Battery loading and unloading system and battery loading and unloading method

Abstract

A battery loading and unloading system and a battery loading and unloading method. The system comprises: a loading platform (110), which is connected to a battery loading conveyor line (111) and provides first batteries to be placed into trays (200); an unloading platform (120), which is connected to a battery unloading conveyor line (121) and receives second batteries that have been removed from the trays (200); a tray transfer mechanism (140) configured to carry the trays (200); a battery handling mechanism (130) having a gripper (131), wherein the battery handling mechanism (130) is configured to drive the gripper (131) to move among the loading platform (110), the tray transfer mechanism (140) and the unloading platform (120); and a controller, which controls the battery handling mechanism (130) to move the gripper (131) to the trays (200), controls the gripper (131) to grip the second batteries from the trays (200), controls the battery handling mechanism (130) to move the gripper (131) to the unloading platform (120), controls the gripper (131) to place the second batteries, controls the battery handling mechanism (130) to move the gripper (131) to the loading platform (110) to grip the first batteries and then move same to the trays (200), and controls the gripper (131) to place the first batteries. The above steps are repeated until the second batteries in the trays (200) are removed and the trays are filled with the first batteries.

Description

Battery loading and unloading system and battery loading and unloading method

[0001] Cross-reference to related applications

[0002] This disclosure is based on and claims priority to Chinese Patent Application No. 202411718155.9, filed on November 27, 2024, entitled “Battery Loading and Unloading System and Method”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of battery manufacturing technology, and in particular to a battery loading and unloading system and method. Background Technology

[0004] New energy batteries are being used more and more widely in daily life and industry. For example, new energy vehicles equipped with batteries are already widely used. In addition, batteries are being used more and more in the field of energy storage.

[0005] In the battery manufacturing process, the loading and unloading operations include the unpacking operation of batteries from trays and the assembling operation of batteries into trays. How to improve the efficiency of battery loading and unloading is one of the research topics in the industry. Summary of the Invention

[0006] To address the aforementioned technical problems, the purpose of this disclosure is to provide a battery loading and unloading system and method that can efficiently perform battery loading and unloading operations and save space.

[0007] The first aspect of this disclosure provides a battery loading and unloading system, comprising: a loading platform connected to a battery loading conveyor line, the loading platform being used to provide a first battery to be placed in a tray; an unloading platform connected to a battery unloading conveyor line, the unloading platform being used to receive a second battery removed from the tray; a tray transfer mechanism for carrying the tray; and a battery handling mechanism including grippers capable of gripping and placing batteries, wherein the battery handling mechanism is configured to move the grippers between the loading platform, the tray transfer mechanism, and the unloading platform; and a controller that controls the battery handling mechanism to move the grippers to the tray, controls the grippers to grip the second battery from the tray, controls the battery handling mechanism to move the grippers to the unloading platform, controls the grippers to place the second battery, and controls... The battery handling mechanism moves the grippers to the loading platform to grab the first battery, and controls the battery handling mechanism to move the grippers to the tray and place the first battery there. This process is repeated until the tray is empty of the second battery and the first battery is full. Alternatively, the controller controls the battery handling mechanism to move the grippers to the tray, grabs the second battery from the tray, moves the grippers to the unloading platform, and places the second battery there. This process is repeated until the tray is empty of the second battery, and the controller also controls the battery handling mechanism to move the grippers to the loading platform to grab the first battery, move the grippers to the tray, and place the first battery there. This process is repeated until the tray is full of the first battery.

[0008] Because the grippers move between the loading platform, pallet transfer mechanism, and unloading platform and are controlled to assemble pallets after disassembly in the pallet transfer mechanism, the assembly and disassembly actions can be combined. Compared to performing disassembly and assembly actions independently at two different workstations, this reduces equipment space requirements and the time and workload for pallet scheduling. Therefore, it improves the efficiency of the battery loading and unloading system and increases the space utilization of the battery loading and unloading system and even the entire battery production line.

[0009] In some embodiments, the pallet transfer mechanism has a first support platform and a second support platform. During the process of emptying the second battery and filling the first battery, the pallet is located on the first support platform. The first support platform is used to transport the assembled pallet to the second support platform, or the second support platform is used to transport the pallet to be unassembled to the first support platform.

[0010] Because it has a first load-bearing platform and a second load-bearing platform, it can provide a buffer position for the pallet, enabling the loading and unloading operation to start quickly.

[0011] In some embodiments, the pallet transfer mechanism further includes a pallet push-pull device disposed on the first support platform and the second support platform, and the controller is further configured to control the pallet push-pull device to input the pallet from the first support platform to the second support platform, or to control the pallet push-pull device to input the pallet from the second support platform to the first support platform.

[0012] This facilitates continuous pallet unpacking and repacking operations, and the pallet transfer mechanism can be connected to pallet conveyor lines, further saving equipment space.

[0013] In some embodiments, the pallet transfer mechanism further includes a first guide rail extending in a first direction, and a controller controls a pallet push-pull device to push and pull the pallet to move it along the first guide rail between a first bearing platform and a second bearing platform, wherein the first bearing platform is located at one end of the first guide rail and the second bearing platform is located at the other end of the first guide rail.

[0014] Since the pallet transfer mechanism has a first bearing platform and a second bearing platform, and the pallet can move between the first bearing platform and the second bearing platform, the bearing platform can buffer the pallet. The pallet disassembly and assembly operations can be performed on the first bearing platform, and the pallet input and output operations can be performed on the second bearing platform. This helps to improve the production cycle and increase production efficiency. Moreover, the pallet transfer mechanism can be connected to pallet conveyor lines, etc., further saving equipment space.

[0015] In some embodiments, the pallet transfer mechanism has a first support platform and a second support platform arranged in layers; the controller controls the battery transport mechanism to empty the second battery and fill the first battery on the pallet of the first support platform of the current layer, and controls the pallet push-pull device to transport the pallet on the first support platform of the current layer to the second support platform of the same layer; the above steps are performed layer by layer on the pallets of the first support platform of a predetermined number of layers until the second battery is emptied and the first battery is filled on the pallets of the first support platform of the predetermined number of layers.

[0016] Because the pallet transfer mechanism can carry multiple pallets in layers and can perform loading and unloading operations for pallets in each layer separately, it can further improve the flexibility of pallet transport and further improve production efficiency. For example, it can perform loading and unloading operations for pallets in one layer while simultaneously performing input and output operations for pallets in another layer.

[0017] In some embodiments, the pallet transfer mechanism further includes a frame, which is provided with multiple first guide rails arranged in layers along a second direction. Multiple pallets are arranged in layers on the first guide rails of each layer and can move along the first guide rails between the first and second support platforms of each layer, wherein the second direction is perpendicular to the first direction. A pallet push-pull device is installed on the frame and connected to the drive end of a first drive device. A controller controls the first drive device to drive the pallet push-pull device to reciprocate along the first direction, thereby pushing and pulling at least one layer of pallets to move along their respective first guide rails between the first and second support platforms.

[0018] Because the pallet transfer mechanism can support multiple pallets in layers, and each pallet can move between the first and second support platforms, it provides more pallet or battery cell buffer positions, which helps to further improve production efficiency. Furthermore, it offers greater flexibility in pallet scheduling. In addition, it eliminates the need for additional floor space for buffer positions, thus improving space utilization.

[0019] In some embodiments, the pallet push-pull device includes: a movable frame connected to the drive end of a first drive device; multi-layer brackets spaced along a second direction on the movable frame, the multi-layer brackets being capable of reciprocating with the movable frame; a plurality of engaging components arranged in layers along the second direction corresponding to the first guide rails of each layer, and respectively supported on the brackets of each layer, the engaging components being used to engage with the pallet; a plurality of second drive devices, each second drive device being mounted on the movable frame corresponding to the engaging components of each layer, the output end of each second drive device being connected to each engaging component and configured to drive the engaging components to move forward and backward along a third direction, wherein the third direction is perpendicular to the first and second directions. For the layer where the pallet to be moved between the first and second support platforms is located, the controller controls the second drive device corresponding to that layer to drive the engaging components to move towards the pallet along the third direction and engage with the pallet. While maintaining engagement, the controller controls the first drive device to drive the pallet push-pull device to move. After the pallet is moved into position, the controller controls the engaging components engaged with the pallet to move backward along the third direction to release the engagement with the pallet.

[0020] This allows pallets of any layer or layer to be easily moved between the first and second support platforms via a pallet push-pull device.

[0021] In some embodiments, the engagement assembly includes an advance / retractor and an engagement member. The advance / retractor is connected to the output end of the second drive device, and the engagement member is mounted on the side of the advance / retractor closer to the tray along a third direction. The engagement member is configured to engage or disengage with an engagement structure on the tray.

[0022] Therefore, by moving the advancing and retreating parts forward and backward, the engaging and disengaging parts can be achieved, making it easy to push and pull the pallet that needs to be pushed and pulled.

[0023] In some embodiments, the engaging member includes one or more pairs of rollers spaced apart along a first direction. When the engaging member is engaged with the engaging structure, at least a portion of the engaging structure extends between the rollers spaced apart along the first direction and is held by the rollers.

[0024] This allows the pallet's locking structure to easily engage along a third direction perpendicular to the first direction; by clamping the locking structure with rollers, gapless engagement can be achieved, which helps reduce the impact between the locking parts and the locking structure during the push-pull process and the resulting noise; moreover, the rollers can roll during the advance and retreat of the locking parts, so neither the rollers themselves nor the locking structure are easily damaged by friction.

[0025] In some embodiments, the pallet transfer mechanism includes two pallet push-pull devices, which are arranged on both sides of the frame along a third direction; a second guide rail extending along a first direction is also provided on both sides of the frame, and the moving frame of each pallet push-pull device is slidably connected to the second guide rail on its respective side, and the controller controls the two pallet push-pull devices to move synchronously.

[0026] This allows for the application of even pushing and pulling forces to the pallet, enabling it to move smoothly.

[0027] In some embodiments, the controller controls the battery transport mechanism to empty the second battery and fill the first battery in the tray of the first support platform of the current layer, controls the second drive device to drive the engaging component corresponding to the current layer forward along a third direction so that the engaging component engages with the engaging structure on the tray of the current layer, and controls the first drive device to drive the tray push-pull device to transport the tray of the current layer from the first support platform to the second support platform; the controller controls the second drive device to drive the engaging component corresponding to the current layer backward along a third direction so that the engaging component disengages from the engaging structure on the tray, and controls the first drive device to drive the tray push-pull device to return; the above actions are performed layer by layer for a preset number of trays until the preset number of trays are empty of the second battery and filled with the first battery and are all located on the second support platform.

[0028] Therefore, the space occupied by the pallet transfer mechanism can be fully utilized to load and unload multi-layer pallets. Moreover, the pallet transfer between the first and second bearing platforms is simple and can be quickly engaged or disengaged.

[0029] In some embodiments, the battery handling mechanism has a rotating arm with grippers located at the end of the rotating arm. As the rotating arm rotates, the grippers pass sequentially through the pallet transfer mechanism, the unloading platform, the loading platform, and the pallet transfer mechanism.

[0030] This allows for battery loading and unloading operations with a shorter path, which helps improve production efficiency and saves equipment space.

