A power battery cell coring device and control method thereof

Abstract

The present invention discloses a power battery cell coring device, comprising a base, both sides of the upper surface of the base are provided with horizontal moving mechanisms, the horizontal moving mechanisms are provided with rotating mechanisms, the battery cell is clamped between the two rotating mechanisms by a clamping mechanism, the upper surface of the workbench is provided with a stand, the top of the stand is provided with a lifting and rotating mechanism, the bottom end of the lifting and rotating mechanism is provided with a cutting mechanism, the upper surface of the base is also provided with a laser probe located directly below the cutting point of the cutting mechanism, and the straight line formed by the laser probe and the cutting point of the cutting mechanism is coplanar and perpendicular to the rotation axis of the clamping mechanism. The present invention can realize the coring of battery cells of different shapes and sizes, and the coring process has extremely low damage to the battery cell and high work efficiency.

Description

Technical Field

[0001] The present invention relates to the field of power battery recycling, and in particular to a power battery monomer coring device and a control method thereof. Background Art

[0002] At present, the number of retired power battery packs has increased dramatically, and the recycling of power battery packs has become increasingly urgent. The raw material recycling of power battery packs is carried out by crushing the battery cells, so extracting the battery cells from power battery cells is a necessary and important part of the power battery pack. The traditional coring method is inefficient, has poor applicability for coring battery cells of different shapes and sizes, and the coring process causes great damage to the battery cells. How to improve the efficiency of coring, enhance the applicability of coring objects, and increase the recycling rate of battery cells has become an urgent need for improvement in this field. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a power battery cell coring device and a control method thereof, which solves the problem of power battery recycling.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a power battery cell coring device, including a base, characterized in that: guide rails are provided on both sides of the upper surface of the base, a rotary servo motor is provided on the guide rail and driven to translate by a translation servo motor, the output shafts of the two rotary servo motors are connected to a clamping mechanism, a battery cell is clamped between the two clamping mechanisms, a vertical frame is provided on the upper surface of the workbench, a lifting and rotating mechanism is provided on the top of the vertical frame, a cutting mechanism is provided at the bottom end of the lifting and rotating mechanism, and a laser probe is also provided on the upper surface of the base, which is located directly below the cutting point of the cutting mechanism.

[0005] It is further defined that the straight line formed by the laser probe and the cutting point of the cutting mechanism is coplanar and perpendicular to the rotation axis of the clamping mechanism.

[0006] It is further defined that the clamping mechanism includes a clamping claw detachably connected to the output shaft of the rotary servo motor, and the clamping claw is provided with a telescopic pressure rod for clamping battery cells of different sizes.

[0007] It is further defined that the lifting and rotating mechanism includes a hydraulic cylinder rotatably mounted on the top of the frame, and a transfer pull rod for adjusting and limiting its rotation is provided on the side of the hydraulic cylinder, and the cutting mechanism is mounted on the piston rod at the bottom of the hydraulic cylinder.

[0008] It is further defined that the cutting mechanism uses a grinding wheel driven by a motor, and the axis of the rotary shaft of the lifting and rotating mechanism is colinear with the diameter of the grinding wheel.

[0009] It is further defined that a tool setting structure is provided on the clamping claw.

[0010] A control method for a power battery cell coring device comprises the following steps:

[0011] The staff selects the corresponding clamping claws according to the shape of the power battery cell for installation and clamping, and aligns and clamps the part to be cut in the direction of the power battery cell electrode head through the tool alignment structure of the clamping claws;

[0012] The grinding wheel is adjusted to the same cutting direction as the electrode head by the indexing pull rod; the grinding wheel starts to work by rotating, the cutting depth is controlled by the hydraulic cylinder, and the horizontal movement of the battery cell is controlled by the translation servo motor to cut the entire electrode head surface;

[0013] After the electrode head surface is cut, the grinding wheel returns to the rotation point, the translation servo motor translates the battery cell to the ring cutting position and aligns it with the cutting point, and the rotary servo motor controls the battery cell to rotate in the downward direction of the electrode head cutting surface. At the same time, the grinding wheel tangent is adjusted to be consistent with the shell ring cutting direction through the indexing pull rod;

[0014] When the battery cell rotates back to the point where the electrode head cutting surface faces the laser probe, the laser probe can measure the thickness m of the battery cell shell;

[0015] When the battery cell rotates to the point where the inner shell of the battery cell faces the laser probe, the laser probe starts to scan the contour information of the battery cell shell, and transmits the scanning information to the control unit through calculation to control the hydraulic rod of the hydraulic cylinder.

