A lithium battery recycling and disassembly system

Abstract

The present application belongs to the field of lithium battery recycling technology, and discloses a lithium battery recycling and disassembly system, including a mechanical disassembly station, a manual disassembly station, a transport belt, an identification device arranged above the output end of the transport belt, a transfer robot arm arranged on one side of the output end of the transport belt, a reflux device and a first controller; the transport belt is used to transport the battery pack to be disassembled to the mechanical disassembly station for preliminary disassembly; the identification device is used to identify the parameter information of the battery pack to be disassembled on the transport belt; the first controller is used to determine whether the battery pack to be disassembled meets the current disassembly conditions based on the parameter information, and if not, control the transfer robot arm to transfer the battery pack to be disassembled from the transport belt to the reflux device for storage, and control the reflux device to send the stored battery pack to be disassembled to the input end of the transport belt when the first condition is met, thereby improving the work efficiency of battery pack disassembly.

Description

Technical Field

[0001] The present application relates to the technical field of lithium battery recycling, and in particular to a lithium battery recycling and disassembly system. Background Art

[0002] During the lithium battery recycling process, the battery pack needs to be disassembled, including the removal of screws and upper covers, as well as the removal of wiring harnesses, electrical appliances, BMS, copper busbars, screws and other components. The disassembly process of the battery pack is generally carried out in a lithium battery recycling and disassembly system. Some existing lithium battery recycling and disassembly systems include transportation devices, mechanical disassembly stations and manual disassembly stations. After the transportation device transports the battery pack to the mechanical disassembly station, the robot arm in the mechanical disassembly station performs preliminary disassembly of the battery pack (removing screws and upper covers), and then sends it to the manual disassembly station, where workers perform secondary disassembly (removing wiring harnesses, electrical appliances, BMS, copper busbars, screws and other components).

[0003] In actual work, transport devices sometimes deliver a mix of battery packs of various models to a mechanical disassembly station for disassembly. The robotic arm must use a visual system to identify the position, shape, and size of the screws before replacing the corresponding disassembly tool (such as a screwdriver) to proceed. Frequent replacement of disassembly workpieces reduces work efficiency. Furthermore, at manual disassembly stations, battery packs are typically placed on a workbench in a preset position. Workers often need to adjust their position around the workbench to find the right position for disassembling components such as wiring harnesses, electrical appliances, BMS, copper busbars, and screws. This process wastes considerable time, reducing work efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a lithium battery recycling and disassembly system, aiming to solve at least one problem in the prior art, thereby improving the efficiency of battery pack disassembly.

[0005] The present application provides a lithium battery recycling and disassembly system, comprising a mechanical disassembly station and a manual disassembly station, wherein the mechanical disassembly station is used to perform preliminary disassembly of a battery pack to be disassembled, and the manual disassembly station is used to perform secondary disassembly of the battery pack to be disassembled; the system also comprises a conveyor belt, an identification device arranged above the output end of the conveyor belt, a transfer robot arm arranged on one side of the output end of the conveyor belt, a reflux device, and a first controller, wherein the conveyor belt, the identification device, the transfer robot arm, and the reflux device are all electrically connected to the first controller;

[0006] The transport belt is used to transport the battery pack to be disassembled to the mechanical disassembly station for preliminary disassembly;

[0007] The identification device is used to identify parameter information of the battery pack to be disassembled on the transport belt;

[0008] The first controller is used to determine whether the battery pack to be disassembled meets the current disassembly conditions based on the parameter information. If not, the transfer robot arm is controlled to transfer the battery pack to be disassembled from the conveyor belt to the reflux device for storage, and when the first condition is met, the reflux device is controlled to send the stored battery pack to be disassembled into the input end of the conveyor belt.

