correction of the placement position, and the target position to be reached by the gripper assembly in the gripping mechanism can be accurately determined according to the corresponding offset data, so that the gripper assembly can be controlled by the controller to move to the target position according to the determined target position, and then the gripper assembly can be moved to the accurate placement position for gripping and placing the limiting block, thereby improving the efficiency of replacing or adjusting the limiting block, and further improving the production efficiency during product conversion.

[0028] In some embodiments, the second storage location at least comprises a first sub-storage and a second sub-storage, and the method further comprises: when it is detected that the number of target limiting blocks in the first sub-storage is lower than a first threshold, controlling the gripping mechanism to grip at least one target limiting block required by the first blueprint information from the second sub-storage, and sending a first user prompt information; wherein the first user prompt information is used to prompt the user to perform a replenishment action of the first sub-storage.

[0029] By means of the above technical means, when it is detected that the number of target limit blocks in the first sub-library is less than the first threshold value, the grabbing mechanism is controlled to grab at least one target limit block of the first blue information requirement from the second sub-library, and a first user prompt information is sent for timely replenishment, thereby improving the production efficiency of the trolley change.

[0030] In some embodiments, after sending the first user prompt information, the method further comprises: in response to a first operation instruction, controlling the first sub-library to move from the initial position to a first limit position; at the first limit position, placing at least one target limit block of the first blue information requirement in the first sub-library based on a second drop action; and in response to a second operation instruction, controlling the first sub-library to return to the initial position from the first limit position.

[0031] By means of the above technical means, the first sub-library is replenished based on the first operation instruction and the second operation instruction, avoiding the problem of reduced production efficiency caused by insufficient target limit blocks corresponding to the first blue information.

[0032] In some embodiments, the method further comprises: sending an inhibition instruction to the robot; wherein the inhibition instruction is used to control the grabbing mechanism to prohibit grabbing at least one target limit block of the first blue information requirement from the first sub-library before the first sub-library returns to the initial position.

[0033] By means of the above technical means, the inhibition instruction can be sent to the robot before the second operation instruction is responded, avoiding the robot from grabbing the target limit block from the first library at this time, which can prevent mistakes and improve the production efficiency of the trolley change.

[0034] In some embodiments, the method further comprises: receiving a blue count value of the first blue information sent by the manufacturing execution system; and sending a second user prompt information when the blue count value reaches a second threshold value; wherein the second user prompt information is used to prompt the user to perform a replenishment action of the first sub-library to build a second sub-library.

[0035] By means of the above technical means, when the blue count value reaches the second threshold value, it indicates that the first blue information is about to be completed, at which time a new blue information (i.e. the second blue information) needs to be determined, and then the user is reminded to timely build the second sub-library corresponding to the second blue information; in this way, the corresponding sub-library is selected according to the current blue information, and the sub-library is taken as needed, avoiding the problem of prolonged production cycle caused by limit block mismatch requiring repair, thereby improving the production efficiency during product change.

[0036] In some embodiments, the method further comprises: receiving a second blue information sent by the manufacturing execution system; determining at least one target limit block required by the second blue information, and building a second sub-library according to the at least one target limit block required by the second blue information.

[0037] By the technical means, the second blueprint information sent by the manufacturing execution system is received, and the second vertical warehouse is constructed in advance according to the second blueprint information; thus, when the current blueprint information is determined to be the second blueprint information, the target limit block required by the second blueprint information can be obtained in time, and the production efficiency during product change can be improved.

[0038] In some embodiments, the method further includes: obtaining current blueprint information of the to-be-tested trolley when the to-be-tested trolley reaches the preset position; determining a second vertical warehouse corresponding to the second blueprint information when the current blueprint information is the second blueprint information; and adjusting one or more initial limit blocks on the tray according to at least one target limit block in the second vertical warehouse, so that the tray matches the to-be-transported component and can place the to-be-transported component.

[0039] By the technical means, when the current blueprint information of the to-be-tested trolley is switched from the first blueprint information to the second blueprint information, the second vertical warehouse corresponding to the second blueprint information can be obtained in time, and the at least one target limit block required by the second blueprint information is stored in the second vertical warehouse, thereby improving the production efficiency during product change. In addition, by adjusting the at least one initial limit block on the tray, the tray can also be adapted to to-be-transported components of various specification parameters, thereby improving compatibility.

[0040] In a second aspect, the embodiments of the present disclosure provide a trolley change system, which comprises:

[0041] a to-be-tested trolley, comprising a tray and one or more initial limit blocks arranged on the tray, the tray being used to carry a to-be-transported component, and the one or more initial limit blocks being used to limit the position of the to-be-transported component on the tray;

[0042] a robot, a gripper mechanism being arranged on a mechanical arm of the robot, and the robot being used to drive the gripper mechanism to move;

[0043] a vertical warehouse, arranged at a position corresponding to the robot, and used to store a target limit block;

[0044] a jacking mechanism, arranged at a position corresponding to the robot, and used to jack up and support the to-be-tested trolley;

[0045] wherein different blueprint information corresponds to different vertical warehouses; when the to-be-tested trolley reaches the preset position and the current blueprint information of the to-be-tested trolley is the first blueprint information, the gripper mechanism can perform a pick-and-place action on at least one target limit block in the first vertical warehouse and one or more initial limit blocks on the tray based on the first vertical warehouse corresponding to the first blueprint information, so that the adjusted tray matches the to-be-transported component.

[0046] By means of the above technical means, since the tray is arranged in the to-be-tested trolley, and the limiting block is arranged on the tray, the to-be-transported component can be carried by the tray, and the position of the to-be-transported component on the tray can be limited by the limiting block, so that the limiting of the to-be-transported component is realized; the gripper mechanism is arranged on the mechanical arm of the robot, the gripper mechanism can be driven by the robot to move to the position corresponding to the limiting block, the limiting block can be gripped or placed by the gripper mechanism; the vertical warehouse corresponding to the robot is arranged, the target limiting block required can be stored in the vertical warehouse; and the jacking mechanism is further arranged at the position corresponding to the robot, the to-be-tested trolley can be jacked, supported and limited by the jacking mechanism, so that the to-be-tested trolley can be parked at the preset position. In this way, after the to-be-tested trolley is stopped at the preset position by the jacking mechanism, the limiting block that needs to be replaced on the to-be-tested trolley can be taken away by the robot driving the gripper mechanism and placed at the appropriate position in the vertical warehouse; the target limiting block required can also be gripped from the vertical warehouse by the robot driving the gripper mechanism and installed at the corresponding position on the tray, so that the adjustment of the to-be-tested trolley can be quickly and efficiently completed, so that the to-be-tested trolley and the to-be-transported component required to be transported are matched, and different vertical warehouses can correspond to different vertical warehouses, which is helpful to improve the generation efficiency when the product is changed.

[0047] In some embodiments, the tray includes a tray frame, a transverse clamping assembly, and a longitudinal clamping assembly; wherein the transverse clamping assembly includes a transverse clamping piece and a transverse transmission piece, the transverse clamping piece is slidingly connected to the tray frame and has a transverse mounting portion, the initial limiting block or the target limiting block can be connected to the transverse clamping piece through the transverse mounting portion; the transverse transmission piece is in transmission connection with the transverse clamping piece; during the movement of the transverse transmission piece, the transverse clamping piece can be driven to move in a first direction; the longitudinal clamping assembly includes a longitudinal clamping piece and a longitudinal transmission piece, the longitudinal clamping piece is slidingly connected to the tray frame and has a longitudinal mounting portion, the initial limiting block or the target limiting block can be connected to the longitudinal clamping piece through the longitudinal mounting portion; the longitudinal transmission piece is in transmission connection with the longitudinal clamping piece; during the movement of the longitudinal transmission piece, the longitudinal clamping piece can be driven to move in a second direction; the second direction has an included angle with the first direction.

[0048] By means of the above technical means, since the tray frame is arranged in the tray, other parts in the tray can be carried and installed by the tray frame; and the transverse clamping piece and the transverse transmission piece in transmission connection are arranged on the tray frame, the position of the transverse clamping piece on the tray frame can be adjusted by the transverse transmission piece; at the same time, the longitudinal clamping piece and the longitudinal transmission piece in transmission connection are arranged on the tray frame, the position of the longitudinal clamping piece on the tray frame can be adjusted by the longitudinal transmission piece, so that the size and shape of the tray can be adjusted in at least two directions, and then the tray can be matched with the to-be-transported component.

[0049] In some embodiments, the longitudinal clamping members include a first longitudinal clamping member and a second longitudinal clamping member, both of which are in driving connection with the longitudinal transmission member; during movement of the longitudinal transmission member, the first longitudinal clamping member and the second longitudinal clamping member can be driven to move towards or away from each other, so as to cooperatively fix the component to be transported.

[0050] By means of the above technical means, since the longitudinal clamping members are arranged in a structure including a first longitudinal clamping member and a second longitudinal clamping member, and both of which are in driving connection with the longitudinal transmission member, the first longitudinal clamping member and the second longitudinal clamping member can be driven to move towards or away from each other by the longitudinal transmission member, so as to conveniently adjust the distance between the first longitudinal clamping member and the second longitudinal clamping member, and match the distance between the first longitudinal clamping member and the second longitudinal clamping member with the width of the component to be transported in the second direction.

[0051] In some embodiments, the lateral clamping members include a first lateral clamping member and a second lateral clamping member arranged oppositely, the first lateral clamping member is in driving connection with the lateral transmission member, and the second lateral clamping member is fixed on the tray frame; during movement of the lateral transmission member, the first lateral clamping member can be driven to move towards or away from the second lateral clamping member, so as to cooperatively clamp the component to be transported.

[0052] By means of the above technical means, since the lateral clamping members are arranged in a structure including a first lateral clamping member and a second lateral clamping member, and the first lateral clamping member is in driving connection with the lateral transmission member, the first lateral clamping member can be driven to move towards or away from the second lateral clamping member by the lateral transmission member, so as to conveniently adjust the distance between the first lateral clamping member and the second lateral clamping member, and match the distance between the first lateral clamping member and the second lateral clamping member with the length of the component to be transported in the first direction.

[0053] In some embodiments, the gripper structure includes a connecting member, a moving assembly and a gripper assembly; the gripper structure is arranged on the mechanical arm of the robot through the connecting member; the moving assembly is arranged on the connecting member; the gripper assembly is arranged on the moving assembly; under the driving of the moving assembly, the gripper assembly can move towards or away from the to-be-placed position.

[0054] By means of the above technical means, since the connecting member is arranged in the gripper structure, the gripper structure can be installed on the mechanical arm through the connecting member; and the moving assembly is arranged on the connecting member, and the gripper assembly is arranged on the moving assembly, so that the gripper assembly can be driven to move to the required position by the moving assembly, so as to make the gripper assembly approach or move away from the limiting block, or make the gripper assembly approach or move away from the to-be-placed position.

[0055] In some embodiments, the gripper assembly comprises a gripper driving member and at least two gripper members; one of the gripper members is slidingly arranged on the moving assembly, one end of the gripper driving member is connected with the moving assembly, and the other end is connected with the one gripper member slidingly arranged on the moving assembly; under the driving of the gripper driving member, the at least two gripper members can approach each other to grasp the initial limiting block or the target limiting block, or the at least two gripper members can separate from each other to release the initial limiting block or the target limiting block.

[0056] Through the above technical means, since at least two gripper members are arranged, and one of the gripper members is slidingly arranged on the moving assembly, the gripper driving member is connected with the sliding gripper member, the sliding gripper member can be driven to move by the gripper driving member, so that the two gripper members approach or move away from each other, thereby grasping the initial limiting block or the target limiting block, or releasing the initial limiting block or the target limiting block.

[0057] In some embodiments, the gripper structure further comprises a visual detection system; the visual detection system can be electrically connected with the controller, and the visual detection system is used for photographing the to-be-grasped position and the to-be-placed position, and compensating the position of the to-be-grasped position and the to-be-placed position.

[0058] Through the above technical means, since the visual detection system is arranged on the gripper structure, the position of the to-be-grasped position and the to-be-placed position can be compensated by the visual detection system to determine the information of the target position to be reached by the gripper assembly in the gripper structure, so that the gripper assembly can be controlled to move to the target position according to the determined target position, and then the gripper assembly can be moved to the accurate grasping position or the placing position, thereby improving the efficiency of replacing or adjusting the position of the initial limiting block on the tray.

[0059] In some embodiments, the first vertical warehouse comprises a first warehouse position and a second warehouse position, and the first warehouse position and the second warehouse position are oppositely arranged on two sides of the robot; the first warehouse position is used for storing at least one initial limiting block which is not matched with the to-be-transported component and is grasped from the tray by the gripper structure; and the second warehouse position is used for storing at least one target limiting block required by the first blueprint information.