[0031] In some embodiments, the battery loading and unloading system includes two pallet transfer mechanisms, namely a first pallet transfer mechanism and a second pallet transfer mechanism. The battery handling mechanism is configured to move the grippers between the loading platform, the first pallet transfer mechanism, the second pallet transfer mechanism, and the unloading platform. The controller controls the battery handling mechanism to move the grippers to the pallet carried by the second pallet transfer mechanism, controls the grippers to pick up the second battery from the pallet, controls the battery handling mechanism to move the grippers to the unloading platform, controls the grippers to place the second battery, further controls the battery handling mechanism to move the grippers to the loading platform to pick up the first battery, controls the battery handling mechanism to move the grippers to the pallet carried by the first pallet transfer mechanism, controls the grippers to place the first battery, and repeats the above steps until the first battery in the pallet carried by the first pallet transfer mechanism is filled and the second battery in the pallet carried by the second pallet transfer mechanism is emptied.

[0032] Therefore, it is possible to assemble pallets on one of the two pallet transfer mechanisms and disassemble pallets on the other pallet transfer mechanism, which helps to further improve work efficiency, enhance multi-tasking capabilities, and improve compatibility with loading and unloading operations for batteries of different specifications.

[0033] In some embodiments, the battery handling mechanism has a rotating arm with grippers located at the end of the rotating arm. As the rotating arm rotates, the grippers pass sequentially through the loading platform, the first pallet transfer mechanism, the second pallet transfer mechanism, and the unloading platform.

[0034] Therefore, by rotating the swivel arm, the gripper can perform loading and unloading operations on the two pallet transfer mechanisms. This not only helps to improve work efficiency and compatibility with loading and unloading operations of battery cells of different specifications, but also further improves the utilization rate of the space around the battery handling mechanism.

[0035] In some embodiments, the battery loading and unloading system further includes a pallet status detection device, which includes a distance measuring device disposed on the battery handling mechanism. The controller controls the distance measuring device to check the distance between the battery handling mechanism and the pallet or the batteries carried by the pallet when the battery handling mechanism is above the pallet. The controller determines the empty or full status of the pallet based on the distance.

[0036] Therefore, it is possible to control the dismantling, assembly, pushing and pulling, and pallet circulation actions based on the current empty or full status of the pallet being carried.

[0037] A second aspect of this disclosure provides a battery loading and unloading method, the method comprising: providing a second battery located in a tray; picking up a predetermined number of second batteries from the tray each time and placing the second batteries on a unloading platform; picking up a predetermined number of first batteries from the loading platform each time and placing the first batteries in an empty position in the tray; repeating the steps of picking up a predetermined number of second batteries from the tray each time and placing the second batteries on the unloading platform and the steps of picking up a predetermined number of first batteries from the loading platform each time and placing the first batteries in an empty position in the tray, until the second batteries in the tray are emptied and the first batteries are filled, so as to alternately complete the unpacking and packing of the tray.

[0038] Therefore, by repeating the tray assembly and disassembly steps, the tray assembly and disassembly actions can be combined, reducing equipment space requirements and the time and workload of tray scheduling compared to performing these actions independently. This improves the efficiency of the battery loading and unloading system and enhances the space utilization of the entire battery production line.

[0039] In some embodiments, each time a preset number of first batteries are picked up from the loading platform and placed in an empty position in the tray, the process includes: each time a preset number of first batteries are picked up from the loading platform and placed in an empty position vacated after the second batteries are unloaded from the tray; repeating the steps of each time a preset number of second batteries are picked up from the tray and placed in an empty position in the tray, and repeating the steps of each time a preset number of first batteries are picked up from the loading platform and placed in an empty position in the tray, until the second batteries in the tray are emptied and the first batteries are filled, includes: repeatedly alternating between the steps of each time a preset number of second batteries are picked up from the tray and placed in an empty position in the tray, and the steps of each time a preset number of first batteries are picked up from the loading platform and placed in an empty position vacated after the second batteries are unloaded from the tray, until the second batteries in the tray are emptied and the first batteries are filled.

[0040] Therefore, pallet unpacking and pallet assembly operations can be performed alternately on a single pallet, thus combining the two operations and improving loading and unloading efficiency while reducing the space required for separate equipment for unpacking and pallet assembly operations.

[0041] In some embodiments, repeating the steps of each time grabbing a preset number of second batteries from the tray and placing the second batteries on the unloading platform, and each time grabbing a preset number of first batteries from the loading platform and placing the first batteries in empty positions in the tray, until the second batteries in the tray are emptied and the first batteries are filled, includes: repeating the steps of each time grabbing a preset number of second batteries from the tray and placing the second batteries on the unloading platform until the second batteries in the first tray are emptied, and repeating the steps of each time grabbing a preset number of first batteries from the loading platform and placing the first batteries in empty positions vacated after the second batteries are unloaded from the tray, until the tray is filled with first batteries.

[0042] Therefore, for a single pallet, the unpacking operation can be completed before the repacking operation, and the unpacking and repacking operations can be combined. This helps to reduce the time required for pallet circulation, improves production efficiency, and reduces the working space required for independent loading and unloading operations.

[0043] In some embodiments, a second battery is provided within a tray; a predetermined number of second batteries are each time picked up from the tray and placed on an unloading platform, including: providing a second battery located in a first tray carried by a first tray transfer mechanism; a predetermined number of second batteries are each time picked up from the first tray and placed on an unloading platform; a predetermined number of first batteries are each time picked up from a loading platform and placed in an empty position in a tray, including: a predetermined number of first batteries are each time picked up from the loading platform and placed in an empty position in a second tray carried by a second tray transfer mechanism; repeating the above-described process of picking up a predetermined number of batteries from the tray each time. The process of placing a second battery on the unloading platform and the aforementioned process of picking up a preset number of first batteries from the loading platform and placing the first batteries in empty positions in the tray, until the second batteries in the tray are emptied and the first batteries are filled, includes: repeatedly alternating the process of picking up a preset number of second batteries from the first tray and placing the second batteries on the unloading platform, and picking up a preset number of first batteries from the loading platform and placing the first batteries in empty positions in the second tray carried by the second tray transfer mechanism, until the second batteries in the first tray are emptied and the empty positions in the second tray are filled with first batteries.

[0044] Therefore, it is possible to assemble pallets on one of the two pallet transfer mechanisms and disassemble pallets on the other pallet transfer mechanism, which helps to improve work efficiency, enhance multi-tasking capabilities, improve compatibility with loading and unloading of battery cells of different specifications, and further improve the utilization rate of the space around the battery handling mechanism.

[0045] In some embodiments, the pallet transfer mechanism has a first and a second carrier platform arranged in layers, and the method includes: during the process of emptying a second battery and filling a first battery on a pallet carried on the first carrier platform of the first layer, transferring another pallet to the second carrier platform of the second layer, while the first carrier platform of the second layer does not carry a pallet.

[0046] Because the pallet transfer mechanism can carry multiple pallets in layers and can perform loading and unloading operations for pallets in each layer separately, it can further improve the flexibility of pallet transport and further improve production efficiency. For example, it can perform loading and unloading operations for pallets in one layer while simultaneously performing input and output operations for pallets in another layer.

[0047] Invention Effects

[0048] This disclosure provides a battery loading and unloading system and method that can efficiently perform loading and unloading operations and save space. Attached Figure Description

[0049] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0050] Figure 1 is a schematic plan layout of a battery loading and unloading system provided in some embodiments of this disclosure;

[0051] Figure 2 is a schematic plan layout of a battery loading and unloading system provided in some other embodiments of this disclosure;

[0052] Figure 3 is a schematic plan view of the battery loading and unloading system provided in some other embodiments of this disclosure;

[0053] Figure 4 is a schematic plan view of the battery loading and unloading system provided in some other embodiments of this disclosure;

[0054] Figure 5 is a schematic diagram of the state of the battery handling mechanism relative to the tray for gripping and placing individual battery cells according to some embodiments of this disclosure;

[0055] Figure 6 is a three-dimensional structural schematic diagram of a pallet transfer mechanism provided in some embodiments of this disclosure;

[0056] Figure 7 is a three-dimensional structural schematic diagram of a tray push-pull device provided in some embodiments of this disclosure;

[0057] Figure 8 is an enlarged schematic diagram of part A in Figure 6 provided in some embodiments of this disclosure;

[0058] Figure 9 is an enlarged schematic diagram of part B in Figure 6 provided in some embodiments of this disclosure;

[0059] Figure 10 is a three-dimensional structural schematic diagram of a battery handling mechanism provided in some embodiments of this disclosure;

[0060] Figure 11 is a three-dimensional structural diagram of the gripper in a battery handling mechanism provided in some embodiments of this disclosure;

[0061] Figure 12 is a schematic structural block diagram of a battery loading and unloading system provided in some embodiments of this disclosure;

[0062] Figure 13 is a schematic flowchart of a battery loading and unloading method provided in some embodiments of this disclosure;

[0063] Figure 14 is a schematic flowchart of a battery loading and unloading method provided in some other embodiments of this disclosure;

[0064] Figure 15 is a schematic flowchart of a battery loading and unloading method provided in some other embodiments of this disclosure;

[0065] Figure 16 is a schematic flowchart of a battery loading and unloading method provided in some further embodiments of this disclosure;

[0066] Figure 17 is a schematic flowchart of a battery loading and unloading method provided in some other embodiments of this disclosure.

[0067] Reference numerals in the attached drawings: 100 Battery; 200 Tray; 202 Locking block body; 203 Abutment; 204 Locking pin; 205 Mounting slot; 210 Locking structure; 110 Loading platform; 111 Battery loading conveyor line; 120 Unloading platform; 121 Battery unloading conveyor line; 130 Battery handling mechanism; 131 Gripper; 1310 Clamping assembly; 1311 Rotary connection assembly; 132 First moving arm; 133 Second moving arm; 134 Rotating base; 135 Base; 136 Joint; 140 Tray transfer mechanism; 140a First tray transfer mechanism; 140 b. Second pallet transfer mechanism; 141. Frame; 142. Pallet push-pull device; 1420. First drive device; 1421. Moving frame; 1422. Bracket; 1423. Engaging assembly; 1424. Second drive device; 1425. Advancing / retracting component; 1426. Engaging component; 1427. First roller; 1428. Second roller; 1430. Through-shooting device; 143. First guide rail; 144. Second guide rail; 145. Frame side engaging block assembly; 1451. Engaging hole; 150. Pallet conveyor line; 160. Controller; 170. Pallet scheduling device; P1. First bearing platform; P2. Second bearing platform. Detailed Implementation

[0068] The embodiments of the technical solutions disclosed herein will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solutions disclosed herein and are therefore intended to limit the scope of protection of this disclosure.

[0069] 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 this disclosure belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure; the terms “comprising” and “having” and any variations thereof are intended to cover non-exclusive inclusion.

[0070] In the description of the embodiments of this disclosure, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary or secondary relationship of the indicated technical features. In the description of the embodiments of this disclosure, "a plurality of" means two or more, unless otherwise explicitly defined.

[0071] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0072] In the description of the embodiments of this disclosure, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0073] In the description of the embodiments of this disclosure, the technical terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated, or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this disclosure.