[0016] When the laser probe starts scanning, the grinding wheel is ready to cut in after the rotation is completed. When the laser probe scans half of the entire contour, the battery cell stops rotating for 2 seconds, and the grinding wheel cuts in. Then, the battery cell continues to rotate. The control unit controls the cutting depth of the grinding wheel based on the received scanning information, and the laser probe continues to scan the remaining battery cell contours.

[0017] After the circular cutting is completed, the grinding wheel is retracted and stopped, the device is shut down, and the staff removes the cut battery cells.

[0018] The present invention has the following beneficial effects: the distance and clamping height of the clamping claws of the present invention are adjustable, and are used to clamp battery cells of different sizes; the grinding wheel is indexable, and two processes of cutting the electrode head and circumferential cutting and coring are realized; the laser probe is used to obtain the thickness information of the battery cell shell of the electrode head section and the contour information of the battery cell shell, and the hydraulic rod telescopic information of the hydraulic cylinder is generated to control the grinding wheel to complete the circumferential cutting of the battery cell shell; the laser probe is installed under the battery cell and directly opposite to the grinding wheel, which saves the longitudinal tool setting time of the grinding wheel; when the laser probe scans half of the battery cell contour, the grinding wheel can start cutting; the clamping claws are modularized, and the coring of battery cells of different shapes can be completed by replacing different clamping claws. The present invention can realize the coring of battery cells of different shapes and sizes; the coring method is to cut and coring according to the outer contour information of the battery cell, so even if the battery cell is swollen, the battery cell shell can still be accurately cut; the degree of damage to the cell during the coring process is extremely low and the work efficiency is high, which greatly improves the recovery rate of the power battery cell. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The structural diagram of the present invention

[0020] Figure 2 This is a schematic diagram of the clamping claw setting tool;

[0021] Figure 3 This is the state diagram when the laser probe starts scanning

[0022] Figure 4 This is the state diagram when the grinding wheel starts cutting.

[0023] In the figure: 1. Translation servo motor; 2. Base; 3. Guide rail; 4. Rotation servo motor; 5. Clamping claw; 6. Telescopic pressure rod; 7. Battery cell; 8. Hydraulic cylinder; 9. Transfer rod; 10. Hydraulic rod; 11. Grinding wheel; 12. Laser probe. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1-2The present invention provides a technical solution: a power battery cell coring device, comprising a base 2, guide rails 3 are arranged on both sides of the upper surface of the base 2, a rotary servo motor 4 is sleeved on the guide rail 3 and driven to translate by a translation servo motor 1, and clamping claws 5 are detachably connected to the output shafts of the two rotary servo motors 4 to realize a 360° rotation of the clamping claws 5, and the connection between the clamping claws 5 and the rotary servo motors 4 is a detachable structure. In actual application, the coring work can be completed by replacing different forms of clamping claws 5 to clamp battery cells 7 of different shapes, and the clamping claws 5 are provided with a telescopic pressure rod 6 for clamping battery cells 7 of different sizes and a knife alignment structure for aligning the cutting position of the positive electrode head.

[0026] A vertical frame is provided on the upper surface of the workbench, and a hydraulic cylinder 8 is rotatably installed on the top of the frame. A rotation rod 9 for adjusting and limiting the rotation of the hydraulic cylinder 8 is provided on the side of the hydraulic cylinder 8. The rotation rod 9 can control the grinding wheel 11 to change the cutting direction, so that the two processes of cutting the electrode head and circumferential cutting can be completed in one clamping; the rotation rod 9 can only rotate an integer multiple of 90° to ensure the tangential accuracy of the grinding wheel 11, and also avoid the adverse effects caused by the workers' misoperation; the bottom end of the hydraulic rod 10 of the hydraulic cylinder 8 is provided with a grinding wheel 11 driven by a motor, and the axis of the rotary shaft of the hydraulic cylinder 8 is colinear with the diameter of the grinding wheel 11, which ensures that the cutting point position of the grinding wheel 11 remains unchanged before and after the rotation, eliminating the need for secondary tool setting and greatly improving work efficiency.

[0027] The upper surface of the base 2 is also provided with a laser probe 12 located directly below the cutting point of the grinding wheel 11. The straight line formed by the laser probe 12 and the cutting point of the grinding wheel 11 is coplanar and perpendicular to the rotation axis of the rotary servo motor 4. This arrangement facilitates the processing of signal data and eliminates some tool setting functions. The cutting point of the grinding wheel 11 is located at the lowest point of the grinding wheel 11 along the axis of the hydraulic rod 10. Such an arrangement only requires one height information when converting the scanning information of the laser probe 12 into the cutting trajectory information of the grinding wheel 11; when the laser probe 12 is halfway through scanning, the grinding wheel 11 can start cutting, with high work efficiency. The device has a built-in control unit that can control the action of electrical components.