[0060] Through the above technical means, by arranging the first warehouse position and the second warehouse position, the gripper structure on the robot can be controlled to place the unnecessary limiting block on the tray into the first warehouse position, and grasp the target limiting block required from the second warehouse position, so that the tray can adapt to various specifications of the to-be-transported component, thereby improving the compatibility; and since the functions of the vertical warehouse are divided, the production efficiency during product change can also be improved.

[0061] In some embodiments, each of the storage positions comprises a support assembly and a carrying assembly, the carrying assembly is slidingly arranged on the support assembly, the carrying assembly is provided with a storage part adapted to the limiting block to be stored, and the support assembly is used to support the carrying assembly.

[0062] By means of the above technical means, the carrying assembly can be slidingly arranged on the support assembly according to the requirement, so as to facilitate the gripping mechanism to grasp or place the limiting block; and the storage part is arranged on the carrying assembly, each limiting block can be placed in the corresponding storage part, the limiting block can be limited by the storage part and stored in a certain position, which also facilitates the gripping mechanism to grasp or place the limiting block.

[0063] In some embodiments, the support assembly comprises two oppositely arranged supports, and the carrying assembly comprises multiple layers of sub-libraries, each of the sub-libraries is provided with a storage part, and each of the sub-libraries is slidingly arranged between the two supports.

[0064] By means of the above technical means, the support assembly is arranged in the structure comprising two supports, which can provide stable support for the carrying assembly; at the same time, the multiple layers of sub-libraries are slidingly arranged between the two supports, which can make different sub-libraries in different positions to facilitate the taking and placing of the limiting block on the sub-library.

[0065] The trolley changing method and system provided by the embodiments of the present disclosure can obtain the current blueprint information of the trolley to be tested when the trolley to be tested reaches the preset position; when the current blueprint information is the first blueprint information, a first vertical library corresponding to the first blueprint information is determined; then at least one target limiting block in the first vertical library is used to adjust one or more initial limiting blocks on the tray, so that the tray can be matched with the component to be transferred, so as to be able to place the component to be transferred. In this way, different blueprint information corresponds to different vertical libraries, and the corresponding vertical library can be automatically selected according to the current blueprint information, and the at least one target limiting block required by the current blueprint information is stored in the vertical library, thereby improving the production efficiency during product changing; in addition, during the product changing process, the limiting block is automatically replaced instead of being manually replaced, the robot changing logic is simple, multiple sensors do not need to be configured, the automation degree of the equipment is also improved, the labor cost and the production cost are reduced, and the production efficiency during product changing is improved; and the vertical library is updated according to the difference of the component to be transferred corresponding to different blueprint information, and at least one initial limiting block on the tray is adjusted, which can also adapt to various specifications of the component to be transferred, thereby improving the compatibility. BRIEF DESCRIPTION OF DRAWINGS

[0066] FIG. 1 is a schematic diagram of the composition structure of a trolley changing system provided by the embodiments of the present disclosure;

[0067] Fig. 2 is a schematic diagram of a composition structure of a tray according to an embodiment of the present disclosure;

[0068] Fig. 3 is a schematic diagram of a perspective structure of a limiting block according to an embodiment of the present disclosure;

[0069] Fig. 4 is a schematic diagram of a composition structure of a gripping mechanism according to an embodiment of the present disclosure;

[0070] Fig. 5 is a schematic diagram of a composition structure of a gripping mechanism according to an embodiment of the present disclosure;

[0071] Fig. 6 is a schematic diagram of a composition structure of a first vertical warehouse according to an embodiment of the present disclosure;

[0072] Fig. 7 is a schematic diagram of a top view of a composition structure of a first vertical warehouse according to an embodiment of the present disclosure;

[0073] Fig. 8 is a schematic diagram of a flow of a trolley changing method according to an embodiment of the present disclosure;

[0074] Fig. 9 is a schematic diagram of a composition structure of a formula according to an embodiment of the present disclosure;

[0075] Fig. 10 is a schematic diagram of a distribution of a changing plate on a tray according to an embodiment of the present disclosure;

[0076] Fig. 11 is a schematic diagram of a flow of a trolley changing method according to an embodiment of the present disclosure;

[0077] Fig. 12 is a schematic diagram of a flow of a trolley changing method according to an embodiment of the present disclosure.

[0078] Reference signs:

[0079] 1 - trolley to be tested; 11 - tray; 111 - tray frame; 112 - transverse clamping assembly; 1121 - transverse clamping piece; 11211 - first transverse clamping piece; 11212 - second transverse clamping piece; 1122 - transverse transmission piece; 1123 - transverse mounting portion; 113 - longitudinal clamping assembly; 1131 - longitudinal clamping piece; 11311 - first longitudinal clamping piece; 11312 - second longitudinal clamping piece; 1132 - longitudinal transmission piece; 1133 - longitudinal mounting portion; 12 - initial limiting block; 121 - step structure; 122 - step surface; 123 - connecting column; 1231 - clamping convex; 2 - gripper structure; 21 - connecting piece; 22 - moving assembly; 221 - vertical driving piece; 222 - vertical sliding assembly; 2221 - vertical guide rail; 2222 - vertical sliding block; 23 - gripper assembly; 231 - gripper driving piece; 232 - gripper piece; 233 - gripper guide rail; 234 - gripper sliding block; 24 - moving plate; 25 - visual inspection system; 3 - first vertical warehouse; 31 - support assembly; 311 - first support; 312 - second support; 32 - bearing assembly; 321 - storage portion; 322 - first bearing plate; 323 - second bearing plate; 33 - target limiting block; 341 - initial position; 342 - first limiting position; 343 - second limiting position; 4 - jacking mechanism; 5 - robot; A - first direction; B - second direction. DETAILED DESCRIPTION

[0080] In order to enable a more detailed understanding of the features and technical content of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, which are only used for reference and do not limit the embodiments of the present disclosure.

[0081] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The terms used herein are only for the purpose of describing the embodiments of the present disclosure and are not intended to limit the present disclosure.

[0082] In the following description, "some embodiments" are related to a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0083] It should also be noted that the terms "first\second\third" involved in the embodiments of the present disclosure are only used to distinguish similar objects, and do not represent a specific order of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence as allowed, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0084] It should also be noted that the term "and / or" involved in the embodiments of the present disclosure is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0085] It should also be noted that the term "multiple" involved in the embodiments of the present disclosure refers to two or more (including two), and similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0086] It should also be noted that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present disclosure.

[0087] It should also be noted that in the embodiments of the present disclosure, unless otherwise explicitly specified and limited, the technical terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can also be mechanically connected, or it can be electrically connected; it can also be directly connected, or it can be indirectly connected through an intermediate medium, or even it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0088] New energy batteries are increasingly widely used in life and industry. For example, new energy vehicles equipped with batteries have been widely used, in addition, batteries are also increasingly used in energy storage fields and the like.

[0089] At present, new energy batteries are increasingly widely used in life and industry. New energy batteries are not only applied to energy storage power supply systems such as hydroelectric, thermal, wind and solar power stations, but also widely used in electric bicycles, electric motorcycles, electric vehicles and other electric vehicles, as well as aerospace and other fields. With the continuous expansion of the application field of power batteries, the market demand is also increasing.

[0090] In the embodiments of the present disclosure, the battery can be a battery monomer. The battery monomer refers to a basic unit capable of realizing mutual conversion between chemical energy and electrical energy, and can be used to make a battery module or a battery pack, thereby being used to supply power to an electrical device. The battery monomer can be a secondary battery, which refers to a battery monomer that can be activated by charging after discharging. The battery monomer can be a lithium ion battery, a sodium ion battery, a sodium lithium ion battery, a lithium metal battery, a sodium metal battery, a lithium-sulfur battery, a magnesium ion battery, a nickel-hydrogen battery, a nickel-cadmium battery, a lead-acid battery, and the like, which are not limited herein.

[0091] In the embodiments of the present disclosure, the battery can also be a single physical module including one or more battery monomers to provide higher voltage and capacity. When there are multiple battery monomers, the multiple battery monomers are connected in series, in parallel, or in a mixed connection through a busbar component.

[0092] With the wide application of batteries in the fields of power batteries and energy storage, power batteries are increasingly widely used, and the types of power batteries are also increasing. Among them, power batteries are not only applied to energy storage power supply systems such as hydroelectric, thermal, wind, and solar power stations, but also widely used in electric bicycles, electric motorcycles, electric vehicles, and other electric vehicles, as well as military equipment, aerospace, and other fields. With the continuous expansion of the application field of power batteries, the market demand for them is also increasing.

[0093] In the related art, the battery production line mainly adopts semi-automatic equipment to realize the processing, assembly, conveying, and detection of the battery, and the like. In the battery production line, a transfer device is usually used to transfer the battery components of the previous process to the next process for processing and assembly. However, the transfer device in the battery production line can only adapt to one specification and size of the battery components, and cannot be compatible with multiple products of different specifications. When the product is changed, manual positioning is required, and there is a risk of missing, wrong, or changing the placement position. Moreover, manual replacement of the limiting block is time-consuming and labor-intensive, especially for the storage of the limiting block, which requires manual storage and pulling out from the warehouse, resulting in a large demand for manpower, low production efficiency, and high cost.

[0094] To solve the above problems, the embodiment of the present disclosure provides a trolley changing method and system. Different blueprint information corresponds to different vertical libraries, and the corresponding vertical library can be automatically selected according to the current blueprint information. Then, at least one target limiting block in the vertical library is used to adjust one or more initial limiting blocks on the tray, so that the tray is matched with the component to be transferred, so as to be able to place the component to be transferred. In this way, on the one hand, the blueprint information corresponding to the component to be transferred with different specification parameters is automatically selected, which can improve the data security. On the other hand, in the product changing process, the limiting block has been changed from manual replacement to automatic replacement, and the robot changing logic is simple, without the need to configure multiple sensors, which further improves the automation degree of the equipment, reduces the labor cost and production cost, and improves the production efficiency during product changing. On the other hand, by controlling the lead screw variable pitch in the tray and the grabbing and releasing action of at least one initial limiting block on the tray, the compatibility is also improved by increasing the function of the library position to adapt to the component to be transferred with different specification parameters. On the other hand, different blueprint information corresponds to different vertical libraries, and the vertical library is updated in time according to the difference of the component to be transferred corresponding to different blueprint information, which further improves the production efficiency during product changing.

[0095] The various embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0096] In an embodiment of the present disclosure, referring to FIG. 1 and FIG. 2, FIG. 1 is a schematic structural diagram of a trolley changing system provided by an embodiment of the present disclosure, and FIG. 2 is a schematic structural diagram of a tray provided by an embodiment of the present disclosure. As shown in FIG. 1, the trolley changing system comprises a to-be-tested trolley 1, a robot 5, a first vertical library 3 and a jacking mechanism 4. The to-be-tested trolley 1 comprises a tray 11 and at least one initial limiting block 12 arranged on the tray 11. The tray 11 is used to carry a component to be transferred, and the at least one initial limiting block 12 is used to limit the position of the component to be transferred on the tray 11. The robot 5 is provided with a grabbing mechanism 2 on the mechanical arm thereof, and the robot 5 is used to drive the grabbing mechanism 2 to move. The first vertical library 3 is arranged at a position corresponding to the robot 5, and the first vertical library 3 is used to store target limiting blocks 33. The jacking mechanism 4 is arranged at a position corresponding to the robot 5, and the jacking mechanism 4 is used to jack and support the to-be-tested trolley 1. The grabbing mechanism 2 can grab or release the initial limiting block 12 or the target limiting block 33, and under the driving of the robot 5, the grabbing mechanism 2 can transport the initial limiting block 12 or the target limiting block 33 to a position corresponding to a to-be-placed position on the tray 11, or transport the initial limiting block 12 on the tray 11 to the first vertical library 3.

[0097] In the embodiments of the present disclosure, different blueprints correspond to different vertical warehouses; when the to-be-tested trolley 1 reaches the preset position and the current blueprint information of the to-be-tested trolley 1 is the first blueprint information, the gripping mechanism can perform gripping and placing actions on at least one target limiting block 33 in the first vertical warehouse 3 and one or more initial limiting blocks 12 on the tray 11 based on the first vertical warehouse 3 corresponding to the first blueprint information, so that the adjusted tray 11 matches the to-be-transported component.

[0098] In the embodiments of the present disclosure, the trolley changing system can be used to automatically adjust the to-be-tested trolley 1 carrying and transporting the to-be-transported component, so that the to-be-tested trolley 1 and the to-be-transported component match, and the to-be-transported component can be placed on the to-be-tested trolley 1. The to-be-tested trolley 1 can position and clamp the to-be-transported component, thereby achieving smooth transportation of the to-be-transported component. The to-be-transported component can be a to-be-assembled battery pack, a lower box of the battery pack, or the like. The to-be-tested trolley 1 can be in the form of a structure including a tray 11, and the initial limiting block 12 is arranged on the tray 11. The to-be-transported component can abut against the initial limiting block 12, and the initial limiting block 12 supports and limits the to-be-transported component, so that the to-be-transported component is in a fixed position on the tray 11.