[0074] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0075] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0076] The following is a detailed description of this disclosure.

[0077] Currently, new energy batteries are being used more and more widely in daily life and industry. They are being used in energy storage power systems for hydropower, thermal power, wind power and solar power plants, as well as in electric vehicles such as electric bicycles, electric motorcycles and electric cars, and in aerospace and other fields.

[0078] In the battery manufacturing process, there is a need for loading and unloading batteries. Sometimes, this loading and unloading occurs between the battery conveyor line and battery trays (hereinafter referred to as trays). Loading batteries from the battery conveyor line into the tray is also called "tray assembly"; removing batteries from the tray and placing them onto the battery conveyor line is also called "tray removal." Sometimes, the tray assembly and removal operations are collectively referred to as tray unassembly / reassembly operations.

[0079] In related technologies, there are schemes that use gripping components to pick up batteries from a conveyor belt and place them into a tray for pallet assembly; there are also schemes that use grippers to grab batteries from the tray, pair them on a temporary storage platform, and then place batteries of a specific type onto the conveyor belt. It is evident that in these related technologies, pallet assembly and unpacking operations are performed independently. For pallet assembly, a pallet assembly system typically requires a battery loading device, a pallet conveyor belt, and a battery handling mechanism; for unpacking, a pallet unpacking system typically requires a battery unloading device, a pallet conveyor belt, and a battery handling mechanism. Based on this arrangement, a single pallet assembly or unpacking system can only be used for either pallet assembly or unpacking, which is detrimental to improving the system's efficiency. Furthermore, arranging separate execution equipment for pallet assembly and unpacking requires more space.

[0080] This disclosure addresses the problems existing in the aforementioned related technologies by proposing a battery loading and unloading system. The battery loading and unloading system includes: a loading platform connected to a battery loading conveyor line, used to provide a first battery to be placed in a tray; an unloading platform connected to a battery unloading conveyor line, used to receive a second battery removed from the tray; a tray transfer mechanism for carrying the tray; a battery handling mechanism including grippers capable of gripping and releasing batteries, configured to move the grippers between the loading platform, the tray transfer mechanism, and the unloading platform; and a controller that controls the battery handling mechanism to move the grippers to the tray, controls the grippers to grab the second battery from the tray, controls the battery handling mechanism to move the grippers to the unloading platform, controls the grippers to place the second battery, and controls the battery handling mechanism to... The controller moves the gripper to the loading platform to grab the first battery, and controls the battery transport mechanism to move the gripper to the tray and place the first battery in the tray. The above steps are repeated until the second battery in the tray is emptied and the first battery is filled. Alternatively, the controller controls the battery transport mechanism to move the gripper to the tray, grabs the second battery from the tray, moves the gripper to the unloading platform, and places the second battery in the tray. The above steps are repeated until the second battery in the tray is emptied. The controller also controls the battery transport mechanism to move the gripper to the loading platform to grab the first battery, moves the gripper to the tray, and places the first battery in the tray. The above steps are repeated until the first battery in the tray is filled.

[0081] Because the grippers move between the loading platform, pallet transfer mechanism, and unloading platform and are controlled to unload from the pallet transfer mechanism and then load from it, the pallet assembly and disassembly actions can be combined. Compared to performing these actions independently at two different workstations, this reduces equipment space requirements and the time and workload spent scheduling pallets. Consequently, it improves the efficiency of the battery loading and unloading system and enhances space utilization for the entire battery production line.

[0082] Accordingly, this disclosure also provides a battery loading and unloading method.

[0083] The battery loading and unloading system and method of this disclosure can be used in the battery production process, for example, for loading and unloading operations such as disassembling and assembling battery cells or battery units. Of course, those skilled in the art should understand that the battery loading and unloading system and method provided in this disclosure are not limited to the battery manufacturing process, but can also be used for loading and unloading other workpieces that require loading and unloading.

[0084] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to Figures 1 to 12.

[0085] Figure 1 is a schematic plan view of a battery loading and unloading system provided in some embodiments of the present disclosure; Figure 2 is a schematic plan view of a battery loading and unloading system provided in some other embodiments of the present disclosure; Figure 3 is a schematic plan view of a battery loading and unloading system provided in some further embodiments of the present disclosure; Figure 4 is a schematic plan view of a battery loading and unloading system provided in yet another embodiment of the present disclosure.

[0086] Figure 5 is a schematic diagram of the state of the battery handling mechanism relative to the pallet for holding and placing battery cells according to some embodiments of the present disclosure; Figure 6 is a three-dimensional structural schematic diagram of the pallet transfer mechanism according to some embodiments of the present disclosure; Figure 7 is a three-dimensional structural schematic diagram of the pallet push-pull device according to some embodiments of the present disclosure; Figure 8 is an enlarged schematic diagram of part A in Figure 6 according to some embodiments of the present disclosure; Figure 9 is an enlarged schematic diagram of part B in Figure 6 according to some embodiments of the present disclosure; Figure 10 is a three-dimensional structural schematic diagram of the battery handling mechanism according to some embodiments of the present disclosure; Figure 11 is a three-dimensional structural schematic diagram of the gripper in the battery handling mechanism according to some embodiments of the present disclosure; Figure 12 is a schematic structural block diagram of the battery loading and unloading system according to some embodiments of the present disclosure.

[0087] In some embodiments of this disclosure, for ease of explanation, a first direction, a second direction, and a third direction are defined, which are directions that intersect each other. Here, intersecting each other includes perpendicularly intersecting each other. For ease of understanding of the embodiments of this disclosure, in the embodiments shown in Figures 1 to 10, an example is given where the first direction, the second direction, and the third direction are perpendicularly intersecting each other. For ease of explanation, as shown by the arrows in Figures 1 to 7, the direction where arrow X is located is the first direction, the direction where arrow Z is located is the second direction, and the direction where arrow Y is located is the third direction. Sometimes, the direction pointed to by arrow Z along the second direction is referred to as "above," and its opposite direction is referred to as "below."

[0088] As shown in Figures 1 to 4, this disclosure provides a battery loading and unloading system. The battery loading and unloading system includes a loading platform 110, an unloading platform 120, a tray transfer mechanism 140, and a battery handling mechanism 130. The loading platform 110 is connected to the battery loading conveyor line 111 and is used to provide batteries 100 (referred to as "first batteries" for easy distinction) to be placed in the tray; the unloading platform 120 is connected to the battery unloading conveyor line 121 and is used to receive batteries 100 that have been removed from the tray 200 (referred to as "second batteries" for easy distinction); the tray transfer mechanism 140 is used to carry the tray 200; the battery handling mechanism 130 has grippers 131 configured to grip and release batteries 100. The battery handling mechanism 130 is configured to move the grippers 131 between the loading platform 110, the tray transfer mechanism 140, and the unloading platform 120.

[0089] The battery loading and unloading system also includes a controller 160, which controls the battery transport mechanism 130 to move the gripper 131 to the tray 200, controls the gripper 131 to grab the second battery from the tray 200, controls the battery transport mechanism 130 to move the gripper 131 to the unloading platform 120 and controls the gripper 131 to place the second battery, and controls the battery transport mechanism 130 to move the gripper 131 to the loading platform 110 to grab the battery 100 as the first battery, controls the battery transport mechanism 130 to move the gripper 131 to the tray 200 and controls the gripper 131 to place the first battery, repeating the above steps until the second battery in the tray 200 is emptied and the first battery is filled.

[0090] Alternatively, controller 160 controls battery transport mechanism 130 to move gripper 131 to tray 200, controls gripper 131 to grab the second battery from tray 200, controls battery transport mechanism 130 to move gripper 131 to unloading platform 120, and controls gripper 131 to place the second battery. Repeat the steps until the second battery in tray 200 is empty. Also, control battery transport mechanism 130 to move gripper 131 to loading platform 110 to grab the first battery, controls battery transport mechanism 130 to move gripper 131 to tray 200, and controls gripper 131 to place the first battery. Repeat the above steps until the first battery in tray 200 is full.

[0091] The controller 160 includes, but is not limited to, a programmable logic controller (PLC), a host computer, a mid-level computer, a microcontroller, etc. In implementation, the controller 160 may also include a processor, a memory storing processor-executable instructions, etc.

[0092] The battery loading and unloading system of this disclosure is used for loading and unloading battery cells. Here, a battery cell may include an independent battery cell or a battery unit composed of several battery cells, such as two or four battery cells bonded together with an adhesive to form a battery unit. In this disclosure, the battery cell can be a rechargeable battery, which refers to a battery cell that can be recharged after discharge to activate the active material and continue to be used. As an example, the battery cell can be a cylindrical battery cell, a prismatic battery cell, a pouch battery cell, or a battery cell of other shapes. Prismatic battery cells include prismatic battery cells, blade-shaped battery cells, and multi-prismatic batteries, such as hexagonal prismatic batteries, etc. This disclosure does not have any particular limitations. It should be noted that in the embodiments shown in Figures 1 to 3, Figures 9 and 10, a prismatic battery cell is used as an example for illustration; in Figure 4, a cylindrical battery cell is used as an example for illustration; however, it is understood that the embodiments of this disclosure can be applied to battery cells of any shape. In addition, it is understood that the battery involved in the embodiments of this disclosure is a battery cell in the manufacturing process, which may be a semi-finished product with the shape of a battery cell.

[0093] The battery loading and unloading system in this embodiment is mainly used for transfer between the battery conveyor line and the tray. In this embodiment, based on the direction of the battery 100 relative to the tray 200, the conveyor line that transports the battery 100 to be placed in the tray 200 is designated as the battery loading conveyor line 111, and the conveyor line that transports the battery 100 that has been removed from the tray 200 is designated as the battery unloading conveyor line 121. The downstream end of the battery loading conveyor line 111 has a loading platform 110, on which the battery handling mechanism 130 grabs the battery 100 to be placed in the tray 200. The upstream end of the battery unloading conveyor line 121 has an unloading platform 120, on which the battery handling mechanism 130 releases the battery 100.

[0094] The battery loading conveyor line 111 and the battery unloading conveyor line 121 can be conveyor lines such as conveyor belts or conveyor trolleys; this disclosure does not limit them. The figures illustrate a conveyor belt as an example. Furthermore, in the specific examples shown in Figures 1 to 3, both the battery loading conveyor line 111 and the battery unloading conveyor line 121 are conveyor lines capable of conveying prismatic battery cells; in the specific example shown in Figure 4, both the battery loading conveyor line 111 and the battery unloading conveyor line 121 are conveyor lines capable of conveying cylindrical battery cells. Existing technologies can be used for conveyor lines conveying prismatic battery cells and conveyor lines conveying cylindrical battery cells, and will not be elaborated upon here.

[0095] The pallet transfer mechanism 140 is used to carry the pallet 200, which can be an empty pallet without any battery cells, a full pallet filled with battery cells, or a semi-empty pallet with some battery cells but still some empty space. The pallet 200 can be a container for carrying battery cells, and optionally, it may also have clamps. There are no particular restrictions on the type of pallet 200.