[0028] See also Figure 1-4 , a control method for a power battery cell coring device, comprising the following steps:

[0029] The staff selects the corresponding clamping claw 5 according to the shape of the power battery cell 7 for installation and clamping, and aligns and clamps the part to be cut in the direction of the electrode head of the power battery cell 7 through the knife alignment structure of the clamping claw 5;

[0030] The grinding wheel 11 is adjusted to be consistent with the cutting direction of the electrode head by the indexing pull rod 9; the grinding wheel 11 rotates to start working, the cutting depth is controlled by the hydraulic cylinder 8, and the horizontal movement of the battery cell 7 is controlled by the translation servo motor 1 to cut the entire electrode head surface;

[0031] After the electrode head surface is cut, the grinding wheel 11 returns to the rotation point, the translation servo motor 1 translates the battery cell 7 to the ring cutting position and aligns it with the cutting point, and the rotary servo motor 4 controls the battery cell 7 to rotate in the downward direction of the electrode head cutting surface. At the same time, the grinding wheel 11 is adjusted to be consistent with the ring cutting direction of the shell through the indexing pull rod 9;

[0032] When the battery cell 7 rotates to the point where the electrode head cutting surface faces the laser probe 12, the laser probe 12 can measure the outer shell thickness m of the battery cell 7;

[0033] When the battery cell 7 rotates to the point where the inner shell layer faces the laser probe 12 , the laser probe 12 starts to scan the shell contour information of the battery cell 7 , and transmits the scanning information to the control unit through calculation to control the hydraulic rod 10 of the hydraulic cylinder 8 .

[0034] When the laser probe 12 starts scanning, the grinding wheel 11 is indexed and ready to cut in. When the laser probe 12 scans half of the entire contour, the battery cell 7 stops rotating for 2 seconds, and the grinding wheel 11 cuts in. Then, the battery cell 7 continues to rotate, and the control unit controls the cutting depth of the grinding wheel 11 according to the received scanning information, and the laser probe 12 continues to scan the remaining battery cell 7 contours.

[0035] After the circular cutting is completed, the grinding wheel 11 is withdrawn and stopped, the device is shut down, and the staff removes the cut battery cell 7.

[0036] In the above steps, the distance between the laser probe 12 and the bottom surface of the battery cell 7 is x; the distance between the outer contour of the battery cell 7 at the laser irradiation point and the rotation axis of the clamping claw 5 is h1, and the distance between the laser probe 12 and the rotation axis of the clamping claw 5 is h a , the position where the battery cell 7 starts scanning is the initial scanning position, and the angle of rotation of the battery cell 7 from the initial scanning position is θ; x and h1 are variable values ​​and are only related to the rotation angle θ, then x=x(θ), h1=h1(θ); then when the laser probe 12 scans the battery cell 7:

[0037] h a =x(θ)+h1(θ)

[0038] The thickness of the battery cell 7 measured by the laser probe 12 is m; the distance between the outer contour of the battery cell 7 at the cutting point of the grinding wheel 11 and the rotation axis of the clamping claw 5 is h2; the extension length of the hydraulic rod 10 of the hydraulic cylinder 8 is l; the diameter of the grinding wheel 11 is d; the distance between the bottom of the hydraulic rod 10 and the rotation axis of the clamping claw 5 is h b ; l and h2 are variable values ​​and are only related to the rotation angle θ, then l=l(θ), h2=h2(θ); when the grinding wheel 11 cuts the battery cell 7:

[0039] h b =l(θ)+d / 2-m+h2(θ)

[0040] The battery cell 7 at the laser irradiation point is rotated by an angle of π and becomes the battery cell 7 at the cutting point of the grinding wheel 11. Therefore:

[0041] h2(θ+π)=h1(θ)

[0042] And because:

[0043] H b =l(θ+π)+d / 2-m+h2(θ+π)

[0044] Combine and move to:

[0045] l(θ+π)=h b -d / 2+mh a +x(θ)

[0046] Let the time when the battery cell 7 is at the initial scanning position be time 0, and record the time as t; let the rotation angular velocity of the gripping claw 5 be ω, and record π / ω=t0; then:

[0047] x(θ)=x(ωt)=x(ω,t)

[0048] l(θ+π)=l[ω(t+t0)]=l(ω,t+t0)

[0049] Bring in:

[0050]

[0051] When 0≤t≤t0, L=L0, the grinding wheel 11 is in the indexing preparation position; when t≥t0, the control unit receives the battery cell 7 contour scanning information x(ω,t) from the laser probe 12, and converts it into the hydraulic rod 10 telescopic information l(ω,t), the hydraulic rod 10 controls the cutting depth of the grinding wheel 11 according to the telescopic information l(ω,t), and the grinding wheel 11 starts the circular cutting work; the indexing preparation time of the grinding wheel 11 is t0=π / ω, and the circular cutting working time of the grinding wheel 11 is t s =2π / ω, which can be adjusted by the rotational angular velocity ω of the gripping claw 5.