[0099] The to-be-tested trolley 1 can also be provided with a transportation member. The transportation member can be a transportation trolley with a carrying frame and wheels, which can travel on the road surface. For example, the transportation trolley can be a non-powered transportation trolley, which can be towed by an automated guided vehicle (AGV) to enable the to-be-tested trolley 1 to support the to-be-transported component to a desired position. The transportation trolley can also be an AGV, and the tray 11 can be arranged on the AGV. The embodiments of the present disclosure do not limit the specific structure of the to-be-tested trolley 1.

[0100] In the embodiments of the present disclosure, in order to replace or adjust the position of the initial limiting block 12 arranged on the tray 11, a gripping mechanism 2 can be provided to grip the initial limiting block 12. For example, the gripping mechanism 2 can be provided in the form of two gripping rods, and the gripping rods can move to grip or place the initial limiting block 12. A connecting member that can be adapted to the mechanical arm of the robot 5 can be arranged in the gripping mechanism 2, so that the gripping mechanism 2 is installed on the mechanical arm of the robot 5 through the connecting member. For example, the robot 5 can be a six-axis robot, which can drive the gripping mechanism 2 to move, thereby achieving movement of the initial limiting block 12.

[0101] In the embodiment of the present disclosure, during the replacement or adjustment of the initial limiting block 12 in the test trolley 1, the initial limiting block 12 that is not used temporarily needs to be placed in a preset position. Then the first vertical warehouse 3 can be set, and a plurality of storage parts can be set in the first vertical warehouse 3, and one limiting block can be stored in each storage part. The first vertical warehouse 3 is set at a position corresponding to the robot 5, and the gripper mechanism 2 can be driven by the robot 5 to reach a position corresponding to each storage part.

[0102] Here, the first vertical warehouse 3 includes a first warehouse position and a second warehouse position, and the first warehouse position and the second warehouse position are oppositely arranged on both sides of the robot 5. As shown in FIG. 1, at the right side position of the robot 5, the warehouse position can be referred to as the first warehouse position, and is used to store at least one initial limiting block 12 that does not match the component to be transferred and is grabbed from the tray 11 by the gripper mechanism 2; at the left side position of the robot 5, the warehouse position can be referred to as the second warehouse position, and is used to store at least one target limiting block 33 required by the first blueprint information.

[0103] In the embodiment of the present disclosure, before the test trolley 1 is adjusted, that is, the initial limiting block 12 on the test trolley 1 is adjusted, the position of the test trolley 1 needs to be limited so that the test trolley 1 is in a preset position. Then a jacking mechanism 4 can be set at a position corresponding to the robot 5, and the jacking mechanism 4 can be set in the form of a structure including a jacking support, a limiting assembly and a jacking assembly. The jacking support can be used to support and fix the entire jacking mechanism 4, and the jacking mechanism 4 can be set adjacent to the robot 5 through the jacking support; the limiting assembly is arranged on the jacking support and is set to be capable of moving relative to the jacking support, and in the case that the test trolley 1 moves to the position of the jacking mechanism 4, the limiting assembly is controlled to abut against the test trolley 1 after moving, so that the test trolley 1 can be limited to the position of the jacking mechanism 4; the jacking assembly can be arranged on the jacking support and set to be capable of moving relative to the jacking support, and the test trolley 1 can be jacked up by the jacking assembly to a certain height.

[0104] From the above embodiment, it can be seen that, since the tray 11 is arranged in the to-be-tested trolley 1, and the initial limiting block 12 is arranged on the tray 11, the to-be-transported component can be carried by the tray 11, and the position of the to-be-transported component on the tray 11 can be limited by the initial limiting block 12, so as to achieve the limiting of the to-be-transported component; the gripper mechanism 2 is arranged on the mechanical arm of the robot 5, the robot 5 can drive the gripper mechanism 2 to move to a position corresponding to the initial limiting block 12 or the target limiting block 33, and the initial limiting block 12 or the target limiting block 33 can be gripped or placed by the gripper mechanism 2; the first vertical warehouse 3 is arranged at a position corresponding to the robot 5, and the target limiting block 33 to be used can be stored in the second storage position of the first vertical warehouse 3; and the jacking mechanism 4 is further arranged at a position corresponding to the robot 5, and the to-be-tested trolley 1 can be jacked, supported and limited by the jacking mechanism 4, so that the to-be-tested trolley 1 can be parked at a preset position. In this way, after the to-be-tested trolley 1 is stopped at the preset position by the jacking mechanism 4, the initial limiting block 12 that needs to be replaced on the to-be-tested trolley 1 can be taken away by the robot 5 driving the gripper mechanism 2 and placed in the first storage position of the first vertical warehouse 3; or the target limiting block 33 required can be gripped from the second storage position of the first vertical warehouse 3 by the robot 5 driving the gripper mechanism 2 and installed at the corresponding position on the tray 11, so that the adjustment of the to-be-tested trolley 1 can be quickly and efficiently completed, so that the to-be-tested trolley 1 and the to-be-transported component to be transported can be matched, and then the to-be-tested trolley 1 can be compatible with to-be-transported components of different blueprint information, which helps to improve the generation efficiency when the product is changed.

[0105] In some embodiments, as shown in FIG. 2, the tray 11 includes a tray frame 111, a transverse clamping assembly 112 and a longitudinal clamping assembly 113; the transverse clamping assembly 112 includes a transverse clamping piece 1121 and a transverse transmission piece 1122, the transverse clamping piece 1121 is slidingly connected to the tray frame 111 and has a transverse mounting portion 1123, the initial limiting block 12 or the target limiting block 33 can be connected to the transverse clamping piece 1121 through the transverse mounting portion 1123; the transverse transmission piece 1122 is in transmission connection with the transverse clamping piece 1121; in the process of movement of the transverse transmission piece 1122, the transverse clamping piece 1121 can be driven to move along a first direction A; the longitudinal clamping assembly 113 includes a longitudinal clamping piece 1131 and a longitudinal transmission piece 1132, the longitudinal clamping piece 1131 is slidingly connected to the tray frame 111 and has a longitudinal mounting portion 1133, the initial limiting block 12 can be connected to the longitudinal clamping piece 1131 through the longitudinal mounting portion 1133; the longitudinal transmission piece 1132 is in transmission connection with the longitudinal clamping piece 1131; in the process of movement of the longitudinal transmission piece 1132, the longitudinal clamping piece 1131 can be driven to move along a second direction B; the second direction B has an included angle with the first direction A.

[0106] In the embodiments of the present disclosure, the tray 11 is used to carry the components to be transferred, and the tray frame 111 can be arranged in the tray 11. For example, the tray frame 111 can be arranged as a frame structure with a square overall structure, so that other components in the tray 11 can be arranged on the frame structure with the square overall structure.

[0107] In the embodiments of the present disclosure, since the sizes and shapes of the components to be transferred transported by the trolley 1 to be transported are different, the shape of the tray 11 needs to be adjusted when transporting different components to be transported. The transverse clamping assembly 112 and the longitudinal clamping assembly 113 can be arranged in the tray 11. By adjusting the positions of the transverse clamping assembly 112 and the longitudinal clamping assembly 113 in the tray 11, the shape of the tray 11 can be changed to match the components to be transported.

[0108] For example, the transverse clamping assembly 112 can be arranged as a structure including a transverse clamping piece 1121 and a transverse transmission piece 1122. The transverse clamping piece 1121 is slidingly connected to the tray frame 111, and a transverse mounting portion 1123 for mounting the initial limiting block 12 is arranged on the transverse clamping piece 1121. The transverse transmission piece 1122 is arranged on the tray frame 111, and the transverse transmission piece 1122 is in transmission connection with the transverse clamping piece 1121. During the movement of the transverse transmission piece 1122, the transverse clamping piece 1121 can be driven to move relative to the tray frame 111 along the first direction A. For example, the transverse clamping piece 1121 can be moved along the length direction of the tray frame 111, so that the position of the transverse clamping piece 1121 on the tray frame 111 can be adjusted.

[0109] For another example, the longitudinal clamping assembly 113 can be arranged as a structure including a longitudinal clamping piece 1131 and a longitudinal transmission piece 1132. The longitudinal clamping piece 1131 is slidingly connected to the tray frame 111, and a longitudinal mounting portion 1133 for mounting the required limiting block is arranged on the longitudinal clamping piece 1131. The longitudinal transmission piece 1132 is arranged on the tray frame 111, and the longitudinal transmission piece 1132 is in transmission connection with the longitudinal clamping piece 1131. During the movement of the longitudinal transmission piece 1132, the longitudinal clamping piece 1131 can be driven to move relative to the tray frame 111 along the second direction B. For example, the longitudinal clamping piece 1131 can be moved along the width direction of the tray frame 111, so that the position of the longitudinal clamping piece 1131 on the tray frame 111 can be adjusted. In the case where the tray frame 111 is arranged as a rectangular structure, the first direction A and the second direction B are respectively consistent with the length and width directions of the rectangular tray frame 111, that is, the first direction A and the second direction B are in the same plane and perpendicular to each other.

[0110] From the above embodiments, it can be seen that, since the tray frame 111 is arranged in the tray 11, other components in the tray 11 can be carried and installed by the tray frame 111; and the laterally clamping member 1121 and the lateral transmission member 1122 that are in transmission connection are arranged on the tray frame 111, the position of the laterally clamping member 1121 on the tray frame 111 can be adjusted by the lateral transmission member 1122; meanwhile, the longitudinally clamping member 1131 and the longitudinal transmission member 1132 that are in transmission connection are arranged on the tray frame 111, the position of the longitudinally clamping member 1131 on the tray frame 111 can be adjusted by the longitudinal transmission member 1132, so that the size and shape of the tray 11 can be adjusted in at least two directions, and the tray 11 can be matched with the components to be transferred.

[0111] In some embodiments, as shown in FIG. 2, the longitudinally clamping member 1131 includes a first longitudinally clamping member 11311 and a second longitudinally clamping member 11312, and the first longitudinally clamping member 11311 and the second longitudinally clamping member 11312 are in transmission connection with the longitudinal transmission member 1132; during the movement of the longitudinal transmission member 1132, the first longitudinally clamping member 11311 and the second longitudinally clamping member 11312 can be driven to move close to or away from each other, so that the first longitudinally clamping member 11311 and the second longitudinally clamping member 11312 cooperatively fix the components to be transferred.

[0112] In the embodiments of the present disclosure, the longitudinally clamping member 1131 can be arranged in a structure including the first longitudinally clamping member 11311 and the second longitudinally clamping member 11312. Two guide rails extending along the second direction B can be fixedly installed on the tray frame 111, and appropriate sliding blocks can be arranged on the guide rails. The first longitudinally clamping member 11311 can be fixedly connected with the sliding blocks on the two guide rails, so as to be slidingly installed on the tray frame 111; and the second longitudinally clamping member 11312 can be fixedly connected with other sliding blocks on the two guide rails, so as to be slidingly installed on the tray frame 111. The first longitudinally clamping member 11311 and the second longitudinally clamping member 11312 both extend along the first direction A.

[0113] Exemplarily, the longitudinal transmission member 1132 can adopt a screw rod, and two sections of threads with opposite directions are arranged on the screw rod, and a nut adapted to the two sections of threads with opposite directions is arranged on each of the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312. Then, the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 can be connected to the screw rod in a threaded connection manner. In this way, in the process of rotating the screw rod, the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 can be driven to move towards each other simultaneously, so as to make the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 close to each other, or the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 can be driven to move away from each other simultaneously, so as to make the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 move away from each other.

[0114] From the above embodiments, it can be seen that, since the longitudinal clamping member 1131 is arranged in a structure including the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312, and the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 are both in transmission connection with the longitudinal transmission member 1132, the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 can be driven to move towards each other or move away from each other synchronously by the longitudinal transmission member 1132, so that the distance between the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 can be conveniently adjusted, and the distance between the first longitudinal clamping member 11311 and the second longitudinal clamping member 11312 can be matched with the width of the component to be transported in the second direction B.

[0115] In some embodiments, as shown in FIG. 2, the first longitudinal clamping member 11311 includes a first conversion plate and at least one first limiting block arranged on the first conversion plate, and the second longitudinal clamping member 11312 includes a second conversion plate and at least one second limiting block arranged on the second conversion plate, wherein a plurality of longitudinal mounting portions 1133 are arranged on the first conversion plate and the second conversion plate at intervals, and the bottom of each of the first limiting block and the second limiting block is provided with a longitudinal connecting portion, and the longitudinal mounting portion and the longitudinal connecting portion are detachably connected.