[0096] In some embodiments, the pallet transfer mechanism 140 may be connected to the pallet conveyor line 150, enabling the pallet 200 to be transferred between the pallet transfer mechanism 140 and the pallet conveyor line 150. The mechanism enabling the pallet 200 to be transferred between the pallet transfer mechanism 140 and the pallet conveyor line 150 may be implemented using existing transfer devices such as elevators or conveyor trolleys.

[0097] The battery handling mechanism 130 is used to grip and place batteries 100 on a pallet 200 supported by the loading platform 110, unloading platform 120, and pallet transfer mechanism 140. The battery handling mechanism 130 has at least one gripper 131 capable of gripping and placing batteries 100. In some embodiments, the battery handling mechanism 130 may employ a highly flexible robotic arm, such as a six-axis robot; of course, other structures capable of performing the functions of the battery handling mechanism 130 in the embodiments of this disclosure may also be used.

[0098] In some embodiments, as shown in Figures 1 to 4, the loading platform 110, unloading platform 120, and pallet transfer mechanism 140 are arranged around the battery handling mechanism 130. Furthermore, the battery handling mechanism 130 can be configured such that the gripper 131 can move along a circular path, with the pallet transfer mechanism 140 located between the loading platform 110 and the unloading platform 120 along this circular path. The gripper 131 of the battery handling mechanism 130 is configured to move along a circular path. Here, a circular path refers to a closed shape and is not necessarily limited to a circular path. In some embodiments, the battery handling mechanism 130 has a rotating robotic arm (rotating arm) and a gripper 131 located at the end of the rotating robotic arm (rotating arm). The path traversed by the gripper 131 when the rotating robotic arm rotates one revolution (the path viewed from above as shown in Figures 1 to 4) can be considered a circular path.

[0099] As shown in Figures 1 to 4, the loading platform 110, unloading platform 120, and pallet transfer mechanism 140 are arranged around the battery handling mechanism 130, and the pallet transfer mechanism 140 is located between the loading platform 110 and the unloading platform 120 along a circular path. In other words, when the gripper 131 moves along the circular path between the loading platform 110 and the unloading platform 120 on the side with the pallet transfer mechanism 140, it will pass the pallet transfer mechanism 140 on its journey back and forth between the loading platform 110 and the unloading platform 120.

[0100] In the specific embodiments shown in Figures 1 to 4, the loading platform 110 and unloading platform 120 are located on both sides of the battery handling mechanism 130, and the battery loading conveyor line 111 and battery unloading conveyor line 121 can each extend on both sides of the battery handling mechanism 130. The pallet transfer mechanism 140 is located on one side relative to the loading platform 110 and the unloading platform 120. The loading platform 110, unloading platform 120, and pallet transfer mechanism 140 generally form a shape surrounding the battery handling mechanism 130. In addition, the loading platform 110, unloading platform 120, and pallet transfer mechanism 140 are arranged around the battery handling mechanism 130, mainly meaning that the battery pick-up and drop positions are within the handling range of the battery handling mechanism 130. In the example where the battery handling mechanism 130 is a six-axis robot, this means that the battery pick-up and drop positions are within the reach of the grippers.

[0101] Based on this layout, the controller 160 can control the operation of the battery handling mechanism 130, enabling the gripper 131 to move and handle batteries between the loading platform 110 and the pallet transfer mechanism 140, and between the unloading platform 120 and the pallet transfer mechanism 140. Specifically, the controller 160 controls the battery handling mechanism 130 so that the gripper 131 can pick up the battery 100 on the loading platform 110 and place it on the pallet transfer mechanism 140; it can also pick up the battery 100 on the pallet transfer mechanism 140 and place it on the unloading platform 120; and it can also make the gripper 131 continue to move along the circular path to the loading platform 110 after picking up the battery 100 on the pallet transfer mechanism 140 and placing it on the pallet 200 that has just been unpacked.

[0102] By repeatedly performing the action of gripper 131 grabbing batteries 100 from the tray of tray transfer mechanism 140 and placing them on unloading platform 120, all batteries 100 in the tray carried by tray transfer mechanism 140 can be removed, that is, the second batteries in the tray are emptied. By repeatedly performing the action of gripper 131 grabbing batteries 100 from loading platform 110 and placing them in the tray of tray transfer mechanism 140, all empty positions in the tray carried by tray transfer mechanism 140 can be filled with batteries 100, that is, the first batteries in the tray are filled. By repeatedly performing the action of gripper 131 grabbing batteries 100 from tray transfer mechanism 140 and placing them on unloading platform 120, and then continuing to move to loading platform 110 to grab batteries 100 and place them on the tray 200 that was just removed, it is possible to simultaneously empty the second batteries in tray 200 and fill tray 200 with first batteries.

[0103] It should be noted that in this embodiment of the disclosure, battery 100 is a general term for a collection of batteries. The batteries 100 conveyed by the battery feeding conveyor line and the batteries 100 conveyed by the battery unloading conveyor line can be the same batteries, or they can be batteries of different specifications or shapes, or they can be batteries that have undergone different processing.

[0104] Because the battery handling mechanism 130 is configured to move the gripper 131 between the loading / unloading platform, the pallet transfer mechanism, and the unloading / loading platform, and is controlled to assemble the pallet 200 after disassembly in the pallet transfer mechanism 140, the assembly and disassembly actions can be combined. Compared to performing the disassembly and assembly actions independently at two workstations, this reduces the space occupied by the equipment and the time and workload for pallet scheduling. Therefore, it improves the efficiency of the loading / unloading system and increases the space utilization of the loading / unloading system and even the entire battery production line.

[0105] In some embodiments, the battery loading and unloading system includes two pallet transfer mechanisms, namely a first pallet transfer mechanism 140a and a second pallet transfer mechanism 140b. A battery handling mechanism 130 is configured to move grippers 131 between the loading platform 110, the first pallet transfer mechanism 140a, the second pallet transfer mechanism 140b, and the unloading platform 120. A controller 160 controls the battery handling mechanism 130 to move the grippers 131 to the pallet 200 carried by the second pallet transfer mechanism 140b, and controls the grippers 131 to pick up a second battery from the pallet 200. The transport mechanism 130 moves the gripper 131 to the unloading platform 120 and controls the gripper 131 to place the second battery. The battery transport mechanism 130 further controls the gripper 131 to move to the loading platform 110 to grab the first battery. The battery transport mechanism 130 then controls the gripper 131 to move to the tray 200 carried by the first tray transfer mechanism 140a and controls the gripper 131 to place the first battery. The above steps are repeated until the first battery in the tray 200 carried by the first tray transfer mechanism 140a is full and the second battery in the tray carried by the second tray transfer mechanism 140b is empty.

[0106] Therefore, it is possible to perform pallet assembly operations on one of the two pallet transfer mechanisms and pallet disassembly operations on the other pallet transfer mechanism, which helps to further improve work efficiency, enhance multi-task operation capabilities, and improve compatibility with loading and unloading operations of batteries of different specifications.

[0107] In some embodiments, as shown in Figures 3 and 4, the battery loading and unloading system includes two pallet transfer mechanisms 140, namely a first pallet transfer mechanism 140a and a second pallet transfer mechanism 140b. The battery handling mechanism 130 is configured to drive the gripper 131 to move between the loading platform 110, the first pallet transfer mechanism 140a, the second pallet transfer mechanism 140b, and the unloading platform 120.

[0108] As shown in Figures 3 and 4, the battery loading and unloading system can also have two tray transfer mechanisms, namely a first tray transfer mechanism 140a and a second tray transfer mechanism 140b. The two tray transfer mechanisms 140 can have the same structure or different structures; they can support trays 200 of the same or different specifications. The battery cells loaded and unloaded by the two tray transfer mechanisms 140 can be the same or different.

[0109] In the specific embodiments shown in Figures 3 and 4, the loading platform 110 and the unloading platform 120 are located on both sides of the battery handling mechanism 130, and the battery loading conveyor line 111 and the battery unloading conveyor line 121 can each extend on both sides of the battery handling mechanism 130. The first pallet transfer mechanism 140a and the second pallet transfer mechanism 140b are located on one side relative to the loading platform 110 and the unloading platform 120. The loading platform 110, the unloading platform 120, the first pallet transfer mechanism 140a, and the second pallet transfer mechanism 140b generally form a shape surrounding the battery handling mechanism 130. In addition, the loading platform 110, the unloading platform 120, the first pallet transfer mechanism 140a, and the second pallet transfer mechanism 140b are arranged around the battery handling mechanism 130.

[0110] Optionally, the distance between the first pallet transfer mechanism 140a and the unloading platform 120, and the distance between the second pallet transfer mechanism 140b and the loading platform 110, can be substantially the same. The distance between the gripper 131 of the battery handling mechanism 130 and the first pallet transfer mechanism 140a and the second pallet transfer mechanism 140b can also be substantially the same.

[0111] In a specific example, during one rotation cycle of gripper 131, gripper 131 can pick up battery 100 from loading platform 110 and place it on tray 200 of second tray transfer mechanism 140b. Then, gripper 131 can continue to move to first tray transfer mechanism 140a, pick up battery 100 from tray 200 on first tray transfer mechanism 140a, and send it to unloading platform 120. In the examples shown in Figures 3 and 4, gripper 131 can move counterclockwise to achieve the above process. By repeating the above process, the tray 200 carried by first tray transfer mechanism 140a can be filled with first batteries, and the tray 200 carried by second tray transfer mechanism 140b can be emptied of second batteries. This process can also be viewed as a repeated process of picking up battery 100 from tray 200 on first tray transfer mechanism 140a and sending it to unloading platform 120, and picking up battery 100 from loading platform 110 and placing it on tray 200 on second tray transfer mechanism 140b.

[0112] With two pallet transfer mechanisms 140, the gripper 131 can move sequentially to the loading platform 110 / unloading platform 120, the two pallet transfer mechanisms 140, and the unloading platform 120 / loading platform 110. Therefore, the pallet assembly and disassembly actions can be combined for the two pallets, which helps to further improve work efficiency, enhance multi-tasking capabilities, and increase compatibility for loading and unloading battery cells of different specifications. Furthermore, both pallet transfer mechanisms 140 can be operated by a single battery handling mechanism 130, thus saving equipment space and improving the utilization of space around the battery handling mechanism 130.

[0113] In some embodiments, as shown in Figures 1 to 4, the loading platform 110 and the unloading platform 120 are arranged on both sides of the battery handling mechanism 130, separated by the battery handling mechanism 130.

[0114] This facilitates a compact layout of the loading platform, pallet transfer mechanism, and unloading platform, shortens the movement path of the grippers, and improves production efficiency.

[0115] In some embodiments, as shown in Figures 1 to 4, the battery production line also includes a pallet conveyor line 150, from which pallets 200 can be input to the pallet transfer mechanism 140 or from the pallet transfer mechanism 140 to the pallet conveyor line 150.

[0116] The pallet 200 that flows between the pallet conveyor line 150 and the pallet transfer mechanism 140 can be a full pallet or an empty pallet.

[0117] The structure for transferring pallets 200 between pallet conveyor line 150 and pallet transfer mechanism 140 can be achieved using a lift or similar means. For example, pallet 200 can be transferred from pallet transfer mechanism 140 to lift, and then placed on pallet conveyor line 150 by, for example, lowering the lift. Pallet scheduling device 170 can also be arranged in pallet conveyor line 150.