[0009] The lithium battery recycling and disassembly system screens the battery packs to be disassembled before sending them to the mechanical disassembly station for preliminary disassembly. Only when the battery packs to be disassembled meet the current disassembly conditions will they be sent to the mechanical disassembly station for preliminary disassembly, so as to ensure that the disassembly tools currently used in the mechanical disassembly station meet the disassembly requirements of the battery packs to be disassembled. Thus, the same disassembly tool can be used to continuously perform preliminary disassembly on multiple battery packs to be disassembled. Only when the first condition is met does the disassembly tool need to be replaced, thereby greatly reducing the replacement frequency of the disassembly tools and thereby improving the work efficiency of battery pack disassembly.

[0010] Preferably, the parameter information includes the model of the battery pack to be disassembled and the type of disassembly tools required for initial disassembly;

[0011] The current disassembly condition includes: the model of the battery pack to be disassembled is the same as the model of the reference battery pack, or the type of disassembly tools required to be used for preliminary disassembly of the battery pack to be disassembled is the same as the type of disassembly tools required to be used for preliminary disassembly of the reference battery pack;

[0012] The first controller is further configured to initialize the reference battery pack to a preset battery pack, and whenever the first condition is met, update the reference battery pack to the next battery pack to be disassembled identified by the identification device after the first condition is met.

[0013] Preferably, the first condition includes: the identification device continuously identifies a preset number of battery packs to be disassembled that do not meet the current disassembly conditions, or the battery packs to be disassembled identified by the identification device within a continuous first preset time period do not meet the current disassembly conditions, or the identification device cannot identify any battery pack to be disassembled within a continuous second preset time period.

[0014] Preferably, the reflow device includes a reflow conveyor belt, a temporary storage device and a transfer conveyor belt; one end of the reflow conveyor belt is arranged on one side of the transfer robot arm, and is used to transport the battery pack to be disassembled to the temporary storage device for storage; the transfer conveyor belt is arranged between the temporary storage device and the input end of the conveyor belt, and is used to transport the battery pack to be disassembled stored in the temporary storage device to the input end of the conveyor belt.

[0015] Thus, the battery pack to be disassembled that has been taken out can be temporarily stored in a temporary storage device. When the first condition is met, the temporary storage device will send the battery pack to be disassembled into the transfer conveyor belt, and then send it back to the input end of the conveyor belt; the temporary storage device can increase the storage capacity of the reflux device for the battery pack to be disassembled, and can realize free control of the release time of the battery pack to be disassembled.

[0016] Preferably, when the first condition is met, the first controller controls the reflux device to send the stored battery pack to be disassembled to the input end of the transport belt, specifically performing:

[0017] determining whether the identification device identifies a battery pack to be disassembled within a third preset time period starting from the moment the first condition is satisfied;

[0018] If not, controlling the reflux device to send the stored battery pack to be disassembled to the input end of the transport belt;

[0019] If so, after the reference battery pack is updated, it is determined whether to control the reflux device to send the stored battery pack to be disassembled to the input end of the conveyor belt according to whether the battery pack to be disassembled stored in the reflux device meets the current disassembly conditions.

[0020] Preferably, after the reference battery pack is updated, determining whether to control the reflux device to deliver the stored battery pack to be disassembled to the input end of the conveyor belt according to whether the battery pack to be disassembled stored in the reflux device meets the current disassembly conditions specifically includes:

[0021] Calculating the total number or proportion of the battery packs to be disassembled that meet the current disassembly conditions and are stored in the reflux device;

[0022] If the total number or proportion exceeds the corresponding preset threshold, the reflux device is controlled to send the stored battery packs to be disassembled to the input end of the transport belt.

[0023] This effectively avoids sending too many battery packs to be disassembled that do not meet the current disassembly conditions into the transport belt, causing the transfer robot arm and the identification device to spend too much time to send these battery packs to be disassembled back into the reflow device.

[0024] Preferably, the manual disassembly station includes a placement table, a visual system, a transfer robot arm and a second controller, and the visual system and the transfer robot arm are both electrically connected to the second controller;

[0025] The visual system is used to obtain the worker's location data and the model of the battery pack to be disassembled;

[0026] The second controller is used to calculate the optimal placement posture of the battery pack to be disassembled based on the worker's position data and the model of the battery pack to be disassembled, and control the transfer robot arm to take out the battery pack to be disassembled after preliminary disassembly from the mechanical disassembly station and place it on the placement table according to the optimal placement posture.