[0116] In the embodiments of the present disclosure, the first longitudinal clamping member 11311 can be arranged in a structure including the first conversion plate and the first limiting block, the second longitudinal clamping member 11312 can be arranged in a structure including the second conversion plate and the second limiting block, and the first conversion plate and the second conversion plate are both slidably connected to the tray frame 111. A plurality of longitudinal mounting portions 1133 are arranged on the first conversion plate and the second conversion plate, and a longitudinal connecting portion adapted to the longitudinal mounting portion 1133 is arranged on each of the first limiting block and the second limiting block, so as to detachably mount the first limiting block on the first conversion plate and detachably mount the second limiting block on the second conversion plate.

[0117] Exemplarily, the first and second profile plates can be provided as plate structures in long strip shape. A plurality of mounting holes can be provided on the plate-shaped first and second profile plates respectively. For example, two rows of mounting holes can be provided in parallel along the length direction of the profile plate, and any one group of mounting holes in the two rows of mounting holes can be taken as a longitudinal mounting portion. Exemplarily, two mounting holes can be included in each longitudinal mounting portion.

[0118] Further, the first and second limiting blocks can be provided as block structures in stepped shape. A plurality of connecting columns can be provided on the bottom of the block structure in stepped shape. FIG. 3 is a schematic diagram of the three-dimensional structure of a limiting block provided in an embodiment of the present disclosure. As shown in FIG. 3, a perspective view of the three-dimensional structure of the limiting block in the profile change of the trolley is shown. The limiting block here can be an initial limiting block or also a target limiting block. The limiting block includes a stepped structure 121 and a stepped surface 122 for supporting the parts to be transferred; and the bottom of the limiting block is provided with two connecting columns 123. The outer surface of the connecting column 123 is provided with a clamping protrusion 1231, and the inner circumferential surface of the mounting hole is provided with a clamping groove, and when the connecting column 123 is inserted into the mounting hole, the clamping protrusion 1231 is clamped with the clamping groove.

[0119] Exemplarily, for the limiting block shown in FIG. 3, the two connecting columns 123 at the bottom of the limiting block can be matched with the longitudinal mounting portion 1133 including two mounting holes. Specifically, two connecting columns as longitudinal connecting portions can be provided at the bottom of the first and second limiting blocks, and the two connecting columns are matched with the two mounting holes respectively. Thus, the two connecting columns can be inserted into the two mounting holes respectively, so as to detachably mount the first and second limiting blocks on the first and second profile plates respectively.

[0120] From the above embodiments, it can be seen that, since the first profile plate and the first limiting block are provided in the first longitudinal clamping piece 11311, the second profile plate and the second limiting block are provided in the second longitudinal clamping piece 11312, and the first and second profile plates are respectively provided with a plurality of longitudinal mounting portions 1133, the first and second limiting blocks can be respectively provided at different positions on the first and second profile plates, so as to match the longitudinal clamping piece 1131 with the parts to be transferred of different sizes; and the longitudinal mounting portion 1133 and the longitudinal connecting portion are provided as a detachable connecting structure, which can facilitate the replacement or position adjustment of the first and second limiting blocks.

[0121] In some embodiments, as shown in FIG. 2, the lateral clamping piece 1121 includes oppositely arranged first and second lateral clamping pieces 11211 and 11212, the first lateral clamping piece 11211 is in transmission connection with the lateral transmission member 1122, and the second lateral clamping piece 11212 is fixed on the tray frame 111; during the movement of the lateral transmission member 1122, the first lateral clamping piece 11211 can be driven to move towards or away from the second lateral clamping piece 11212, so that the first and second lateral clamping pieces 11211 and 11212 cooperatively clamp the component to be transferred.

[0122] In the embodiments of the present disclosure, the lateral clamping piece 1121 can be arranged in a structure including the first and second lateral clamping pieces 11211 and 11212. Two guide rails extending along the first direction A can be fixedly installed on the tray frame 111, and appropriate sliders can be arranged on the guide rails. The first lateral clamping piece 11211 can be fixedly connected with the sliders on the two guide rails, so as to be slidingly installed on the tray frame 111. The second lateral clamping piece 11212 can be fixedly installed on the tray frame 111. The first and second lateral clamping pieces 11211 and 11212 both extend along the second direction B.

[0123] Exemplarily, the lateral transmission member 1122 can be a lead screw, and a nut adapted to the thread on the lead screw can be arranged on the first lateral clamping piece 11211. Then, the first lateral clamping piece 11211 can be connected with the lead screw in a threaded connection manner. In this way, during the rotation of the lead screw, the first lateral clamping piece 11211 can be driven to move towards the second lateral clamping piece 11212, or the first lateral clamping piece 11211 can be driven to move away from the second lateral clamping piece 11212.

[0124] From the above embodiments, it can be seen that, since the lateral clamping piece 1121 is arranged in a structure including the first and second lateral clamping pieces 11211 and 11212, and the first lateral clamping piece 11211 is in transmission connection with the lateral transmission member 1122, the first lateral clamping piece 11211 can be driven by the lateral transmission member 1122 to move towards or away from the second lateral clamping piece 11212, so that the distance between the first and second lateral clamping pieces 11211 and 11212 can be conveniently adjusted, and the distance between the first and second lateral clamping pieces 11211 and 11212 can be matched with the length of the component to be transferred along the first direction A.

[0125] In some embodiments, as shown in FIG. 2, the first lateral clamping piece 11211 comprises a third profiled plate and at least one third limiting block arranged on the third profiled plate; the second lateral clamping piece 11212 comprises a fourth profiled plate and at least one fourth limiting block arranged on the fourth profiled plate; wherein the third profiled plate and the fourth profiled plate are both provided with a plurality of lateral mounting portions 1123 at intervals; the bottom of the third limiting block and the fourth limiting block are both provided with a lateral connecting portion, and the lateral mounting portion 1123 and the lateral connecting portion are detachably connected.

[0126] In the embodiments of the present disclosure, the first lateral clamping piece 11211 can be arranged as a structure comprising a third profiled plate and a third limiting block, the second lateral clamping piece 11212 can be arranged as a structure comprising a fourth profiled plate and a fourth limiting block, the third profiled plate is slidably connected to the tray frame 111, and the fourth profiled plate is fixed to the tray frame 111. A plurality of lateral mounting portions 1123 are arranged on the third profiled plate and the fourth profiled plate, and a lateral connecting portion adapted to the lateral mounting portion 1123 is arranged on the third limiting block and the fourth limiting block, so as to detachably mount the third limiting block on the third profiled plate and detachably mount the fourth limiting block on the fourth profiled plate.

[0127] For example, the third profiled plate and the fourth profiled plate can both be arranged as a long strip-shaped plate structure. A plurality of mounting holes can be arranged on the third profiled plate and the fourth profiled plate respectively. For example, two rows of mounting holes arranged in parallel along the length direction of the profiled plate can be arranged, and any one group of mounting holes in the two rows of mounting holes can be regarded as a lateral mounting portion 1123. For example, two mounting holes can be included in each lateral mounting portion 1123.

[0128] For another example, the third limiting block and the fourth limiting block can both be arranged as a stepped block structure. A plurality of connecting columns can be arranged on the bottom of the stepped block structure. For example, two connecting columns as lateral connecting portions can be arranged on the bottom of the third limiting block and the fourth limiting block, which are adapted to the lateral mounting portion 1123 comprising two mounting holes, and the two connecting columns are matched with the two mounting holes respectively. In addition, as shown in FIG. 3, the outer surface of the connecting column can be provided with a clamping protrusion, and the inner peripheral surface of the mounting hole can be provided with a clamping groove, and the clamping protrusion is clamped with the clamping groove when the connecting column is inserted into the mounting hole. Thus, the two connecting columns can be inserted into the two mounting holes respectively, so as to detachably mount the third limiting block and the fourth limiting block on the third profiled plate and the fourth profiled plate respectively.

[0129] From the above embodiment, it can be seen that, due to the third shape-changing plate and the third limiting block arranged in the first lateral clamping piece 11211, the fourth shape-changing plate and the fourth limiting block arranged in the second lateral clamping piece 11212, and the plurality of lateral mounting portions 1123 arranged on the third shape-changing plate and the fourth shape-changing plate respectively, the third limiting block and the fourth limiting block can be arranged at different positions on the third shape-changing plate and the fourth shape-changing plate respectively, so that the lateral clamping piece 1121 can be matched with different sizes of parts to be transferred; and the lateral mounting portion 1123 and the lateral connecting portion are arranged in a detachable connection structure, so that the third limiting block and the fourth limiting block can be replaced or adjusted in position.

[0130] In some embodiments, FIG. 4 is a front view of a component structure of a gripper mechanism according to an embodiment of the present disclosure, and FIG. 5 is a left view of a component structure of a gripper mechanism according to an embodiment of the present disclosure. As shown in FIGS. 4 and 5, the component structure of the gripper mechanism 2 in the trolley shape-changing system is shown. Specifically, the gripper mechanism 2 includes a connecting piece 21, a moving assembly 22, and a gripper assembly 23; the gripper mechanism 2 is arranged on the mechanical arm of the robot 5 through the connecting piece 21; the moving assembly 22 is arranged on the connecting piece 21; the gripper assembly 23 is arranged on the moving assembly 22; under the driving of the moving assembly 22, the gripper assembly 23 can move towards the direction of approaching or moving away from the to-be-placed position.

[0131] In the embodiments of the present disclosure, in order to facilitate the installation of the gripper mechanism 2 on the mechanical arm of the robot 5, the connecting piece 21 can be arranged, and other components on the gripper mechanism 2 can be installed on the connecting piece 21, and the gripper mechanism 2 is installed on the mechanical arm through the connecting piece 21.

[0132] In the embodiments of the present disclosure, the gripper assembly 23 is arranged in the gripper mechanism 2, and the initial limiting block 12 or the target limiting block 33 can be gripped or released through the gripper assembly 23. In the process of gripping the initial limiting block 12 or the target limiting block 33, the gripper assembly 23 needs to move towards the direction of approaching the initial limiting block 12 or the target limiting block 33; after releasing the initial limiting block 12 or the target limiting block 33, the gripper assembly 23 needs to move towards the direction of moving away from the initial limiting block 12 or the target limiting block 33. Therefore, the moving assembly 22 can be arranged, the moving assembly 22 is installed on the connecting piece 21, and the moving assembly 22 can generate movement; the gripper assembly 23 is installed on the moving assembly 22, and the gripper assembly 23 can be driven by the moving assembly 22 to move towards the direction of approaching or moving away from the initial limiting block 12 or the target limiting block 33, or to move towards the direction of approaching or moving away from the to-be-placed position where the initial limiting block 12 or the target limiting block 33 is placed.

[0133] From the above embodiment, it can be seen that, due to the connecting piece 21 arranged in the gripper assembly 2, the gripper assembly 2 can be installed on the mechanical arm through the connecting piece 21; and the moving assembly 22 is arranged on the connecting piece 21, and the gripper assembly 23 is arranged on the moving assembly 22, so that the moving assembly 22 can drive the gripper assembly 23 to move to a required position, so that the gripper assembly 23 is close to the initial limiting block 12 or the target limiting block 33, or is away from the initial limiting block 12 or the target limiting block 33, or is close to or away from the to-be-placed position.

[0134] In some embodiments, as shown in FIGS. 4 and 5, the moving assembly 22 includes a vertical driving piece 221 and a vertical sliding assembly 222; the vertical sliding assembly 222 is arranged on the connecting piece 21, and the gripper assembly 23 is arranged on the vertical sliding assembly 222; one end of the vertical driving piece 221 is connected with the connecting piece 21, and the other end is connected with the gripper assembly 23; under the driving of the vertical driving piece 221, the gripper assembly 23 can generate movement along the extension direction of the vertical sliding assembly 222.

[0135] In the embodiments of the present disclosure, the vertical sliding assembly 222 and the vertical driving piece 221 can be arranged, the movement track of the gripper assembly 23 is limited through the vertical sliding assembly 222, and the gripper assembly 23 is driven to move through the vertical driving piece 221.

[0136] For example, the vertical sliding assembly 222 can be arranged in a structure including a vertical guide rail 2221 and a vertical sliding block 2222. For example, the vertical guide rail 2221 is fixedly installed on the connecting piece 21, and the vertical sliding block 2222 adapted to the vertical guide rail 2221 is slidingly connected on the vertical guide rail 2221. The moving plate 24 can be arranged on the vertical sliding block 2222, and the gripper assembly 23 is installed on the moving plate 24, so as to arrange the gripper assembly 23 on the vertical sliding assembly 222.