[0118] The pallet conveyor line 150 can use existing pallet conveyor lines, such as belt conveyors, chain conveyors, roller conveyors, etc.

[0119] Additionally, empty or full pallets 200 can be scheduled to enter or leave the pallet transfer mechanism 140, depending on the specific circumstances. If there are two pallet transfer mechanisms 140, pallets 200 can be scheduled to enter one of them and / or enter the pallet conveyor line 150 from the other; alternatively, pallets 200 can be scheduled to enter or exit both pallet transfer mechanisms 140 separately.

[0120] This facilitates continuous pallet disassembly and reassembly operations and improves the overall production efficiency of the production line through pallet circulation.

[0121] In some embodiments, the pallet transfer mechanism 140 has a first support platform P1 and a second support platform P2. During the process of emptying the second battery and filling the first battery, the pallet 200 is located on the first support platform P1. The first support platform P1 is used to transport the pallet 200 after it has been assembled to the second support platform P2, or the second support platform P2 is used to transport the pallet 200 to be unassembled to the first support platform P1.

[0122] In some embodiments, the pallet transfer mechanism 140 further includes a pallet push-pull device 142 disposed on the first support platform P1 and the second support platform P2. The controller 160 is also used to control the pallet push-pull device 142 to input the pallet 200 from the first support platform P1 to the second support platform P2, or to control the pallet push-pull device 142 to input the pallet 200 from the second support platform P2 to the first support platform P1.

[0123] In some embodiments, the pallet transfer mechanism 140 further includes a first guide rail 143 extending along a first direction X, and a controller 160 controls a pallet push-pull device 142 to push and pull the pallet 200 so that it moves along the first guide rail 143 between a first support platform P1 and a second support platform P2, wherein the first support platform P1 is located at one end of the first guide rail 143 and the second support platform P2 is located at the other end of the first guide rail 143.

[0124] Since the pallet transfer mechanism 140 has a first bearing platform P1 and a second bearing platform P2, and the pallet 200 can move between the first bearing platform P1 and the second bearing platform P2, the bearing platform can buffer the pallet. The pallet disassembly and assembly operations can be performed on the first bearing platform P1, and the input and output operations of the pallet 200 can be performed on the second bearing platform P2, which is conducive to improving the production cycle and production efficiency. Moreover, the pallet transfer mechanism 140 can be connected to the pallet conveyor line, etc., further saving equipment space.

[0125] In some embodiments, as shown in Figures 5 to 8, the pallet transfer mechanism 140 includes a pallet push-pull device 142 and a first guide rail 143 extending along a first direction. The controller 160 controls the pallet push-pull device 142 to push and pull the pallet 200 so that it moves along the first guide rail 143 between a first support platform P1 and a second support platform P2. The first support platform P1 is located at one end of the first guide rail 143, and the second support platform P2 is located at the other end of the first guide rail 143. The controller 160 controls the battery handling mechanism 130 to pick up and place batteries 100 on the pallet 200 located on the first support platform P1.

[0126] The pallet transfer mechanism 140 can provide a first carrying platform P1 (a section on the first guide rail 143 can be considered as the first carrying platform P1) and a second carrying platform P2 (the other section on the first guide rail 143 can be considered as the second carrying platform P2). The pallet can be moved between these two positions via the first guide rail 143 and the pallet push-pull device 142. When the pallet 200 is located on the first carrying platform P1, the battery 100 can be picked up and placed on the pallet 200; when the pallet 200 is located on the second carrying platform P2, the pallet 200 can be in a state of being ready to be moved to the first carrying platform P1 or ready to be moved to the pallet conveyor line 150.

[0127] Since the pallet transfer mechanism 140 has a first bearing platform P1 and a second bearing platform P2 and the pallet 200 can move between these two positions, the pallet transfer mechanism 140 can buffer the pallet 200. It can perform pallet disassembly and assembly operations on the first bearing platform P1 while simultaneously performing pallet input and output operations on the second bearing platform P2, which is beneficial to improving production cycle time and production efficiency.

[0128] In some embodiments, as shown in Figures 1 to 4, the pallet transfer mechanism 140 may be positioned along a first direction X, with the first carrier platform P1 closer to the battery handling mechanism 130 than the second carrier platform P2, and the second carrier platform P2 closer to the pallet conveyor line 150 than the first carrier platform P1.

[0129] In the specific embodiments shown in Figures 1 to 4, the pallet transfer mechanism 140 is generally rectangular when viewed from above, with the first support platform P1 and the second support platform P2 arranged along the first direction X. The pallet transfer mechanism 140 is configured to be located between the loading platform 110 / unloading platform 120 and the pallet conveyor line 150 along the first direction X, with the first support platform P1 close to the loading platform 110 / unloading platform 120 and the second support platform P2 close to the pallet conveyor line 150.

[0130] This layout facilitates tray disassembly and assembly on the first support platform P1, and tray input / output operations on the second support platform P2. It also shortens the movement path of batteries 100 and trays 200, saving time and accelerating the production cycle.

[0131] Alternatively, as shown in Figures 1 to 4, portions of the battery loading conveyor line 111, the battery unloading conveyor line 121, and the pallet conveyor line 150 located around the battery handling mechanism 130 and the pallet transfer mechanism 140 are configured to extend generally along a third direction Y.

[0132] In some embodiments, the pallet transfer mechanism 140 may have a first support platform P1 and a second support platform P2 arranged in layers, and the pallet 200 can be transported between the first support platform P1 and the second support platform P2 on the same layer. The controller 160 controls the battery transport mechanism 130 to empty the second battery and fill the first battery on the pallet 200 of the first support platform P1 of the current layer, and controls the pallet push-pull device 142 to transport the pallet 200 on the first support platform P1 of the current layer to the second support platform P2 of the same layer; the above steps are performed layer by layer for the pallets 200 on the first support platform P1 of a predetermined number of layers, until the second battery is emptied and the first battery is filled on the pallets 200 of the first support platform P1 of the predetermined number of layers.

[0133] In some embodiments, as shown in Figures 5 to 8, the pallet transfer mechanism 140 further includes a frame 141. The frame 141 is provided with multiple first guide rails 143 arranged in layers along a second direction Z. Multiple pallets 200 are arranged in layers on the first guide rails 143 and can move along the first guide rails 143 between the first support platform P1 and the second support platform P2 of each layer, wherein the second direction Z is perpendicular to the first direction X (e.g., the vertical direction). A pallet push-pull device 142 is mounted on the frame 141 and connected to the drive end of the first drive device 1420. The controller 160 controls the first drive device 1420 to drive the pallet push-pull device 142 to reciprocate along the first direction X, thereby pushing and pulling at least one layer of pallets 200 to move along their respective first guide rails 143 between the first support platform P1 and the second support platform P2.

[0134] As shown in Figure 6, the pallet transfer mechanism 140 includes a frame 141, which is provided with multiple pairs of first guide rails 143 extending along a first direction X. Each pair of first guide rails 143 defines a pallet sliding path for one layer. Each layer of first guide rails 143 can support a pallet 200. Each layer of first guide rails 143 can provide a first support platform P1 and a second support platform P2, and the pallets 200 of each layer can independently reciprocate between the first support platform P1 and the second support platform P2 of their respective layers.

[0135] The pallet push-pull device 142 is mounted on the frame 141, specifically, at a position on the frame 141 that avoids the sliding path of the pallet 200, for example, as shown in Figure 6, mounted on the outer side of the frame 141 (the side carrying the pallet 200 is considered the inner side). The pallet push-pull device 142 is connected to the drive end of the first drive device 1420. The first drive device 1420 can be, for example, a motor or a servo motor. In the specific example shown in Figure 6, the first drive device 1420 is mounted on one end of the frame 141 in the first direction X, and drives the pallet push-pull device 142 via a transmission component such as a chain or lead screw. The pallet push-pull device 142 can independently push and pull any one or more layers of the pallet 200 in a multi-layer structure.

[0136] In some embodiments, each layer of the first guide rail 143 may carry a tray 200, and each layer of trays 200 may be located on the first support platform P1. The grippers 131 grip and / or release the batteries 100 from the top tray 200 layer by layer along the second direction Z. After the top tray is unpacked and / or repacked, the tray push-pull device 142 pulls it to the second support platform P2. The grippers 131 continue to unpack and / or repack the trays of the second layer from above, and then the tray push-pull device 142 pulls the trays of that layer to the second support platform P2. This unpacking and / or repacking and pushing-pull action is performed layer by layer until the unpacking and / or repacking of all layers of trays is completed. The trays 200 located on the second support platform P2 can be output to the tray conveyor line 150 one by one, or they can be output to the tray conveyor line 150 in batches. After all pallets 200 have been output to the pallet conveyor line 150, another pallet 200 can be dispatched to the pallet transfer mechanism 140 to continue the unpacking and / or repacking operations.

[0137] Because the pallet transfer mechanism 140 can carry multiple pallets 200 in layers, and each layer of pallets 200 can move between the first carrying platform P1 and the second carrying platform P2, it can provide more buffer positions for pallets 200, which is beneficial to further improve production efficiency. Moreover, the scheduling of pallets 200 is also more flexible. In addition, there is no need to occupy additional plane space to set up buffer positions, which is beneficial to improve space utilization.

[0138] In some embodiments, as shown in Figures 6 and 7, the tray push-pull device 142 includes: a movable frame 1421 connected to the drive end of a first drive device 1420; multi-layer brackets 1422 spaced along a second direction Z on the movable frame 1421, the multi-layer brackets 1422 capable of reciprocating with the movable frame 1421; a plurality of engaging components 1423 arranged in layers along the second direction Z corresponding to the first guide rails 143 of each layer, and respectively supported on the brackets 1422 of each layer; and a plurality of second drive devices 1424, each second drive device 1424 mounted on the movable frame 1421 corresponding to the engaging components 1423 of each layer, the output end of each second drive device 1424 connected to each engaging component 1423 and configured to be capable of... The controller 160 drives the engagement component 1423 to move forward and backward along the third direction Y, where the third direction Y is perpendicular to the first direction X and the second direction Z. For the layer where the pallet 200 is located, which is to be moved between the first support platform P1 and the second support platform P2, the controller 160 controls the second drive device 1424 corresponding to the layer to drive the engagement component 1423 to move forward along the third direction Y toward the pallet 200 and engage with the pallet 200. While maintaining the engagement, the controller 160 controls the first drive device 1420 to drive the pallet push-pull device 142 to move. After the pallet 200 moves into place, the controller 160 controls the engagement component 1423 engaged with the pallet 200 to move backward along the third direction Y and release the engagement with the pallet 200.