[0027] Therefore, when the battery pack to be disassembled is placed on the placement table, the placement position of the battery pack to be disassembled relative to the worker has been adjusted according to the worker's actual standing position, so that the placement position is most suitable for the worker to perform secondary disassembly of the battery pack to be disassembled, which is conducive to reducing the number of times the worker adjusts his position around the placement table, thereby improving the work efficiency of battery pack disassembly.

[0028] Preferably, when the second controller calculates the optimal placement posture of the battery pack to be disassembled according to the position data of the worker and the model of the battery pack to be disassembled, the second controller executes:

[0029] Obtaining an optimal relative posture between the battery pack to be disassembled and the worker according to the model of the battery pack to be disassembled;

[0030] The optimal placement posture is calculated according to the optimal relative posture and the position data of the worker.

[0031] Preferably, the manual disassembly station further comprises an identity recognition device, which is electrically connected to the second controller and is used to identify the identity of the worker;

[0032] When the second controller obtains the optimal relative posture between the battery pack to be disassembled and the worker according to the model of the battery pack to be disassembled, the second controller executes:

[0033] According to the identity of the worker and the model of the battery pack to be disassembled, the optimal relative posture between the battery pack to be disassembled and the worker is obtained by querying in a preset optimal relative posture query table.

[0034] Preferably, the second controller is also used to count the total number of standing points of the worker in this secondary disassembly work and the standing duration of the worker at each standing point, and judge whether it is necessary to adjust the optimal relative posture between the model of the battery pack to be disassembled and the worker based on the total number of points. If necessary, adjust the corresponding optimal relative posture in the optimal relative posture query table based on the standing duration of each standing point.

[0035] Beneficial effect: The lithium battery recycling and disassembly system provided in the present application screens the battery pack to be disassembled before sending it to the mechanical disassembly station for preliminary disassembly. Only when the battery pack to be disassembled meets the current disassembly conditions is it sent to the mechanical disassembly station for preliminary disassembly, so as to ensure that the disassembly tool currently used in the mechanical disassembly station meets the disassembly requirements of the battery pack to be disassembled, so that the same disassembly tool can be used to continuously perform preliminary disassembly on multiple battery packs to be disassembled, and the disassembly tool does not need to be replaced until the first condition is met, thereby greatly reducing the replacement frequency of the disassembly tool and thereby improving the work efficiency of battery pack disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the structure of the lithium battery recycling and disassembly system provided in an embodiment of the present application.

[0037] Figure 2 It is a structural schematic diagram of an identification device, a transfer robot arm and a reflux device.

[0038] Figure 3 A schematic diagram of the structure of a temporary storage device.

[0039] Figure 4 Schematic diagram of the structure of the identification device, transfer robot arm and another reflux device.

[0040] Figure 5 This is a structural diagram of the manual disassembly station.

[0041] Explanation of reference numbers: 1. Mechanical disassembly station; 2. Manual disassembly station; 201. Placement table; 202. Vision system; 203. Transfer robot arm; 3. Transport belt; 4. Identification device; 5. Transfer robot arm; 6. Reflow device; 601. Reflow conveyor belt; 602. Temporary storage device; 6021. Storage box; 6022. Lifting plate; 6023. Discharge port; 6024. Push plate; 6025. Second drive device; 603. Transfer conveyor belt; 604. Reflow belt; 605. Intercepting mechanism; 6051. Intercepting plate; 6052. Third drive device. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work fall within the scope of protection of the present application.