[0137] For another example, the vertical driving piece 221 can be arranged in a structure including a servo motor, a lead screw and a nut. The servo motor is fixed on the connecting piece 21, the lead screw is connected with the output shaft of the servo motor, and the nut is installed on the moving plate 24 and is threadedly connected with the lead screw. Thus, the vertical driving piece 221 can be connected with the gripper assembly 23.

[0138] From the above embodiment, it can be seen that, due to the vertical sliding assembly 222 and the gripper assembly 23 connected with the vertical sliding assembly 222, the gripper assembly 23 can move along the extension direction of the vertical sliding assembly 222; and due to the vertical driving piece 221 and the gripper assembly 23 connected with the vertical driving piece 221, the gripper assembly 23 can be driven to move along the extension direction of the vertical sliding assembly 222 through the vertical driving piece 221, so that the gripper assembly 23 can move to a required position.

[0139] In some embodiments, as shown in FIGS. 4 and 5, the gripper assembly 23 comprises a gripper driving member 231 and at least two gripper members 232; one of the at least two gripper members 232 is slidingly arranged on the moving assembly 22, one end of the gripper driving member 231 is connected with the moving assembly 22, and the other end is connected with the one gripper member 232 slidingly arranged on the moving assembly 22; under the driving of the gripper driving member 231, the at least two gripper members 232 can approach each other to grasp the initial limiting block 12 or the target limiting block 33, or the at least two gripper members 232 can separate from each other to release the initial limiting block 12 or the target limiting block 33.

[0140] In the embodiments of the present disclosure, the gripper assembly 23 needs to grasp or release the limiting block 12, and therefore a part capable of generating movement needs to be arranged to grasp or release the initial limiting block 12 or the target limiting block 33 by the part capable of generating movement.

[0141] For example, two gripper members 232 can be arranged, the gripper members 232 can be arranged as gripping plates, one gripper member 232 is fixed on the moving plate 24, and the other gripper member 232 is slidingly arranged on the moving plate 24, so as to arrange the two gripper members 232 on the moving assembly 22. For example, a gripper guide rail 233 can be arranged on the moving plate 24, a matched gripper sliding block 234 is arranged on the gripper guide rail 233, and the other gripper member 232 is fixed on the gripper sliding block 234.

[0142] For another example, the gripper driving member 231 can adopt a driving cylinder, a cylinder barrel of the driving cylinder is connected with the moving plate 24, and a piston rod of the driving cylinder is connected with the gripper sliding block 234, so as to connect the gripper driving member 231 with the sliding gripper member 232. In this way, under the driving of the driving cylinder, the sliding gripper member 232 relative to the moving assembly 22 can move towards or away from the gripper member 232 fixed on the moving assembly 22, so as to grasp or release the initial limiting block 12 or the target limiting block 33.

[0143] From the above embodiments, it can be seen that, since the at least two gripper members 232 are arranged, and one gripper member 232 is slidingly arranged on the moving assembly 22, the gripper driving member 231 is connected with the sliding gripper member 232, and the sliding gripper member 232 can be driven to move by the gripper driving member 231, so as to make the two gripper members 232 approach each other or separate from each other, thereby grasping or releasing the initial limiting block 12 or the target limiting block 33.

[0144] In some embodiments, as shown in FIGS. 4 and 5, a visual detection system 25 can also be arranged in the gripper mechanism 2; the visual detection system 25 can be electrically coupled with the controller, and the visual detection system 25 is used to take pictures of the to-be-grabbed position and the to-be-placed position, and is used to compensate the positions of the to-be-grabbed position and the to-be-placed position by the offset amount.

[0145] In the embodiments of the present disclosure, during the process of replacing or adjusting the position of the initial limit block 12 on the tray 11 by the gripper assembly 23 in the gripper mechanism 2, it is necessary to determine whether the position of the gripper assembly 23 is accurate. Therefore, the visual detection system 25 can be arranged in the gripper mechanism 2, and the visual detection system 25 is used to determine the accurate target position of the position to which the gripper assembly 23 is to be moved. The visual detection system 25 can be connected with the controller in a wired or wireless manner, and the controller can be a lower computer in the production line, such as a programmable logic controller (PLC), and can be a computer device capable of controlling the movement of each part.

[0146] For example, the visual detection system 25 can be arranged in a structure including a charge coupled device (CCD) camera, the CCD camera can be used to take pictures of the to-be-grabbed position of the initial limit block 12, the first offset amount of the to-be-grabbed position can be calculated and determined by using the obtained image of the to-be-grabbed position, so that the to-be-grabbed position can be compensated by the first offset amount, that is, the target position of the to-be-grabbed position can be determined according to the first offset amount and the to-be-grabbed position, and then the robot 5 can be controlled to move to drive the gripper assembly 23 in the gripper mechanism 2 to move to the target position of the to-be-grabbed position. Alternatively, the CCD camera can be used to take pictures of the to-be-placed position of the initial limit block 12, the second offset amount of the position to which the initial limit block 12 is to be placed can be calculated and determined by using the obtained image of the to-be-placed position, so that the to-be-placed position can be compensated by the second offset amount, that is, the target position of the to-be-placed position can be determined according to the second offset amount and the to-be-placed position, and then the robot 5 can be controlled to move to drive the gripper assembly 23 in the gripper mechanism 2 to move to the target position of the to-be-placed position.

[0147] From the above embodiments, it can be seen that, since the visual detection system 25 is arranged on the gripper mechanism 2, the visual detection system 25 can be used to visually guide and correct the positions of the to-be-grabbed position and the to-be-placed position, the information of the target position to which the gripper assembly 23 in the gripper mechanism 2 is to be reached can be accurately determined according to the corresponding offset amount data, so that the gripper assembly 23 can be controlled to move to the target position according to the determined target position, and then the gripper assembly 23 can be moved to the accurate grabbing position or placing position, thereby improving the efficiency of replacing or adjusting the position of the initial limit block 12 on the tray 11.

[0148] In some embodiments, FIG. 6 is a front view of a first storage structure according to an embodiment of the present disclosure, and FIG. 7 is a top view of the first storage structure according to an embodiment of the present disclosure. As shown in FIGS. 6 and 7, the first storage structure 3 of the trolley changing system is shown. Specifically, the first storage structure 3 includes a support assembly 31 and a carrying assembly 32. The carrying assembly 32 is slidingly arranged on the support assembly 31. The carrying assembly 32 has a storage portion 321 adapted to the initial limiting block 12 or the target limiting block 33. The support assembly 31 is configured to support the carrying assembly 32.

[0149] In the embodiments of the present disclosure, the first storage structure 3 is configured to store the target limiting block 33 to be used. The support assembly 31 can be provided to support the overall structure of the first storage structure 3, and the first storage structure 3 can be arranged at a position corresponding to the robot 5 by the support assembly 31. Since the number of target limiting blocks 33 is large, and the shapes of the target limiting blocks 33 can be different, the carrying assembly 32 can be provided in the first storage structure 3 to place the target limiting blocks 33. The carrying assembly 32 can be slidingly arranged on the support assembly 31. In this way, when a group of target limiting blocks 33 on the carrying assembly 32 is needed to be taken, the target limiting blocks 33 can be grabbed by the gripper assembly 23 when the carrying assembly 32 is slidingly moved to a preset initial position.

[0150] In the embodiments of the present disclosure, the storage portion 321 adapted to the limiting block to be stored can be provided on the carrying assembly 32. For example, the storage portion 321 can be configured to be adapted to the connecting portion on the target limiting block 33. For example, when the connecting portion on the target limiting block 33 includes two connecting columns, the storage portion 321 can be configured to include two storage holes adapted to the two connecting columns. In this way, each target limiting block 33 can be placed at a determined position in the first storage structure 3.

[0151] From the above embodiments, it can be seen that, since the carrying assembly 32 is slidingly arranged on the support assembly 31, the carrying assembly 32 to be used can be slidingly moved to a preset initial position as needed, so as to facilitate the gripper assembly 2 to grab or place the initial limiting block 12 or the target limiting block 33. In addition, the storage portion 321 is provided on the carrying assembly 32, and each initial limiting block 12 or target limiting block 33 can be placed in the corresponding storage portion 321. The initial limiting block 12 or target limiting block 33 can be limited by the storage portion 321, so that the initial limiting block 12 or target limiting block 33 is stored at a determined position, which also facilitates the gripper assembly 2 to grab or place the initial limiting block 12 or target limiting block 33.

[0152] In some embodiments, as shown in FIGS. 6 and 7, the support assembly 31 includes two oppositely arranged supports, and the carrying assembly 32 includes a plurality of carrying plates, each of which is slidingly arranged between the two supports.

[0153] In the embodiments of the present disclosure, the support assembly 31 can be arranged in a structure including a first support 311 and a second support 312, and the first support 311 and the second support 312 are arranged oppositely. The carrying assembly 32 can be supported between the first support 311 and the second support 312. The carrying assembly 32 can be arranged in a structure including a plurality of carrying plates. For example, two carrying plates are arranged, and a first carrying plate 322 and a second carrying plate 323 are arranged parallel to each other between the two supports, and each of the carrying plates is slidingly arranged between the two supports. For example, a slide rail can be used to slidingly arrange the two carrying plates on the supports. Here, each of the carrying plates can represent a sub-library, i.e., the carrying assembly 32 is arranged in a structure including a plurality of sub-libraries. For example, for the second library position in the first vertical library 3 for placing the target limit block, the first carrying plate 322 can be referred to as a first sub-library, and the second carrying plate 323 can be referred to as a second sub-library.

[0154] For example, when the number of target limit blocks 33 in the first sub-library is detected to be less than a first threshold, a first user prompt information is sent; in response to a first operation instruction, the first sub-library is controlled to move from an initial position 341 to a first limit position 342; at the first limit position 342, at least one target limit block 33 of the first blueprint information requirement is placed in the first sub-library based on a second placement action; in response to a second operation instruction, the first sub-library is controlled to return to the initial position 341 from the first limit position 342. Here, when the first sub-library is at the first limit position, the first sub-library can also be manually pulled to move from the first limit position 342 to a second limit position 343; at the second limit position, a replenishment action is performed on the first sub-library, and after the replenishment is completed, the first sub-library is manually moved from the second limit position 343 to the first limit position 341, and then the first sub-library is controlled to return to the initial position based on the second operation instruction.

[0155] From the above embodiments, it can be seen that the support assembly 31 is arranged in a structure including two supports, which can provide stable support for the carrying assembly 32; and the plurality of carrying plates are slidingly arranged between the two supports, which can enable different carrying plates to be at different positions to facilitate taking and placing target limit blocks 33 on the carrying plates.

[0156] In another embodiment of the present disclosure, FIG. 8 is a flowchart of a cart changing method according to an embodiment of the present disclosure. As shown in FIG. 8, the method can include:

[0157] S801: When the to-be-tested trolley reaches a preset position, obtain current blueprint information of the to-be-tested trolley.

[0158] In the embodiment of the present disclosure, the method is applied to a controller. The controller can be a lower computer PLC in a production line. The matching of the to-be-tested trolley to the to-be-transported component is realized by the PLC, which can reduce labor cost and production cost, and make the production efficiency higher.

[0159] In the embodiment of the present disclosure, the upper surface of the to-be-tested trolley is provided with a tray, and the tray is used to carry the to-be-transported component. The to-be-tested trolley as a transport device can transport the component of the previous process to the next process for processing, assembling, etc.

[0160] In the embodiment of the present disclosure, at least one initial limiting block is arranged on the tray, and the at least one initial limiting block is used to limit the position of the to-be-transported component on the tray. Here, the to-be-transported component can be a battery pack (Pack), a box body of the battery pack (specifically, a lower box body), etc., so the to-be-tested trolley can also be called a "Pack trolley".

[0161] In the embodiment of the present disclosure, the to-be-tested trolley can be moved by an automatic guided vehicle (AGV). The AGV sends an entry request to the controller. After the controller allows the entry, the controller sends an entry permission instruction to the AGV. Based on the entry permission instruction, the AGV can drive the to-be-tested trolley to enter the model changing station.

[0162] In the model changing station, the AGV travels along a predetermined route, and an inductive sheet is arranged at a preset position. When the AGV drives the to-be-tested trolley to move to the preset position, the inductive device of the to-be-tested trolley body receives a signal sent by the inductive sheet, which means that the AGV is in place, i.e., the to-be-tested trolley reaches the preset position.

[0163] In some embodiments, the to-be-tested trolley is further provided with an electronic tag. Obtaining the current blueprint information of the to-be-tested trolley can include: after the to-be-tested trolley reaches the preset position, reading the blueprint information in the electronic tag through a reader to obtain the current blueprint information of the to-be-tested trolley.

[0164] Here, the electronic tag can be a radio frequency identification (RFID) chip, which is specifically placed on the lower surface of the tray. In this way, after the to-be-tested trolley reaches the preset position, the controller can identify the electronic tag to read the current blueprint information of the to-be-tested trolley.