[0139] In the embodiments shown in Figures 6 and 7, the movable frame 1421 is formed as a plate elongated along the second direction Z. The lower end of the movable frame 1421 is connected to the drive end of the first drive device 1420, and more specifically, to the drive end via a transmission member. Multiple layers of brackets 1422 are mounted on the side of the movable frame 1421 facing the first guide rail 143, with intervals between the layers of brackets 1422, such that the brackets 1422 and the engaging components 1423 supported on the brackets 1422 extend into the spaces between the first guide rails 143 of adjacent layers along the second direction Z. Multiple engaging components 1423 are reciprocally supported on the brackets 1422 of each layer, capable of reciprocating along the third direction Y. In a specific example, the bracket 1422 is provided with a guide rail (not shown in the figures), on which the engaging components 1423 are slidably supported. The engaging component 1423 can be configured as a plate-like member extending longitudinally along the third direction Y. The end of the engaging component 1423 closest to the tray along the third direction Y can engage with the engaging structure on the side of the tray 200 (described in detail below), thereby driving the tray 200 to reciprocate along the first guide rail 143. The tray push-pull device 142 also has a second drive device 1424, which can be installed on the brackets 1422 of each layer, or it can be installed on the movable frame 1421 corresponding to the brackets 1422 of each layer. The output end of the second drive device 1424 is connected to the engaging component 1423 and can drive the engaging component 1423 to reciprocate along the third direction Y. For example, the second drive device 1424 can be a telescopic cylinder or a servo motor.

[0140] This allows any one or more layers of pallets 200 to be easily moved between the first and second support platforms via the pallet push-pull device 142.

[0141] In some embodiments, as shown in Figures 7 and 8, the engaging assembly 1423 includes a retracting member 1425 and an engaging member 1426. The retracting member 1425 is connected to the output end of the second drive device 1424, and the engaging member 1426 is mounted on the side of the retracting member 1425 along the third direction Y close to the tray 200. The engaging member 1426 is configured to engage or disengage with the engaging structure 210 on the tray 200.

[0142] Therefore, by moving the advance and retreat of ...

[0143] In some embodiments, as shown in Figures 7 and 8, the engaging member 1426 includes one or more pairs of rollers, which are spaced apart along a first direction X. When the engaging member 1426 is engaged with the engaging structure 210, at least a portion of the engaging structure 210 extends between the rollers spaced apart along the first direction X and is held by the rollers.

[0144] In some specific embodiments, as shown in Figures 7 and 8, the engaging member 1426 includes a first roller 1427 and a second roller 1428 spaced apart along a first direction X. The minimum interval between the outer peripheral surfaces of the first roller 1427 and the second roller 1428 can form an interference fit with the two sides of the engaging structure 210 on the tray 200 side along the first direction X. That is, at least a portion of the engaging structure 210 extends into the gap between the outer peripheral surfaces of the first roller 1427 and the second roller 1428 and is clamped by the two rollers.

[0145] In some embodiments, the outer peripheral surface of each roller may have a rubber layer, or each roller may be made of rubber.

[0146] Additionally, as shown in Figures 8 and 9, a tray-side engaging block assembly is provided at one end of the tray 200 along the first direction X. The tray-side engaging block assembly includes an engaging block body 202 mounted on the tray 200, an abutment 203 mounted on the engaging block body 202, and an engaging pin 204 connected to the abutment 203. A spring (not shown) is provided between the abutment 203 and the engaging block body 202, the spring being configured to consistently apply an elastic force to the abutment 203 in the third direction Y, pointing outwards. The engaging pin 204 extends in the third direction Y and connects to the abutment 203 on the outer side in the third direction Y. A mounting groove 205 is also provided on the outer side of the abutment 203 in the third direction Y, and an engaging structure 210 is mounted in the mounting groove 205 and protrudes outwards in the third direction Y. Exemplarily, the engaging structure 210 is formed in a block shape.

[0147] A frame-side locking block assembly 145 is provided on the inner side of the frame 141 along the third direction Y. The frame-side locking block assembly 145 is provided with a locking hole 1451 extending along the third direction Y, and the locking hole 1451 is for the locking pin 204 to be inserted.

[0148] In a specific example, controller 160 controls battery transport mechanism 130 to empty the second battery and fill the first battery on the tray of the first support platform P1 of the current layer, and then pushes and pulls the tray of the current layer to the second support platform P2. When it is necessary to push or pull the tray 200 of a certain layer, controller 160 controls the second drive device 1424 of that layer to drive the advance member 1425 in the engagement assembly 1423 to move towards the tray along the third direction Y, so that the engagement member 1426 (e.g., the first roller 1427, the second roller 1428) abuts against the engagement structure 210 on the side of the tray. As the advance member 1425 moves forward, the abutment member 203 of the tray layer is pushed against the spring pressure of the spring member and moves away from the tray push-pull device 142 along the third direction Y. As the abutment member 203 moves, the engagement pin 204 disengages from the engaged engagement hole 1451. As the advance / retractor 1425 advances further, the first roller 1427 and the second roller 1428 roll along both sides of the engaging structure 210, causing a portion of the engaging structure 210 to extend into the gap between the first roller 1427 and the second roller 1428, thus achieving engagement. The engagement status can be detected by a photoelectric device 1430, etc. In this state, the controller 160 controls the first drive device 1420 to operate, driving the tray push-pull device 142 to move along the first direction X, thereby pulling the tray 200 along the first guide rail 143 from the first support platform P1 to the second support platform P2.

[0149] After the pallet 200 is pulled into place by the pallet push-pull device 142, the controller 160 controls the second drive device 1424 to move, causing the forward and backward member 1425 to move backward along the third direction Y. The first roller 1427 and the second roller 1428 roll along the two sides of the engaging structure 210 to release the engagement with the engaging structure 210. Then, under the action of the spring force of the spring member, the abutment member 203, together with the engaging pin 204, moves outward along the third direction Y. The engaging pin 204 is inserted into the engaging hole 1451 on the engaging block assembly 145 on the frame side, realizing the positioning of the pallet 200 relative to the frame 141.

[0150] This allows the engaging structure 210 of the tray 200 to be easily engaged along a third direction Y perpendicular to the first direction X; by using rollers to hold the engaging structure, a gapless engagement can be achieved, which helps to reduce the impact between the engaging member 1426 and the engaging structure 210 during the push-pull process and the resulting noise; moreover, the rollers can roll during the advance and retreat of the engaging member 1426, so neither the rollers themselves nor the engaging structure 210 are easily damaged by friction.

[0151] In some embodiments, as shown in FIG6, the pallet transfer mechanism 140 includes two pallet push-pull devices 142, which are arranged on both sides of the frame 141 along the third direction Y; on both sides of the frame 141, there are also second guide rails 144 extending along the first direction X, and the moving frame 1421 of each pallet push-pull device 142 is slidably connected to the second guide rail 144 on its respective side, and the controller 160 controls the two pallet push-pull devices 142 to move synchronously.

[0152] Two pallet push-pull devices 142 can be symmetrically formed, and the controller 160 controls the two pallet push-pull devices 142 to push and pull synchronously, for example, pushing and pulling the same pallet 200 synchronously. In addition, the second guide rail 144 can be provided on the two outer sides of the frame 141 along the third direction Y, and the moving frame 1421 of the pallet push-pull device 142 can slide along the second guide rail 144.

[0153] This allows for the even application of pushing and pulling forces to the pallet 200, enabling the pallet to move smoothly.

[0154] In some embodiments, the controller 160 controls the battery transport mechanism 130 to empty the second battery and fill the first battery in the tray 200 of the first support platform P1 of the current layer, controls the second drive device 1424 to drive the engaging component 1423 corresponding to the current layer to move forward along a third direction Y, so that the engaging member 1426 engages with the engaging structure on the tray 200 of the current layer, and controls the first drive device to drive the tray push-pull device to transport the tray of the current layer from the first support platform P1 to the second support platform P2; the controller 160 controls the second drive device 1424 to drive the engaging component corresponding to the current layer to move backward along a third direction, so that the engaging member 1426 disengages from the engaging structure on the tray 200, and controls the first drive device 1420 to drive the tray push-pull device to return; the above actions are performed layer by layer for the preset number of trays 200 until the preset number of trays are empty of the second battery and filled with the first battery and are all located on the second support platform P2.

[0155] Therefore, the space occupied by the pallet transfer mechanism 140 can be fully utilized to load and unload multi-layer pallets 200. Moreover, the action of transporting pallets 200 between the first bearing platform P1 and the second bearing platform P2 is simple and can be quickly engaged or disengaged.

[0156] In some embodiments, the battery handling mechanism 130 has a rotating arm, and a gripper 131 is disposed at the end of the rotating arm. As the rotating arm rotates, the gripper passes sequentially through the pallet transfer mechanism 140, the unloading platform 120, the loading platform 110, and the pallet transfer mechanism 140.

[0157] This allows for battery loading and unloading operations with a shorter path, which helps improve production efficiency and saves equipment space.

[0158] In some embodiments, the battery handling mechanism 130 includes a six-axis robot.

[0159] In the specific example shown in Figure 10, the battery handling mechanism 130 includes a base 135 placed on a bearing surface, a rotating base 134 placed on the base 135 and rotatable relative to the base 135, a second actuator arm 133 connected to the rotating base 134 and rotatable relative to the rotating base 134, and a first actuator arm 132 connected to one end of the second actuator arm 133 and rotatable relative to the second actuator arm 133. The end of the first actuator arm 132 has a joint 136 that is capable of tumbling about an axis and driving the gripper 131 to pitch. The gripper 131 is connected to the joint 136.

[0160] As shown in Figure 11, the gripper 131 includes a gripping assembly 1310 for gripping the battery 100 and a rotary connection assembly 1311 connecting the gripping assembly 1310 to the joint 136. Since the gripper 131 can be any known gripper for gripping individual battery cells, it will not be described in detail here. It should be noted that the gripper 131 can be replaced depending on the outer contour of the battery cell being gripped.

[0161] Therefore, the gripper 131 can move along a circular path through the rotary motion of a six-axis robot. The structure and motion are simple, which is conducive to quickly performing gripping and moving actions.

[0162] In some embodiments, the battery loading and unloading system further includes a pallet status detection device, which includes a distance measuring device disposed on the battery handling mechanism. The controller controls the distance measuring device to check the distance between the battery handling mechanism and the pallet or the batteries carried by the pallet when the battery handling mechanism is above the pallet. The controller determines the empty or full status of the pallet based on the distance.

[0163] For example, the tray status detection device may include a visual detection device such as a camera, or it may include a position sensor, or it may include a counter for counting the individual battery cells being grasped. In a specific example, the tray status detection device may be a set of ranging devices (in the figure), each of which is mounted on the clamping assembly 1310 of the battery handling mechanism 130. When the battery handling mechanism 130 approaches the tray from above, this set of ranging devices can detect the distance between itself and the tray or the batteries carried on the tray. When the tray is carrying batteries, the detected distance is significantly less than the distance when the tray is not carrying batteries, so the distance can be used to determine whether the position on the tray is empty or full.

[0164] Therefore, it is possible to control the dismantling, assembly, pushing and pulling, and pallet circulation actions based on the current empty or full status of the pallet being carried.

[0165] The second aspect of this disclosure provides a method for loading and unloading batteries. This will be described in detail below with reference to Figures 13 to 16.

[0166] Figure 13 is a schematic flowchart of a battery loading and unloading method provided in some embodiments of the present disclosure; Figure 14 is a schematic flowchart of a battery loading and unloading method provided in some other embodiments of the present disclosure; Figure 15 is a schematic flowchart of a battery loading and unloading method provided in yet another embodiment of the present disclosure; Figure 16 is a schematic flowchart of a battery loading and unloading method provided in yet another embodiment of the present disclosure.