[0043] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0044] Please refer to Figure 1 , Figure 1 A lithium battery recycling and disassembly system in some embodiments of the present application includes a mechanical disassembly station 1 and a manual disassembly station 2. The mechanical disassembly station 1 is used to perform preliminary disassembly of the battery pack to be disassembled (removing screws and upper covers), and the manual disassembly station is used to perform secondary disassembly of the battery pack to be disassembled (removing wiring harnesses, electrical appliances, BMS, copper busbars, screws, and other components). The system also includes a conveyor belt 3, an identification device 4 provided above the output end of the conveyor belt 3, a transfer robot 5 provided on one side of the output end of the conveyor belt 3, a reflow device 6, and a first controller (not shown in the figure). The conveyor belt 3, the identification device 4, the transfer robot 5, and the reflow device 6 are all electrically connected to the first controller.

[0045] The transport belt 3 is used to transport the battery pack to be disassembled to the mechanical disassembly station 1 for preliminary disassembly;

[0046] The identification device 4 is used to identify parameter information of the battery pack to be disassembled on the transport belt 3;

[0047] The first controller is used to determine whether the battery pack to be disassembled meets the current disassembly conditions based on the parameter information. If not, the transfer robot arm 5 is controlled to transfer the battery pack to be disassembled from the conveyor belt 3 to the reflux device 6 for storage, and when the first condition is met, the reflux device 6 is controlled to send the stored battery pack to be disassembled to the input end of the conveyor belt 3.

[0048] The lithium battery recycling and disassembly system screens the battery packs to be disassembled before sending them to the mechanical disassembly station 1 for preliminary disassembly. Only when the battery packs to be disassembled meet the current disassembly conditions will they be sent to the mechanical disassembly station 1 for preliminary disassembly, so as to ensure that the disassembly tools currently used in the mechanical disassembly station 1 meet the disassembly requirements of the battery packs to be disassembled, so that the same disassembly tool can be used to continuously perform preliminary disassembly on multiple battery packs to be disassembled, and the disassembly tool does not need to be replaced until the first condition is met, thereby greatly reducing the replacement frequency of the disassembly tool and thus improving the work efficiency of battery pack disassembly.

[0049] Among them, the mechanical disassembly station 1 can be the mechanical disassembly station 1 in the prior art, which mainly includes a fixing base for fixing the battery pack to be disassembled, a visual sensor (such as a CCD camera, a depth camera, etc., for locating the screws to be removed), a disassembly robot arm for performing preliminary disassembly operations and a tool library for storing disassembly tools (such as screwdrivers). The tool library stores a variety of different disassembly tools for the disassembly robot arm to replace the disassembled workpiece.

[0050] The recognition device 4 includes a camera. Each robotic arm can be selected from existing multi-axis robotic arms or other robotic arms according to actual needs, and is not limited here.

[0051] In this embodiment, the parameter information includes the model of the battery pack to be disassembled and the type of disassembly tools required for initial disassembly;

[0052] The current disassembly conditions include: the model of the battery pack to be disassembled is the same as the model of the reference battery pack, or the type of disassembly tools required to be used for the initial disassembly of the battery pack to be disassembled is the same as the type of disassembly tools required to be used for the initial disassembly of the reference battery pack.

[0053] According to the current disassembly conditions, the battery pack to be disassembled is sent to the mechanical disassembly station 1 only when the disassembly tool currently used in the mechanical disassembly station 1 can meet the preliminary disassembly requirements of the battery pack to be disassembled identified by the identification device 4, otherwise it is sent to the reflux device 6, thereby effectively reducing the replacement frequency of the disassembly tools.

[0054] Among them, when identifying the parameter information of the battery pack to be disassembled on the transport belt 3, the identification device 4 executes: obtaining a picture of the battery pack to be disassembled, extracting an image of the battery pack to be disassembled from the picture, using an image matching method to identify the image to obtain the model of the battery pack to be disassembled, and querying the database for the type of disassembly tools required for preliminary disassembly according to the model of the battery pack to be disassembled.

[0055] Furthermore, the first controller is further configured to initialize the reference battery pack to a preset battery pack, and whenever the first condition is met, update the reference battery pack to the next battery pack to be disassembled that is identified by the identification device 4 after the first condition is met. Before the lithium battery recycling and disassembly system is started, a reference battery pack can be pre-set. Upon startup, the first controller initializes the reference battery pack based on the set result, thereby initiating the screening process. During subsequent operation, whenever the first condition is met, the battery pack to be disassembled that is first identified by the identification device 4 is used as the new reference battery pack, and the subsequent screening process is then continued based on the new reference battery pack.