[0165] S802: When the current blueprint information is first blueprint information, determine a first vertical warehouse corresponding to the first blueprint information; wherein the first vertical warehouse includes at least one target limiting block required by the first blueprint information.

[0166] In the embodiments of the present disclosure, the first blue information can be sent by a manufacturing execution system (MES) to the controller. The MES system is deployed in a host computer or a server.

[0167] The MES system is used to obtain output information of a plurality of production devices, and the output information includes output time of a plurality of products produced by the production devices and an identifier indicating whether the plurality of products are qualified. The MES system includes monitoring of a production process, and the production process monitoring of the MES system focuses on monitoring of material transportation between production processes and process processes, and quality indicators. It is based on real-time data of the production process, and uses the configuration technology of the MES system to realize real-time monitoring of production progress, process quality, and material consumption of production areas such as production workshops, power and energy workshops, auxiliary material warehouses, and finished product warehouses. The production process monitoring system can make an alarm according to the pre-setting when an abnormality is found. It helps the production command and dispatching department of the enterprise to coordinate and reasonably dispatch production, and improves the rapid reaction capability of production. In addition, based on the production process monitoring, the MES system organizes and coordinates production according to the production process characteristics of each industry, tracks production process data, and evaluates various production indicators; and through data analysis, the production process is optimized to realize plan compilation, tracking, production data analysis, and evaluation management. Managers can real-time master the input and output of the whole factory, optimize decision-making production, thereby shorten the production time as much as possible, reduce errors, and reduce the related cost of manual and repeated data entry. The main functions include production plan management, production organization, workshop evaluation and personnel management, production data analysis, and other subsystems.

[0168] That is, in order to adapt to the specification parameters of the parts to be transferred, the determination of the current blue information can be manually selecting the blue information according to the specification parameters, or the MES system can automatically issue the blue information, which is not limited here.

[0169] It can be understood that in the embodiments of the present disclosure, the blue information can also be referred to as a formula. In the matching process of the parts to be transferred, the corresponding formula can be automatically selected according to the parts to be transferred with different specification parameters to realize the matching of the parts to be transferred by the test trolley. For the first blue information, the method further includes: the first blue information can be pre-constructed according to the specification parameters of the parts to be transferred.

[0170] In some embodiments, when the first blueprint information is constructed in advance according to the specification parameter of the component to be transported, the following can be included: determining at least one change plate for supporting the component to be transported and the limiting blocks on the at least one change plate according to the specification parameter of the component to be transported; determining the hole position sequence numbers of the limiting blocks on the at least one change plate respectively and writing the hole position sequence numbers into the first blueprint information at the positions of the limiting blocks on the at least one change plate respectively.

[0171] In the embodiments of the present disclosure, the first blueprint information at least includes one of the following parameters: a blueprint number, a blueprint name, a change plate number, a limiting block position and an axial positioning position. The axial positioning position can include an X-axis positioning position and a Y-axis positioning position.

[0172] In the embodiments of the present disclosure, the first blueprint information is a formula, and the embodiments of the present disclosure can define the formula. For example, FIG. 9 is a schematic structural diagram of a formula provided by the embodiments of the present disclosure. In FIG. 9, the corresponding blueprint name, trolley number, PACK name, change plate number, 1# limiting block position, 2# limiting block position, X-axis positioning position and Y-axis positioning position can be written and displayed.

[0173] In the first blueprint information, the limiting block position represents the hole position sequence number of the limiting block on the corresponding change plate. For example, in FIG. 9, each change plate can include at most two limiting block positions, such as 1# limiting block position and 2# limiting block position. However, each change plate can also include more than two limiting block positions, which is specifically set according to actual conditions, and is not limited here.

[0174] In FIG. 9, the trolley number is 1, the blueprint name can be CMA, the PACK name is CMA, the X-axis positioning position is 251.463, and the Y-axis positioning position is 317.664. In addition, when the change plate number is 3, two limiting blocks are placed on the change plate, and the two limiting blocks are placed at the 1# limiting block position corresponding to the hole position sequence number 2 and the 2# limiting block position corresponding to the hole position sequence number 12 respectively; when the change plate number is 4, 5, 6 or 7, one limiting block is placed on the change plate, and the one limiting block is placed at the 1# limiting block position corresponding to the hole position sequence number 5. It should be noted that for a certain change plate, if the 1# limiting block position and / or the 2# limiting block position of the change plate do not need to be placed with a limiting block, “0” is used for marking, for example, the change plate number is 1, 2 or 8. The formula can be switched by clicking the “previous” or “next” button. In this way, the limiting block positions required by the corresponding blueprint information can be written into the formula shown in FIG. 9 according to the differences of the blueprint information and the component to be transported, so as to obtain the formula corresponding to the component to be transported with the specification parameter.

[0175] Exemplarily, assuming that ten changeover plates are arranged on the tray, FIG. 10 is a schematic diagram of distribution of a changeover plate on the tray according to an embodiment of the present disclosure. As shown in FIG. 10, the ten changeover plates are distributed around the periphery of the tray, and the ten changeover plates are respectively: No. 1 changeover plate 901, No. 2 changeover plate 902, No. 3 changeover plate 903, No. 4 changeover plate 904, No. 5 changeover plate 905, No. 6 changeover plate 906, No. 7 changeover plate 907, No. 8 changeover plate 908, No. 9 changeover plate 909 and No. 10 changeover plate 910, and the specific positions are shown in FIG. 10. In addition, in FIG. 10, No. 1 hole position (indicated by "1#") of each changeover plate is also marked, so as to determine the position sequence of the limit block of each changeover plate.

[0176] In FIG. 9, the X-axis positioning position is 251.463, and the Y-axis positioning position is 317.664. Based on FIG. 10, the X-axis positioning position represents the distance between No. 1 changeover plate 901, No. 2 changeover plate 902 or No. 3 changeover plate 903 and No. 9 changeover plate 909, and the distance can be changed by rotating the transverse transmission member by the electric turret; and the Y-axis positioning position represents the distance between No. 4 changeover plate 904 or No. 5 changeover plate 905 and No. 6 changeover plate 906 or No. 7 changeover plate 907, and the distance can be changed by rotating the longitudinal transmission member by the electric turret.

[0177] Here, according to the specification parameter of the component to be transported, after the changeover plate for supporting the component is determined, the hole position sequence number of the limit block on the changeover plate is searched according to the limit block on the changeover plate, and the hole position sequence number is written into the limit block position of the formula correspondingly, so as to obtain the corresponding formula under this specification parameter (i.e., the first blue print information).

[0178] In the embodiment of the present disclosure, after the first blue print information is determined, the first warehouse corresponding to the first blue print information needs to be determined. Here, the first warehouse includes at least one target limit block required by the first blue print information.

[0179] That is, different blue print information corresponds to different warehouses, and when the current blue print information of the measured trolley is determined, the corresponding warehouse is determined according to the current blue print information, so as to avoid the problem of reduced production efficiency caused by insufficient target limit blocks when the trolley is changed.

[0180] In some embodiments, the method further includes: determining that at least one target limit block required by the first blue print information has been placed in the first warehouse before the measured trolley reaches the preset position.

[0181] In the embodiments of the present disclosure, if there is no corresponding vertical warehouse to store the target limiting block required by the first blueprint information in the battery production line, when the target limiting block required by the first blueprint information is needed, the existing limiting block needs to be repaired. If there are many limiting blocks that need to be repaired, the repair time will be longer, causing the problem of prolonged production cycle. By placing at least one target limiting block required by the first blueprint information in the first vertical warehouse before the to-be-tested trolley reaches the preset position, that is, the target limiting block required by the first blueprint information has been prepared, the problem of prolonged production cycle caused by the need for repair due to the inadaptation of the limiting block is avoided, thereby improving the production efficiency during product changeover. Illustratively, the user places the target limiting block required by the first blueprint information in the first vertical warehouse one day before the target limiting block required by the first blueprint information is needed.

[0182] In some embodiments, before the to-be-tested trolley reaches the preset position, determining that at least one target limiting block required by the first blueprint information has been placed in the first vertical warehouse can include: in response to a first operation instruction, controlling the first vertical warehouse to move from an initial position to a first limiting position; at the first limiting position, placing at least one target limiting block required by the first blueprint information in the first vertical warehouse based on a first placing action; and in response to a second operation instruction, controlling the first vertical warehouse to return to the initial position from the first limiting position.

[0183] In the embodiments of the present disclosure, the first vertical warehouse is first controlled to move from the initial position to the first limiting position, and then at least one target limiting block required by the first blueprint information is placed in the first vertical warehouse at the first limiting position; after the placement is completed, the first vertical warehouse is controlled to return to the initial position from the first limiting position, so that the target limiting block required by the first blueprint information can be directly grabbed from the corresponding first vertical warehouse when the current blueprint information is determined to be the first blueprint information, thereby improving the production efficiency during product changeover

[0184] In the embodiments of the present disclosure, a plurality of blueprint information can also correspond to a type of target limiting block, and different blueprint information corresponds to different vertical warehouses, thereby achieving full compatibility of various blueprint information and improving the production efficiency during product changeover.

[0185] S803: Adjusting one or more initial limiting blocks on the tray according to at least one target limiting block in the first vertical warehouse, so that the tray matches the to-be-transported component to be able to place the to-be-transported component.

[0186] In the embodiments of the present disclosure, the position adjustment of the initial limiting block on the tray can also be referred to as automatic changeover of the to-be-tested trolley, or automatic switching of the recipe, so that the to-be-transported component can be placed on the tray.

[0187] It can be understood that in the embodiments of the present disclosure, the tray is located on the upper surface of the to-be-tested trolley. During the transfer of the to-be-tested trolley, the at least one limiting block has a limiting and supporting effect on the to-be-transferred component. That is, the at least one limiting block can not only limit the position of the to-be-transferred component on the tray, but also support the to-be-transferred component on the tray.

[0188] In the embodiments of the present disclosure, the recipe can be used to memorize the position of the limiting block. In this way, the recipe here automatically switches, specifically, the automatic replacement of the position of the limiting block according to the first blueprint information corresponding to the recipe, so that the tray can place the to-be-transferred component.

[0189] It can also be understood that in the embodiments of the present disclosure, in order to reduce the difficulty of debugging, before the controller controls the at least one initial limiting block on the tray to adjust the position, the controller needs to first control the driving member to perform a first driving action to drive the transmission member to move to the original position.

[0190] In some embodiments, the driving member can include a first driving member arranged in a jacking sleeve assembly on the jacking mechanism, and the transmission member can include a horizontal transmission member arranged in the tray. Accordingly, the method further includes: controlling the jacking sleeve assembly on the jacking mechanism to perform a cap recognition action, so that the first driving member is connected to the horizontal transmission member through a first connecting member in the jacking sleeve assembly, and controlling the first driving member to drive the first connecting member to rotate, so that the first connecting member drives the horizontal transmission member to move to the original position of the horizontal transmission member.

[0191] In the embodiments of the present disclosure, the first driving member can be a first servo motor, and the first connecting member can be a first batch head (or a first sleeve). That is, the jacking sleeve assembly can include a first servo motor and a first batch head connected to the rotating shaft of the first servo motor. In addition, the horizontal transmission member can be a first lead screw, and the horizontal transmission member extends in a first direction.

[0192] In this way, the controller can control the sleeve cylinder on the jacking mechanism to extend and perform a cap recognition function, so that the first batch head is aligned with the first lead screw. Specifically, the jacking sleeve assembly as a whole can be moved along the axial direction of the rotating shaft to the direction close to the first lead screw, so that the first batch head and the first lead screw are sleeved. Then the controller controls the first servo motor to drive the first batch head to rotate, so as to drive the first lead screw to move to the original position of the first lead screw through the first batch head.

[0193] In some embodiments, the driving member can further include a second driving member arranged in a gripper sleeve assembly on the gripper structure, and the transmission member can further include a longitudinal transmission member arranged in the tray. Accordingly, the method can further include: starting the robot, controlling the robot to move from the first position to the second position; controlling the gripper sleeve assembly on the gripper structure to perform a cap recognition action, so that the second driving member is connected to the longitudinal transmission member through a second connecting member in the gripper sleeve assembly, and controlling the second driving member to drive the second connecting member to rotate, so that the second connecting member drives the longitudinal transmission member to move to an original position of the longitudinal transmission member.

[0194] In the embodiments of the present disclosure, the second driving member can be a second servo motor, and the second connecting member can be a second chuck (or a second sleeve). That is, the gripper sleeve assembly can include the second servo motor and the second chuck connected to a rotating shaft of the second servo motor. In addition, the longitudinal transmission member can be a second lead screw, and the longitudinal transmission member extends in a second direction.

[0195] Here, the first direction and the second direction have an included angle. For example, the first direction is a horizontal axis direction, and the second direction is a vertical axis direction, and the included angle between the first direction and the second direction is 90 degrees.