[0052] The distance and clamping height of the clamping claw 5 of the present invention are adjustable, and it is used to clamp battery cells 7 of different sizes; the grinding wheel 11 is indexable to realize the two processes of cutting the electrode head and circumferential cutting and coring; the laser probe 12 is used to obtain the battery cell 7 shell thickness information of the electrode head section and the contour information of the battery cell 7 shell, and the hydraulic rod 10 of the hydraulic cylinder 8 is generated. The extension information controls the grinding wheel to complete the circumferential cutting of the battery cell 7 shell; the laser probe 12 is installed below the battery cell 7 and directly faces the grinding wheel 11, eliminating the longitudinal tool setting time of the grinding wheel 11; when the laser probe 12 scans half of the contour of the battery cell 7, the grinding wheel 11 can start cutting; the clamping claw 5 is modularized, and the coring of battery cells 7 of different shapes can be completed by replacing different clamping claws 5. The present invention can realize the coring of battery cells 7 of different shapes and sizes, and the efficiency is extremely high.

[0053] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A control method for a power battery cell coring device, comprising a base, characterized in that: Guide rails are provided on both sides of the upper surface of the base, a rotary servo motor is sleeved on the guide rails and driven to translate by a translation servo motor, the output shafts of the two rotary servo motors are connected to clamping mechanisms, a battery cell is clamped between the two clamping mechanisms, a stand is provided on the upper surface of the base, a lifting and rotating mechanism is provided on the top of the stand, a cutting mechanism is provided at the bottom end of the lifting and rotating mechanism, and a laser probe is also provided on the upper surface of the base, which is located directly below the cutting point of the cutting mechanism; The control method comprises the following steps: Select the corresponding clamping claw for installation according to the shape of the battery cell, and align and clamp the part to be cut in the direction of the battery cell electrode head through the tool alignment structure of the clamping claw; The grinding wheel is adjusted to the same cutting direction as the electrode head through the indexing pull rod; the grinding wheel starts to work by rotating, the cutting depth is controlled by the hydraulic cylinder, and the horizontal movement of the battery cell is controlled by the translation servo motor to cut the entire electrode head surface; After the electrode head surface is cut, the grinding wheel returns to the rotation point, the translation servo motor translates the battery cell to the ring cutting position and aligns it with the cutting point, and the rotary servo motor controls the battery cell to rotate in the downward direction of the electrode head cutting surface. At the same time, the grinding wheel tangent is adjusted to be consistent with the shell ring cutting direction through the rotation pull rod; When the battery cell rotates back to the point where the electrode head cutting surface faces the laser probe, the laser probe measures the thickness m of the battery cell shell; When the battery cell rotates back to the point where the inner layer of the shell faces the laser probe, the laser probe starts to scan the contour information of the battery cell shell, and transmits the scanning information to the control unit through calculation to control the hydraulic rod of the hydraulic cylinder; When the laser probe starts scanning, the grinding wheel is ready to cut in after the rotation is completed. When the laser probe scans half of the entire contour, the battery cell stops rotating for 2 seconds, and the grinding wheel cuts in. Then, the battery cell continues to rotate, and the control unit controls the cutting depth of the grinding wheel based on the received scanning information, and the laser probe continues to scan the remaining battery cell contours. After the circular cutting is completed, the grinding wheel is retracted and stopped, the device is shut down, and the staff removes the cut battery cells.

2. A control method for a power battery cell coring device according to claim 1, characterized in that: The straight line formed by the laser probe and the cutting point of the cutting mechanism is coplanar and perpendicular to the rotation axis of the clamping mechanism.

3. The control method of a power battery cell coring device according to claim 2, characterized in that: The clamping mechanism comprises a clamping claw which is detachably connected to the output shaft of the rotary servo motor, and a telescopic pressure rod for clamping battery cells of different sizes is arranged on the clamping claw.

4. The control method of a power battery cell coring device according to claim 3, characterized in that: The lifting and rotating mechanism comprises a hydraulic cylinder rotatably mounted on the top of the stand, and a transfer rod for adjusting and limiting the rotation of the hydraulic cylinder is provided on the side of the hydraulic cylinder. The cutting mechanism is mounted on the piston rod at the bottom of the hydraulic cylinder.

5. The control method of a power battery cell coring device according to claim 4, characterized in that: The cutting mechanism adopts a grinding wheel driven by a motor, and the axis of the rotary shaft of the lifting and rotating mechanism is colinear with the diameter of the grinding wheel.

6. The control method of a power battery cell coring device according to claim 3, characterized in that: The clamping claw is provided with a knife setting structure.

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