[0056] Furthermore, the first condition includes: the identification device 4 continuously identifies a preset number (which can be set according to actual needs) of battery packs to be disassembled that do not meet the current disassembly conditions, or the identification device 4 identifies that the battery packs to be disassembled do not meet the current disassembly conditions within a continuous first preset time period (which can be set according to actual needs), or the identification device 4 cannot identify any battery pack to be disassembled within a continuous second preset time period (which can be set according to actual needs).

[0057] Among them, the continuous identification of a preset number of battery packs to be disassembled that do not meet the current disassembly conditions, and the battery packs to be disassembled identified within a continuous first preset time period all do not meet the current disassembly conditions, both indicate that the disassembly tools currently used in the mechanical disassembly station 1 can no longer meet the disassembly requirements of most of the battery packs to be disassembled to be disassembled subsequently. Therefore, it is necessary to update the reference battery pack and replace the corresponding disassembly tools accordingly. At this time, the battery packs to be disassembled in the reflux device 6 should be released back to the transport belt 3.

[0058] If no battery pack to be disassembled is identified within a continuous second preset time period, it indicates that there are no more battery packs to be disassembled on the conveyor belt 3. At this time, the battery pack to be disassembled in the return device 6 should be released back to the conveyor belt 3 for disassembly. At this time, the first released battery pack to be disassembled will be used as a new reference battery pack when it passes the position of the identification device 4.

[0059] In some embodiments, see Figure 2 The reflow device 6 includes a reflow conveyor belt 601, a temporary storage device 602 and a transfer conveyor belt 603; one end of the reflow conveyor belt 601 is arranged on one side of the transfer robot arm 5, and is used to transport the battery pack to be disassembled to the temporary storage device 602 for storage; the transfer conveyor belt 603 is arranged between the temporary storage device 602 and the input end of the conveyor belt 3, and is used to transport the battery pack to be disassembled stored in the temporary storage device 602 to the input end of the conveyor belt 3.

[0060] Thus, the battery pack to be disassembled that has been taken out can be temporarily stored in the temporary storage device 602. When the first condition is met, the temporary storage device 602 will send the battery pack to be disassembled into the transfer conveyor belt 603, and then send it back to the input end of the conveyor belt 3; the temporary storage device 602 can increase the storage capacity of the battery pack to be disassembled of the reflux device 6, and can realize the free control of the release time of the battery pack to be disassembled.

[0061] In some embodiments, see Figure 3 The temporary storage device 602 includes a storage box 6021 with an upper opening, and a lifting plate 6022 and a first driving device for driving the lifting plate 6022 to rise and fall are provided in the storage box 6021 (not shown in the figure, the first driving device can be but is not limited to a cylinder, a liquid cylinder, an electric telescopic rod, a motor, etc.), a discharge port 6023 is provided on one side of the upper opening of the storage box 6021, and a push plate 6024 is provided in the storage box 6021 at a position opposite to the discharge port 6023, and a second driving device 6025 for driving the push plate 6024 to move away from or close to the discharge port 6023 is also provided on the storage box 6021 (the second driving device 6025 can be but is not limited to a cylinder, a liquid cylinder, an electric telescopic rod, a motor, etc.), wherein the discharge port 6023 is provided opposite to one end of the transfer conveyor belt 603. During operation, the return conveyor belt 601 sends the battery packs to be disassembled into the storage box 6021 from the upper opening of the storage box 6021 and stacks them on the lifting plate 6022. As the stacking height of the battery packs to be disassembled increases, the lifting plate 6022 gradually descends to prevent the battery packs to be disassembled from falling too high and causing the battery packs to collide and explode. When the battery packs to be disassembled need to be sent to the transport belt 3, the lifting plate 6022 rises in steps, and each time it rises, the push plate 6024 pushes the battery packs to be disassembled from the discharge port 6023 to the transfer conveyor belt 603.