[0196] In the embodiments of the present disclosure, the first position of the robot is an original position of the robot, and the second position of the robot is a rotating working position of the longitudinal transmission member. That is, if the controller allows the second driving member to work, the robot needs to be started first, and then moved to the rotating working position of the second lead screw.

[0197] In this way, the controller can control the sleeve on the gripper structure to perform a cap recognition function, so that the second chuck is aligned with the second lead screw. Specifically, the entire gripper sleeve assembly can move towards the second lead screw in the axial direction of the rotating shaft, so that the second chuck is sleeved on the second lead screw. Then the controller controls the second servo motor to drive the second chuck to rotate, so that the second lead screw is driven to move to the original position of the second lead screw through the second chuck.

[0198] In some embodiments, after the driving member drives the first lead screw and the second lead screw to move to the original positions respectively, when the controller controls the at least one initial limiting block on the tray to adjust the position, the controller can send a control instruction to the robot. The control instruction is used to control the gripper structure arranged on the robot to perform a pick-and-place action on the at least one target limiting block in the first vertical library and the one or more initial limiting blocks on the tray, so that the adjusted tray matches the component to be transferred.

[0199] In some embodiments, the first vertical warehouse includes a first storage location and a second storage location. If at least one initial limiting block in the tray does not meet the requirements, in some embodiments, the method can include: sending a first control instruction to the robot, the first control instruction being used to control the gripper mechanism to pick up the first initial limiting block on the tray from the to-be-picked-up location and place it in the first storage location, and control the gripper mechanism to pick up the first target limiting block from the second storage location and place it in the to-be-placed location in the tray, so that the adjusted tray matches the to-be-transported component.

[0200] In the embodiments of the present disclosure, the first storage location is used to store at least one initial limiting block that does not match the to-be-transported component and is picked up by the gripper mechanism from the tray; and the second storage location is used to store at least one target limiting block required by the first blueprint information. Here, the functional division of the first vertical warehouse can also improve the production efficiency when the product is changed.

[0201] In the embodiments of the present disclosure, if the initial limiting block in the current blueprint information is different from the target limiting block required by the first blueprint information, for example, the shapes are different, then the original initial limiting block in the tray needs to be placed in the first storage location; and then the target limiting block required by the first blueprint information is picked up from the second storage location, and placed in the to-be-placed location of the corresponding changeover plate according to the limiting block position requirement in the first blueprint information, so that the position of the limiting block meets the corresponding limiting block position in the first blueprint information.

[0202] In another possible embodiment, when the controller sends a control instruction to the robot, the method can further include: the controller sends a photographing instruction to the robot, the photographing instruction being used to control a visual detection system arranged on the robot to take pictures of the to-be-picked-up location and the to-be-placed location, and to compensate for the positional offset of the to-be-picked-up location and the to-be-placed location.

[0203] In the embodiments of the present disclosure, the visual detection system is specifically arranged on the gripper mechanism of the robot. The visual detection system is a structure including a CCD camera, so the visual detection system can be referred to as a "CCD camera", or also referred to as a "gripper camera".

[0204] That is, the controller can first send a photographing instruction to the robot, the photographing instruction being used to control a visual detection system arranged on the robot to take pictures of the to-be-picked-up location and the to-be-placed location, and to compensate for the positional offset of the to-be-picked-up location and the to-be-placed location; and then the controller sends a pick-and-place instruction to the robot, the pick-and-place instruction being used to control the gripper mechanism to pick up the limiting block on the tray from the to-be-picked-up location, and control the gripper mechanism to place the target limiting block in the to-be-placed location in the tray, so that the position of the target limiting block meets the corresponding limiting block position in the first blueprint information.

[0205] In a specific embodiment, the method for picking the limit blocks from the to-be-picked position by the grabbing mechanism can specifically include: sending a first photographing instruction to the robot, the first photographing instruction being used to control a visual detection system arranged on the robot to take photographs of the to-be-picked position and the to-be-placed position, and to perform offset compensation on the positions of the to-be-picked position and the to-be-placed position according to the taken images; sending a first picking and placing instruction to the robot, the first picking and placing instruction being used to control the grabbing mechanism to pick a first initial limit block on the tray from the to-be-picked position and place it into a first storage position, and to control the grabbing mechanism to pick a first target limit block from a second storage position and place it into the to-be-placed position in the tray, so that the adjusted tray matches the to-be-transported component.

[0206] In another possible embodiment, if the initial limit block on the tray is moved from a hole position number of a certain conversion plate to a hole position number of another conversion plate, or from a hole position number of a certain conversion plate to another hole position number, in some embodiments, the method can include: the controller sending a second control instruction to the robot, the second control instruction being used to control the grabbing mechanism to pick a second limit block on the tray from the to-be-picked position, and to control the grabbing mechanism to place the limit block into the to-be-placed position in the tray, and the position of the second limit block matches the corresponding limit block position in the first blueprint information.

[0207] In a specific embodiment, the method for placing the limit block into the to-be-placed position by the grabbing mechanism can specifically include: sending a second photographing instruction to the robot, the second photographing instruction being used to control a visual detection system arranged on the robot to take photographs of the to-be-picked position and the to-be-placed position, and to perform offset compensation on the positions of the to-be-picked position and the to-be-placed position according to the taken images; sending a second picking and placing instruction to the robot, the second picking and placing instruction being used to control the grabbing mechanism to pick a second initial limit block on the tray from the to-be-picked position, and to control the grabbing mechanism to place the second initial limit block into the to-be-placed position in the tray, so that the adjusted tray matches the to-be-transported component.

[0208] In this way, since the robot is provided with the grabbing mechanism and the visual detection system, the visual detection system can be controlled by the controller to visually guide and correct the picking position or the placing position, and the target position to be reached by the gripper assembly in the grabbing mechanism can be accurately determined according to the corresponding offset data, so that the gripper assembly can be controlled by the controller to move to the determined target position, and then the gripper assembly can be moved to the accurate picking position or placing position to pick and place the limit blocks, the position of the at least one limit block is adjusted, so that the tray can be adapted to to-be-transported components of various specifications, thereby improving the compatibility.

[0209] In some embodiments, the second storage position at least includes a first sub-storage position and a second sub-storage position, and the method further comprises: in response to detecting that the number of target limit blocks in the first sub-storage position is less than a first threshold, controlling the gripper mechanism to pick up at least one target limit block required by the first blueprint information from the second sub-storage position, and sending first user prompt information.

[0210] In the embodiments of the present disclosure, the first user prompt information is used to prompt the user to perform a replenishment action on the first sub-storage position. That is, when the number of target limit blocks in the first sub-storage position is less than the first threshold, the target limit blocks in the first sub-storage position are insufficient, and at this time, the first user prompt information is sent to enable the user to replenish the target limit blocks in the first sub-storage position, thereby improving the production efficiency of the trolley changeover.

[0211] Here, when the number of target limit blocks in the first sub-storage position is less than the first threshold, the gripper mechanism is controlled to pick up the target limit blocks required by the first blueprint information from the second sub-storage position. In this way, when the target limit blocks in the first sub-storage position are insufficient, the target limit blocks in the second sub-storage position are picked up, thereby improving the production efficiency during product changeover.

[0212] In a specific embodiment, after the first user prompt information is sent, the method further comprises: in response to a first operation instruction, controlling the first sub-storage position to move from an initial position to a first limit position; at the first limit position, placing at least one target limit block required by the first blueprint information in the first sub-storage position based on a second placement action; and in response to a second operation instruction, controlling the first sub-storage position to return from the first limit position to the initial position.

[0213] In the embodiments of the present disclosure, the first sub-storage position can be provided with a request feeding button and a reset button, and the first operation instruction specifically can refer to a request feeding operation, and the second operation instruction specifically can refer to a reset operation. After the first user prompt information is sent, the user presses the request feeding button to control the first sub-storage position to move from the initial position to the first limit position, at which time the user can continue to manually pull the first sub-storage position to move from the first limit position to a second limit position, and then place at least one target limit block required by the first blueprint information in the first sub-storage position based on the second placement action. Then, after the first sub-storage position is placed, the user manually moves the first sub-storage position from the second limit position to the first limit position, presses the reset button, and controls the first sub-storage position to return from the first limit position to the initial position.

[0214] In one possible embodiment, when it is detected that the number of target limit blocks in the second sub-repository falls below a first threshold, a third user prompt is sent, and the gripper mechanism is controlled to grab at least one target limit block from the first sub-repository that meets the first blueprint information requirement. In other words, when the second sub-repository is short of target limit blocks, a third user prompt can be sent, prompting the user to refill the second sub-repository. After the first sub-repository is controlled to return to its initial position from the first limit position, the gripper mechanism is controlled to grab at least one target limit block from the first sub-repository that meets the first blueprint information requirement.

[0215] In the disclosed embodiment, the second sub-repository can also be provided with a request-to-load button and a reset button. When the user receives the third user prompt message, they press the request-to-load button corresponding to the second sub-repository, causing the second sub-repository to move from its initial position to the first limit position. At this point, the user can continue to manually pull the second sub-repository to the second limit position. Then, based on the third placement action, they place at least one target limit block required for the first blueprint information into the second sub-repository. After placement is complete, the user manually moves the second sub-repository from the second limit position to the first limit position and presses the reset button, causing the second sub-repository to return from the first limit position to its initial position.

[0216] In an embodiment of the present disclosure, when a user places at least one target limit block required for the first blueprint information into the first sub-library or the second sub-library, if the first blueprint information requires three types of POM blocks, such as the first type POM block, the second type POM block, the third type POM block, the first type POM block, the second type POM block, the third type POM block, etc., then they can be placed in the first sub-library or the second sub-library in sequence of the first type POM block, the second type POM block, the third type POM block, the first type POM block, the second type POM block, the third type POM block, etc.

[0217] In some embodiments, before responding to the second operation instruction, the method further includes: sending a prohibition instruction to the robot; wherein the prohibition instruction is used to control the gripper mechanism to prohibit grabbing at least one target limit block required by the first blueprint information from the first sub-library before the first sub-library returns to the initial position.

[0218] In the disclosed embodiment, mutual constraints between the first vertical warehouse and the robot are achieved through prohibition instructions to prevent them from running simultaneously or erroneously, that is, the robot is prohibited from grabbing the target limit block from the first storage location before the second operation instruction is responded to, thereby achieving a fool-proof effect and improving the production efficiency of the trolley changeover.

[0219] In this way, when it is detected that the number of target limit blocks in the first sub-library is lower than the first threshold value, the control gripper is controlled to pick up at least one target limit block required by the first blue information from the second sub-library, and a first user prompt information is sent for timely replenishment, so that the production efficiency of the trolley model change can be improved. In addition, the mutual restriction between the first vertical library and the robot is realized through the prohibition instruction, so that the foolproof effect is achieved.

[0220] In some embodiments, FIG. 11 is a flow diagram of a trolley model change method provided by an embodiment of the present disclosure. As shown in FIG. 11, the method further includes:

[0221] S1101: receiving a blue count value of the first blue information sent by the manufacturing execution system.

[0222] In the embodiment of the present disclosure, the manufacturing execution system (MES) counts the blue count value of the first blue information, that is, counts the number of products corresponding to the current blue information that have been completed, to determine whether a new blue information needs to be determined. It can be understood that when the blue count value reaches the second threshold value, it means that the first blue information is about to be completed, and at this time, a new blue information (i.e., a second blue information) needs to be determined.

[0223] S1102: sending a second user prompt information when the blue count value reaches the second threshold value.

[0224] In the embodiment of the present disclosure, the second user prompt information is used to prompt the user to perform a replenishment action of the first vertical library to build a second vertical library.

[0225] In the embodiment of the present disclosure, when the blue count value reaches the second threshold value, it means that the first blue information is about to be completed, and then the user is reminded to timely build a second vertical library corresponding to the second blue information. In this way, the corresponding vertical library is selected according to the current blue information, and the POM block is taken as needed, which avoids the problem of prolonged production cycle caused by the need for repair due to the inadaptation of the limit block, so that the production efficiency during product model change can be improved.

[0226] For example, by counting the blue count value of the first blue information through the MES, it can be obtained that the first blue information is about to be completed, at which time the user is prompted to perform a replenishment and is informed of the type of POM block required by the second blue information. The user takes the corresponding POM block to the line side in advance, presses the request for loading button, the location of the second vertical library pops up, and the user puts the corresponding POM block into the second vertical library.

[0227] In some embodiments, the method further includes: receiving the second blue information sent by the manufacturing execution system; determining at least one target limit block required by the second blue information, and building a second vertical library according to the at least one target limit block required by the second blue information.