[0167] The battery loading and unloading method of this disclosure can be used in a battery loading and unloading system. As shown in FIG13, the method includes the following steps S100 and S200.

[0168] Step S100: Provide a second battery located in a tray, and each time grab a preset number of second batteries from the tray and place the second batteries on the unloading platform.

[0169] Step S200: Each time, a preset number of first batteries are picked up from the feeding platform and placed in an empty position in the tray.

[0170] Repeat the above steps of grabbing a preset number of second batteries from the tray and placing them on the unloading platform (step S100) and grabbing a preset number of first batteries from the loading platform and placing them in the empty positions of the tray (step S200) until the second batteries in the tray 200 are emptied and the first batteries are filled.

[0171] In step S100, the battery handling mechanism 130 picks up a predetermined number of batteries 100 from the tray 200 located in the tray transfer mechanism 140 and places them into the unloading platform 120, wherein the unloading platform 120 is connected to the battery unloading conveyor line 121. Here, the predetermined number can be the number of batteries that the gripper 131 can pick up at one time, such as 4, 6, 8, or 10, and this embodiment of the present disclosure does not limit this.

[0172] In step S100, the battery handling mechanism 130 picks up a preset number of batteries 100 from the loading platform 110 and places them into empty positions in the tray 200 located in the tray transfer mechanism 140.

[0173] In steps S100 and S200, the number of grippers 131 can be the same or different.

[0174] The controller 160 controls the battery handling mechanism 130 to move, causing the gripper 131 to move between the loading platform 110 and the pallet transfer mechanism 140 and between the unloading platform 120 and the pallet transfer mechanism 140, repeating steps S100 and S200.

[0175] Determine whether the second battery in the tray is empty and the first battery is full (step S300). If yes, end; otherwise, continue repeating the tray disassembly action in step S100 and the tray assembly action in step S200.

[0176] Therefore, by repeating steps S100 and S200, the tray assembly and disassembly actions can be combined, reducing equipment space requirements and the time and workload of tray scheduling compared to performing the disassembly and assembly actions independently. This improves the efficiency of the battery loading and unloading system and increases the space utilization of the battery loading and unloading system and even the entire battery production line.

[0177] In some embodiments, tray 200 can be disassembled and reassembled alternately. That is, steps S100 and S200 are repeatedly alternated until the second battery in the tray is emptied and the first battery is filled.

[0178] In some embodiments, steps S100 and S200 are performed alternately, including: the controller controls the battery handling mechanism to repeatedly perform the following actions: each time a first battery is removed from the tray 200 and placed on the unloading platform 120, a second battery is picked up from the loading platform 110 and placed into an empty position in the tray 200. In a specific embodiment shown in Figures 1 to 4, the gripper 131 of the battery handling mechanism 130 can move counterclockwise along a circular path, sequentially passing through the first support platform P1 for tray removal, the unloading platform 120 for unloading, the loading platform 110 for loading, and the first support platform P1 for tray assembly, and repeating this process.

[0179] Therefore, it is possible to perform pallet unpacking and pallet assembly simultaneously on a single pallet, improving loading and unloading efficiency and reducing the space required for independent loading and unloading operations.

[0180] In some embodiments, steps S100 and S200 are repeated (alternatingly), including: repeating step S100 until the second battery in the first tray is emptied, and then repeating step S200 until the tray is filled with the first battery.

[0181] Further, proceed to step S100 to determine whether the second battery in the tray is empty (step S301). If not, proceed to step S100 again. If yes, proceed to step S200 to determine whether the tray is filled with the first battery (step S302). If not, proceed to step S200 again. If yes, end.

[0182] For example, the controller 160 controls the battery transport mechanism 130 to perform the following sequentially: remove the first battery from the tray 200 and transport it to the unloading platform 120 until all the first batteries to be removed from the tray 200 are transported to the unloading platform; grab the second battery from the loading platform 110 and place it into an empty space in the tray until there is no empty space in the tray 200 or all the second batteries to be placed in the tray are placed in the tray 200.

[0183] Further, step S100 may further include a step of determining whether the disassembly is complete; step S200 may further include a step of determining whether the assembly is complete. For example, the state of the tray 200 can be captured by a camera, and the determination can be made based on the captured image; or based on the distance measurement result of the distance measuring device located on the clamping assembly 1310; or based on the record of the number of batteries loaded and unloaded. Optionally, it can be determined whether the number of disassembled or assembled batteries has reached a preset number; if the preset number has been reached, it is determined that the disassembly or assembly is complete. In another specific embodiment shown in Figures 1 to 4, the gripper 131 of the battery handling mechanism 130 can first disassemble the tray on the first carrying platform P1. After all disassembly is completed, the gripper 131 grabs materials from the loading platform 110 to assemble the tray.

[0184] Therefore, for a single pallet, the unpacking operation can be completed before the repacking operation, and the unpacking and repacking operations can be combined. This helps to reduce the time required for pallet circulation, improves production efficiency, and reduces the working space required for independent loading and unloading operations.

[0185] In some embodiments, the pallet transfer mechanism 140 carries a multi-layer pallet 200.

[0186] When the pallet transfer mechanism 140 carries multiple pallets 200, steps S100 and S200 (step S1000) are repeated for the current pallet layer to determine whether the second battery in the current pallet layer is emptied and the first battery is filled (step S304). If not, step S1000 is performed again. If yes, the current pallet layer is transported from the first carrying platform P1 to the second carrying platform P2 (step S400). The above actions are performed layer by layer for the preset number of pallets 200 (step S2000). It is determined whether the preset number of layers has been reached (step S305). If not, step S2000 is performed again. If yes, it means that the second battery in the preset number of pallets is emptied and the first battery is filled and both are located on the second carrying platform P2, and the current loading and unloading is ended.

[0187] For example, multiple full pallets can be transported one by one to the first carrying platform P1 of each layer of the pallet transfer mechanism 140. During this transport, loading and unloading operations can be performed, or pallets 200 of other layers can be transported while the pallets already delivered to the first carrying platform P1 are being disassembled and reassembled.

[0188] Steps S100 and S200 are performed one by one for each full pallet on each layer. After step S200 is completed for the pallet on the current layer, the pallet 200 can be pushed or pulled to the second support platform P2 of that layer. Then, steps S100 and S200 are performed for the pallets on the next layer. During the process of performing steps S100 and S200 for the pallets on other layers, the pallet 200 located on the second support platform P2 can be transported to the pallet conveyor line 150 and transferred to the predetermined processing station, etc.

[0189] During steps S100 and S200 of the multi-layered tray 200, as long as there is no interference, it is not necessary to proceed in a top-down or bottom-up manner.

[0190] Because the pallet transfer mechanism 140 can carry multiple pallets in layers, and each pallet can move between the first carrying platform P1 and the second carrying platform P2, it can provide more pallet or battery cell buffer positions, which is beneficial to further improve production efficiency. Moreover, the pallet scheduling is also more flexible. In addition, there is no need to occupy additional plane space to set up buffer positions, which helps to improve space utilization.

[0191] In some embodiments, the pallet transfer mechanism 140 has a first carrying platform P1 and a second carrying platform P2 arranged in layers. The method includes: during the process of emptying the second battery and filling the first battery on the pallet carried by the first carrying platform of the first layer (step S3000), transferring another pallet to the second carrying platform of the second layer (step S500), while the first carrying platform of the second layer does not carry a pallet.

[0192] This process may include determining whether neither the first or second support platform of the second layer is carrying a pallet (step S306).

[0193] In some embodiments, as shown in Figures 3 and 4, the battery loading and unloading system may include two pallet transfer mechanisms 140, namely a first pallet transfer mechanism 140a and a second pallet transfer mechanism 140b. The controller 160 controls the battery handling mechanism 130 to move, so that the gripper 131 moves between the loading platform 110 and the second pallet transfer mechanism 140b and between the unloading platform 120 and the first pallet transfer mechanism 140a, and alternately performs steps S100 and S200.

[0194] In some embodiments, step S100 includes step S110: providing a second battery located in a first tray carried by the first tray transfer mechanism; each time, a predetermined number of second batteries are picked up from the first tray and placed on the unloading platform; step S200 includes step S210: each time, a predetermined number of first batteries are picked up from the loading platform and placed in an empty position in the second tray carried by the second tray transfer mechanism; repeating steps S100 (step S110) and S200 (step S210) until the second batteries in the tray are emptied and the first batteries are filled. This includes: repeatedly alternating between step S100 (step S110) of grabbing a preset number of second batteries from the first tray and placing them on the unloading platform, and step S200 (step S210) of grabbing a preset number of first batteries from the loading platform and placing them in empty positions within the second tray carried by the second tray transfer mechanism, until the second batteries in the first tray are emptied and the empty positions in the second tray are filled with first batteries (it can be determined in step S303 whether the second batteries in the first tray are emptied and the empty positions in the second tray are filled with first batteries).

[0195] In some embodiments, steps S100 and S200 can be performed in conjunction with two pallet transfer mechanisms 140. For example, step S100 (step S110) can be performed on the first pallet transfer mechanism 140a, and step S200 (step S210) can be performed on the second pallet transfer mechanism 140b.

[0196] With two pallet transfer mechanisms, the gripper 131 can reach the loading platform 110 / unloading platform 120, the two pallet transfer mechanisms 140, and the unloading platform 120 / loading platform 110 in sequence. Therefore, it can perform pallet assembly and disassembly operations on the two pallets alternately, which is conducive to further improving work efficiency and increasing compatibility with loading and unloading operations of batteries of different specifications.

[0197] The following describes specific examples of some embodiments of this disclosure with reference to the accompanying drawings.

[0198] As a concrete example, when batteries arrive, the gripper 131 of a six-axis robot picks up individual battery cells and places them into tray 200 for assembly (tray A). After assembly, tray B is immediately disassembled, and the disassembled battery cells are moved to the unloading position for discharge. This achieves alternating gripping and unloading between tray A and tray B.

[0199] When the battery process is completed and the pallet moves to the first carrier platform P1, the gripper 131 of the six-axis robot grabs the battery cells in the pallet 200 and places them into the unpacking tray C. After the removed battery cells are sent to the unloading position for discharge, the gripper 131 moves to the loading position to grab the battery cells and place them into the empty position of the pallet C for assembly. This achieves alternating grabbing and loading / unloading within a single tray C, and the assembly is completed immediately after the battery cells are unpacked.

[0200] In addition, the pallet 200 can be layered and pulled out by the pallet push-pull device 142, and the pallet 200 can be stacked in multiple layers, divided into a first bearing platform P1 and a second bearing platform P2. The pallet (or clamp) that needs to be loaded and unloaded can be moved out or moved back by the pallet push-pull device 142.

[0201] The above embodiments are merely illustrative of the technical solutions of this disclosure and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure, and all should be covered within the scope of this disclosure. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way.

Claims

A battery loading and unloading system, comprising: A loading platform, connected to the battery loading conveyor line, is used to provide the first battery to be placed into the tray; A feeding platform, connected to the battery feeding conveyor line, is used to receive the second battery that has been removed from the tray; A pallet transfer mechanism for carrying the pallet; A battery handling mechanism includes grippers capable of gripping and releasing the batteries, wherein the battery handling mechanism is configured to move the grippers between the loading platform, the pallet transfer mechanism, and the unloading platform; The controller controls the battery transport mechanism to move the gripper to the tray, to pick up the second battery from the tray, to move the gripper to the unloading platform and place the second battery, and to move the gripper to the loading platform to pick up the first battery, to move the gripper to the tray and place the first battery, repeating the above steps until the second battery in the tray is emptied and the first battery is filled. Alternatively, the controller controls the battery transport mechanism to move the gripper to the tray, controls the gripper to pick up the second battery from the tray, controls the battery transport mechanism to move the gripper to the unloading platform, and controls the gripper to place the second battery, repeating the above steps until the second battery in the tray is empty, and controls the battery transport mechanism to move the gripper to the loading platform to pick up the first battery, controls the battery transport mechanism to move the gripper to the tray, and controls the gripper to place the first battery, repeating the above steps until the first battery in the tray is full. According to claim 1, the battery loading and unloading system, wherein, The pallet transfer mechanism has a first bearing platform and a second bearing platform. During the process of emptying the second battery and filling the first battery, the pallet is located on the first bearing platform. The first bearing platform is used to transport the pallet after it has been assembled to the second bearing platform, or the second bearing platform is used to transport the pallet to be unassembled to the first bearing platform. According to claim 2, the battery loading and unloading system, wherein, The pallet transfer mechanism also includes a pallet push-pull device disposed on the first bearing platform and the second bearing platform; The controller is also used to control the pallet push-pull device to input the pallet from the first carrying platform to the second carrying platform, or to control the pallet push-pull device to input the pallet from the second carrying platform to the first carrying platform. According to claim 3, the battery loading and unloading system, wherein, The pallet transfer mechanism further includes a first guide rail extending along a first direction. The controller controls the pallet push-pull device to push and pull the pallet so that it moves along the first guide rail between the first bearing platform and the second bearing platform. The first bearing platform is located at one end of the first guide rail, and the second bearing platform is located at the other end of the first guide rail. According to claim 4, the battery loading and unloading system, wherein, The pallet transfer mechanism has a first load-bearing platform and a second load-bearing platform arranged in layers; The controller controls the battery transport mechanism to empty the second battery and fill the first battery on the tray of the first carrier platform of the current layer, and controls the tray push-pull device to transport the tray on the first carrier platform of the current layer to the second carrier platform of the same layer. The above steps are performed layer by layer on the trays of the first carrier platform with a predetermined number of layers until the second battery is emptied and the first battery is filled on the trays of the first carrier platform with a predetermined number of layers. According to the battery loading and unloading system of claim 5, wherein, The pallet transfer mechanism also includes a frame. The frame is provided with multiple first guide rails arranged in layers along the second direction, and multiple trays are arranged in layers on the first guide rails of each layer and can move along the first guide rails between the first support platform and the second support platform of each layer, wherein the second direction is perpendicular to the first direction; The pallet push-pull device is installed on the frame and connected to the drive end of the first drive device. The controller controls the first drive device to drive the pallet push-pull device to reciprocate along the first direction, thereby pushing and pulling at least one layer of pallets to move between the first support platform and the second support platform along their respective first guide rails. According to the battery loading and unloading system of claim 6, wherein, The tray push-pull device includes: A movable frame is connected to the drive end of the first drive device; A multi-layer bracket is installed at intervals along the second direction on the movable frame, and the multi-layer bracket is capable of reciprocating with the movable frame; Multiple engaging components are arranged in layers along the second direction, corresponding to the first guide rails of each layer, and are respectively supported on the brackets of each layer. The engaging components are used to engage with the tray. Multiple second drive devices are mounted on the movable frame, each corresponding to a locking assembly of a respective layer. The output end of each second drive device is connected to the locking assembly and configured to drive the locking assembly to move forward and backward along a third direction, wherein the third direction is perpendicular to the first direction and the second direction. For the layer where the pallet is located and needs to move between the first support platform and the second support platform, the controller controls the second drive device corresponding to the layer to drive the engaging component to move towards the pallet along the third direction and engage with the pallet. While maintaining the engagement, the controller controls the first drive device to drive the pallet push-pull device to move. After the tray is moved into place, the controller controls the engaging component that is engaged with the tray to retract backward along the third side to release the engagement with the tray. According to the battery loading and unloading system of claim 7, wherein, The engagement assembly includes a retractor and an engagement component. The retractor is connected to the output end of the second drive device, and the engagement component is installed on the side of the retractor close to the tray along the third direction. The engagement component is configured to engage or disengage with the engagement structure on the tray. According to the battery loading and unloading system of claim 8, wherein, The engaging component includes one or more pairs of rollers, which are spaced apart along the first direction. When the engaging member is engaged with the engaging structure, at least a portion of the engaging structure extends between the rollers spaced apart along the first direction and is held by the rollers. The battery loading and unloading system according to any one of claims 7 to 9, wherein, The pallet transfer mechanism includes two pallet push-pull devices, which are arranged on both sides of the frame along a third direction; On both sides of the frame, second guide rails extending along the first direction are respectively provided, and the movable frame of each pallet push-pull device is slidably connected to the second guide rail on its respective side. The controller controls the two tray push-pull devices to move synchronously. The battery loading and unloading system according to any one of claims 8 to 10, wherein, The controller controls the battery transport mechanism to empty the second battery and fill the first battery in the tray of the first carrier platform of the current layer, controls the second drive device to drive the engagement component corresponding to the current layer forward along the third side so that the engagement component engages with the engagement structure on the tray of the current layer, and controls the first drive device to drive the tray push-pull device to transport the tray of the current layer from the first carrier platform to the second carrier platform. The controller controls the second drive device to drive the engagement component corresponding to the current layer to move backward along the third side, so that the engagement component is disengaged relative to the engagement structure on the tray, and controls the first drive device to drive the tray push-pull device to return; The above actions are performed layer by layer on the preset number of trays until the preset number of trays are empty of the second battery and filled with the first battery, and both are located on the second support platform. The battery loading and unloading system according to any one of claims 1 to 11, wherein, The battery handling mechanism has a rotary arm, and the gripper is located at the end of the rotary arm. As the rotary arm rotates, the gripper passes sequentially through the pallet transfer mechanism, the unloading platform, the loading platform, and the pallet transfer mechanism. The battery loading and unloading system according to any one of claims 1 to 12, wherein, The battery loading and unloading system includes two tray transfer mechanisms, namely a first tray transfer mechanism and a second tray transfer mechanism. The battery handling mechanism is configured to drive the gripper to move between the loading platform, the first pallet transfer mechanism, the second pallet transfer mechanism, and the unloading platform; The controller controls the battery transport mechanism to move the gripper to the tray carried by the second tray transfer mechanism, controls the gripper to pick up the second battery from the tray, controls the battery transport mechanism to move the gripper to the unloading platform, controls the gripper to place the second battery, further controls the battery transport mechanism to move the gripper to the loading platform to pick up the first battery, controls the battery transport mechanism to move the gripper to the tray carried by the first tray transfer mechanism, controls the gripper to place the first battery, and repeats the above steps until the first battery in the tray carried by the first tray transfer mechanism is full and the second battery in the tray carried by the second tray transfer mechanism is empty. According to the battery loading and unloading system of claim 13, wherein, The battery handling mechanism has a rotary arm, and the gripper is located at the end of the rotary arm. As the rotary arm rotates, the gripper passes sequentially through the loading platform, the first pallet transfer mechanism, the second pallet transfer mechanism, and the unloading platform. The battery loading and unloading system according to any one of claims 1 to 14, wherein, The battery loading and unloading system also includes a pallet status detection device, which includes a distance measuring device disposed on the battery handling mechanism. The controller controls the distance measuring device to check the distance between itself and the pallet or the batteries carried by the pallet when the battery handling mechanism is above the pallet. The controller determines the empty or full status of the pallet based on the distance. A battery loading and unloading method, the method comprising: Provide a second battery located in the tray; Each time, a predetermined number of the second batteries are picked up from the tray and placed on the unloading platform; Each time, a preset number of first batteries are picked up from the loading platform and placed in an empty position in the tray; Repeat the steps described above: each time a preset number of second batteries are picked up from the tray and placed on the unloading platform; and each time a preset number of first batteries are picked up from the loading platform and placed in an empty position in the tray. Continue this process until the tray is empty of second batteries and full of first batteries, thus alternating between unpacking and repacking. According to the battery loading and unloading method of claim 16, wherein, Each time a preset number of first batteries are picked up from the loading platform and placed in an empty position in the tray, the process includes: Each time, a preset number of first batteries are picked up from the loading platform and placed in the empty space left after the second batteries are unloaded from the tray; Repeat the steps described above: each time a predetermined number of second batteries are picked up from the tray and placed on the unloading platform; and each time a predetermined number of first batteries are picked up from the loading platform and placed in an empty position in the tray, until the tray is empty of second batteries and full of first batteries, including: The process alternates between repeatedly picking up a predetermined number of second batteries from the tray and placing them on the unloading platform, and picking up a predetermined number of first batteries from the loading platform and placing them in the empty spaces left by the unloading of the second batteries in the tray, until the tray is empty of second batteries and filled with first batteries. According to the battery loading and unloading method of claim 16, wherein, Repeat the steps described above: each time a predetermined number of second batteries are picked up from the tray and placed on the unloading platform; and each time a predetermined number of first batteries are picked up from the loading platform and placed in an empty position in the tray, until the tray is empty of second batteries and full of first batteries, including: Repeat the process of picking up a preset number of the second batteries from the tray and placing them on the unloading platform each time, until the tray is empty of the second batteries. Repeat the process of grabbing a preset number of first batteries from the loading platform each time, placing the first batteries in the empty spaces left after the second batteries are unloaded in the tray, until the tray is full of the first batteries. According to the battery loading and unloading method of claim 16, wherein, Provide a second battery located in the tray; Each time a predetermined number of the second batteries are picked up from the tray and placed on the unloading platform, the method includes: providing the second batteries in the first tray carried by the first tray transfer mechanism; picking up a predetermined number of the second batteries from the first tray and placing the second batteries on the unloading platform each time. Each time a preset number of first batteries are picked up from the loading platform and placed in an empty position in the tray, the first batteries are placed in an empty position in the second tray carried by the second tray transfer mechanism. Repeat the steps described above: each time a predetermined number of second batteries are picked up from the tray and placed on the unloading platform; and each time a predetermined number of first batteries are picked up from the loading platform and placed in an empty position in the tray, until the tray is empty of second batteries and full of first batteries, including: The steps of repeatedly alternating between grabbing a preset number of second batteries from the first tray and placing the second batteries on the unloading platform, and grabbing a preset number of first batteries from the loading platform and placing the first batteries in empty positions in the second tray carried by the second tray transfer mechanism, are repeated until the second batteries in the first tray are emptied and the empty positions in the second tray are filled with the first batteries. The battery loading and unloading method according to any one of claims 16 to 19, wherein, The pallet transfer mechanism has a first load-bearing platform and a second load-bearing platform arranged in layers. The method includes: During the process of emptying and filling the second battery on the tray carried by the first carrier platform of the first layer, another tray is transferred to the second carrier platform of the second layer, and the first carrier platform of the second layer is not carrying a tray.

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