[0228] In the embodiment of the present disclosure, when the second blueprint information is received after the first blueprint information is constructed according to the specification parameters of the parts to be transported, at least one target limit block required by the second blueprint information is determined, and a second vertical warehouse is constructed according to the at least one target limit block. That is, when the current blueprint information is determined to be the second blueprint information, the target limit block required by the second blueprint information can be obtained in time, and the production efficiency during product change can be improved.

[0229] In a specific embodiment, FIG. 12 is a flowchart of a trolley change method provided by the embodiment of the present disclosure. As shown in FIG. 12, the method further includes:

[0230] S1201: When the trolley to be tested reaches the preset position, the current blueprint information of the trolley to be tested is obtained.

[0231] S1202: When the current blueprint information is the second blueprint information, a second vertical warehouse corresponding to the second blueprint information is determined, wherein the second vertical warehouse includes at least one target limit block required by the second blueprint information.

[0232] In the embodiment of the present disclosure, when the current blueprint information of the trolley to be tested is switched from the first blueprint information to the second blueprint information, the second vertical warehouse corresponding to the second blueprint information can be obtained in time, and the second vertical warehouse stores at least one target limit block required by the second blueprint information, thereby improving the production efficiency during product change.

[0233] S1203: At least one target limit block in the second vertical warehouse is adjusted to one or more initial limit blocks on the tray, so that the tray is matched with the parts to be transported, and the parts to be transported can be placed.

[0234] In the embodiment of the present disclosure, by adjusting at least one initial limit block on the tray, the tray can also be adapted to parts to be transported with various specification parameters, and the compatibility is improved.

[0235] The embodiment of the present disclosure provides a trolley changing method, different blueprint information corresponds to different vertical storages, and a corresponding vertical storage can be automatically selected according to current blueprint information; then at least one target limiting block in the vertical storage is used to adjust one or more initial limiting blocks on the tray, so that the tray is matched with the to-be-transported component, and the to-be-transported component can be placed. In this way, on the one hand, the corresponding blueprint information is automatically selected according to the to-be-transported component with different specification parameters, and the data security can be improved; on the other hand, in the product changing process, the limiting block is changed from manual replacement to automatic replacement, and the robot changing logic is simple, a plurality of sensors do not need to be configured, the automation degree of the equipment is also improved, the labor cost and the production cost are reduced, and the production efficiency during product changing is improved; on the other hand, the screw pitch of the tray is controlled and the grabbing and releasing action of the at least one initial limiting block on the tray is performed, and the compatibility is also improved by increasing the storage location function, so that the to-be-transported component with different specification parameters can be adapted. On the other hand, different blueprint information corresponds to different vertical storages, the vertical storage is updated in time according to the difference between the to-be-transported components corresponding to different blueprint information, and the production efficiency during product changing is further improved.

[0236] It should be noted that in the present disclosure, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, product or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, product or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, product or device including the element.

[0237] The above-mentioned sequence numbers of the embodiments of the present disclosure are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0238] The methods disclosed in the several method embodiments provided by the present disclosure can be combined arbitrarily without conflict to obtain new method embodiments.

[0239] The features disclosed in the several product embodiments provided by the present disclosure can be combined arbitrarily without conflict to obtain new product embodiments.

[0240] The features disclosed in the several method or device embodiments provided by the present disclosure can be combined arbitrarily without conflict to obtain new method or device embodiments.

[0241] The above merely provides the specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure.

Claims

1. A trolley changing method, comprising: acquiring current blueprint information of a to-be-tested trolley when the to-be-tested trolley reaches a preset position; wherein an upper surface of the to-be-tested trolley is provided with a tray for carrying a to-be-transported component; when the current blueprint information is first blueprint information, determining a first vertical warehouse corresponding to the first blueprint information; wherein the first vertical warehouse comprises at least one target limiting block required by the first blueprint information; adjusting one or more initial limiting blocks on the tray according to the at least one target limiting block in the first vertical warehouse, so that the tray matches the to-be-transported component to be able to place the to-be-transported component.

2. The trolley changeover method according to claim 1, wherein, The trolley changing method further comprises: determining that at least one target limiting block required by the first blueprint information has been placed in the first vertical warehouse before the to-be-tested trolley reaches the preset position.

3. The trolley changeover method of claim 2, wherein, Before the to-be-tested trolley reaches the preset position, the determination that at least one target limiting block required by the first blueprint information has been placed in the first vertical warehouse comprises: in response to a first operation instruction, controlling the first vertical warehouse to move from an initial position to a first limiting position; at the first limiting position, placing at least one target limiting block required by the first blueprint information into the first vertical warehouse based on a first placing action; in response to a second operation instruction, controlling the first vertical warehouse to return to the initial position from the first limiting position.

4. The trolley changeover method according to any one of claims 1 to 3, wherein, The adjustment of the one or more initial limiting blocks on the tray according to the at least one target limiting block in the first vertical warehouse comprises: sending a control instruction to a robot; wherein the control instruction is used to control a gripping mechanism arranged on the robot to perform a gripping and placing action on the at least one target limiting block in the first vertical warehouse and the one or more initial limiting blocks on the tray, so that the adjusted tray matches the to-be-transported component.

5. The trolley changeover method of claim 4, wherein, The first vertical warehouse comprises a first storage location and a second storage location, and the sending of the control instruction to the robot comprises: sending a first control instruction to the robot, the first control instruction being used to control the gripping mechanism to grip a first initial limiting block on the tray from a to-be-gripped location and place it into the first storage location, and control the gripping mechanism to grip a first target limiting block from the second storage location and place it into a to-be-placed location in the tray, so that the adjusted tray matches the to-be-transported component.

6. The trolley changeover method of claim 5, wherein, The sending of the first control instruction to the robot comprises: sending a first photographing instruction to the robot, the first photographing instruction being used to control a visual detection system arranged on the robot to take a photograph of the to-be-gripped location and the to-be-placed location, and compensate for a positional offset of the to-be-gripped location and the to-be-placed location according to the taken image; The robot is sent a first gripping and placing instruction, the first gripping and placing instruction being used to control the gripping mechanism to grip the first initial limiting block on the tray from the to-be-gripped position and place it into the first storage position, and control the gripping mechanism to grip the first target limiting block from the second storage position and place it into the to-be-placed position in the tray, so that the adjusted tray matches the to-be-transported component.

7. The trolley changeover method of claim 4, wherein, The control instruction sent to the robot includes: The robot is sent a second control instruction, the second control instruction being used to control the gripping mechanism to grip the second initial limiting block on the tray from the to-be-gripped position, and control the gripping mechanism to place the second initial limiting block into the to-be-placed position in the tray, so that the adjusted tray matches the to-be-transported component.

8. The trolley changeover method of claim 7, wherein, The second control instruction sent to the robot includes: The robot is sent a second photographing instruction, the second photographing instruction being used to control the visual detection system arranged on the robot to take pictures of the to-be-gripped position and the to-be-placed position, and compensate for the position offset of the to-be-gripped position and the to-be-placed position according to the taken images; The robot is sent a second gripping and placing instruction, the second gripping and placing instruction being used to control the gripping mechanism to grip the second initial limiting block on the tray from the to-be-gripped position, and control the gripping mechanism to place the second initial limiting block into the to-be-placed position in the tray, so that the adjusted tray matches the to-be-transported component.

9. The trolley changeover method according to claim 5 or 6, wherein, The second storage position includes at least a first sub-storage and a second sub-storage, and the trolley transformation method further includes: When it is detected that the number of target limiting blocks in the first sub-storage is lower than a first threshold value, the gripping mechanism is controlled to grip at least one target limiting block of the first blueprint information requirement from the second sub-storage, and a first user prompt information is sent; wherein the first user prompt information is used to prompt the user to perform a replenishment action of the first sub-storage. After sending the first user prompt information, the trolley transformation method further includes:

10. The trolley changeover method of claim 9, wherein, In response to a first operation instruction, the first sub-storage is controlled to move from an initial position to a first limiting position; At the first limiting position, at least one target limiting block of the first blueprint information requirement is placed into the first sub-storage based on a second placing action; In response to a second operation instruction, the first sub-storage is controlled to return to the initial position from the first limiting position. The trolley transformation method further includes:

11. The trolley changeover method according to claim 9 or 10, wherein A prohibition instruction is sent to the robot; wherein the prohibition instruction is used to control the gripping mechanism to prohibit gripping at least one target limiting block of the first blueprint information requirement from the first sub-storage before the first sub-storage returns to the initial position. The trolley transformation method further includes:

12. The trolley changeover method according to any one of claims 1 to 11, wherein, A blueprint count value of the first blueprint information is received from a manufacturing execution system; when the blueprint count value reaches a second threshold value, a second user prompt information is sent; wherein the second user prompt information is used to prompt the user to perform a replacement action of the first vertical storage to build a second vertical storage. ​ 13. The trolley changeover method of claim 12, wherein, The trolley changing method further comprises: receiving second blueprint information sent by the manufacturing execution system; determining at least one target limiting block required by the second blueprint information, and constructing a second vertical warehouse according to the at least one target limiting block required by the second blueprint information.

14. The trolley changeover method of claim 13, wherein, The trolley changing method further comprises: when the to-be-tested trolley reaches a preset position, acquiring current blueprint information of the to-be-tested trolley; when the current blueprint information is the second blueprint information, determining a second vertical warehouse corresponding to the second blueprint information; adjusting one or more initial limiting blocks on the tray according to at least one target limiting block in the second vertical warehouse, so that the tray matches the to-be-transported component, and the to-be-transported component can be placed.

15. A trolley changing system, comprising: a to-be-tested trolley, comprising a tray and one or more initial limiting blocks arranged on the tray, the tray being used to carry a to-be-transported component, and the one or more initial limiting blocks being used to limit the position of the to-be-transported component on the tray; a robot, a gripper being arranged on a mechanical arm of the robot, and the robot being used to drive the gripper to move; a vertical warehouse, arranged at a position corresponding to the robot, and used to store target limiting blocks; a jacking mechanism, arranged at a position corresponding to the robot, and used to jack up and support the to-be-tested trolley; wherein different blueprint information corresponds to different vertical warehouses; when the to-be-tested trolley reaches a preset position and the current blueprint information of the to-be-tested trolley is first blueprint information, the gripper can perform a pick-and-place action on at least one target limiting block in a first vertical warehouse corresponding to the first blueprint information and one or more initial limiting blocks on the tray, so that the adjusted tray matches the to-be-transported component.

16. The trolley changeover system of claim 15, wherein, The tray comprises a tray frame, a transverse clamping assembly and a longitudinal clamping assembly; wherein, the transverse clamping assembly comprises a transverse clamping piece and a transverse transmission piece, the transverse clamping piece is slidingly connected to the tray frame and has a transverse mounting portion, the initial limiting block or the target limiting block can be connected to the transverse clamping piece through the transverse mounting portion, and the transverse transmission piece is in transmission connection with the transverse clamping piece; in the process of movement of the transverse transmission piece, the transverse clamping piece can be driven to move in a first direction; the longitudinal clamping assembly comprises a longitudinal clamping piece and a longitudinal transmission piece, the longitudinal clamping piece is slidingly connected to the tray frame and has a longitudinal mounting portion, the initial limiting block or the target limiting block can be connected to the longitudinal clamping piece through the longitudinal mounting portion, and the longitudinal transmission piece is in transmission connection with the longitudinal clamping piece; in the process of movement of the longitudinal transmission piece, the longitudinal clamping piece can be driven to move in a second direction; the second direction has an included angle with the first direction.

17. The trolley changeover system of claim 15 or 16, wherein, The gripper mechanism comprises a connecting piece, a moving assembly and a gripper assembly; the gripper mechanism is arranged on the mechanical arm of the robot through the connecting piece; the moving assembly is arranged on the connecting piece; the gripper assembly is arranged on the moving assembly; under the driving of the moving assembly, the gripper assembly can move towards the direction close to or away from the to-be-placed position.

18. The trolley changeover system of any one of claims 15 to 17, wherein, The first vertical warehouse comprises a first storage position and a second storage position, and the first storage position and the second storage position are oppositely arranged on two sides of the robot; the first storage position is used for storing at least one initial limiting block which is not matched with the to-be-transported component and is grabbed from the tray by the gripper mechanism; and the second storage position is used for storing at least one target limiting block required by the first blueprint information.

19. The trolley changeover system of claim 18, wherein, Each storage position comprises a supporting assembly and a carrying assembly, the carrying assembly is slidingly arranged on the supporting assembly, and the carrying assembly is provided with a storage part adapted to the limiting block to be stored; and the supporting assembly is used for supporting the carrying assembly.

20. The trolley changeover system of claim 19, wherein, The supporting assembly comprises two oppositely arranged supports, and the carrying assembly comprises multiple layers of sub-warehouses; each layer of the sub-warehouse is provided with the storage part, and each layer of the sub-warehouse is slidingly arranged between the two supports.

Images