[0062] However, the structure of the temporary storage device 602 is not limited thereto, and an existing temporary storage device 602 may be selected according to actual needs.

[0063] In other embodiments, see Figure 4The reflow device 6 includes a reflow belt 604 and an intercepting mechanism 605. One end of the reflow belt 604 is set on one side of the transfer robot arm 5, and the other end extends to the input end of the conveyor belt 3. The intercepting mechanism 605 includes an intercepting plate 6051 set above the reflow belt 604 and a third driving device 6052 for driving the intercepting plate 6051 to move up and down (the third driving device 6052 can be but is not limited to a cylinder, a liquid cylinder, an electric telescopic rod, a motor, etc.). During operation, the intercepting plate 6051 moves downward to prevent the battery pack to be disassembled on the reflow belt 604 from moving. When the battery pack to be disassembled needs to be sent back to the conveyor belt 3, the intercepting plate 6051 moves upward to release the battery pack to be disassembled, so that the accumulated battery pack to be disassembled is sent to the input end of the conveyor belt 3 by the reflow belt 604. The structure of this reflow device 6 is simpler and the equipment cost is lower.

[0064] In some embodiments, the first controller controls the reflux device 6 to send the stored battery pack to be disassembled into the input end of the transport belt 3 when the first condition is met. Specifically, once the first condition is met, the reflux device 6 is controlled to send the stored battery pack to be disassembled into the input end of the transport belt 3.

[0065] In other preferred embodiments, the first controller controls the reflux device 6 to send the stored battery packs to be disassembled to the input end of the conveyor belt 3 when the first condition is met, specifically performing:

[0066] Determining whether the identification device 4 identifies a battery pack to be disassembled within a third preset time period (which can be set according to actual needs) from the moment the first condition is met;

[0067] If not, the reflux device 6 is controlled to send the stored battery pack to be disassembled to the input end of the transport belt 3;

[0068] If so, after the reference battery pack is updated, it is determined whether to control the reflux device 6 to send the stored battery pack to be disassembled to the input end of the conveyor belt 3 according to whether the battery pack to be disassembled stored in the reflux device 6 meets the current disassembly conditions.

[0069] That is, when the first condition is met, first wait for the third preset time period. If the identification device 4 cannot identify the battery pack to be disassembled within the third preset time period, it means that there is no battery pack to be disassembled on the conveyor belt 3. Therefore, the battery pack to be disassembled in the reflux device 6 needs to be immediately sent back to the conveyor belt 3, and only after the battery pack to be disassembled in the reflux device 6 is sent back to the conveyor belt 3 can the reference battery pack be updated; otherwise, it means that there are still battery packs to be disassembled on the conveyor belt 3. At this time, the reference battery pack will be updated according to the first subsequent identified battery pack to be disassembled, and then it can be decided whether to send the battery pack to be disassembled into the conveyor belt 3 based on whether the battery pack to be disassembled stored in the reflux device 6 meets the current disassembly conditions.

[0070] For example, in some embodiments, after the reference battery pack is updated, the reflux device 6 is determined to control the battery pack to be disassembled stored in the reflux device 6 to send the stored battery pack to be disassembled to the input end of the conveyor belt 3 based on whether the battery pack to be disassembled stored in the reflux device 6 meets the current disassembly conditions. Specifically, the reflux device 6 is controlled to send the stored battery pack to be disassembled to the input end of the conveyor belt 3 when at least one of the battery packs to be disassembled stored in the reflux device 6 meets the current disassembly conditions.

[0071] This avoids sending battery packs to be disassembled that do not meet the current disassembly conditions into the transport belt 3, causing the transfer robot 5 and the identification device 4 to spend too much time to send all these battery packs to be disassembled back into the reflow device 6.

[0072] For another example, in some other embodiments, after the reference battery pack is updated, determining whether to control the reflux device 6 to send the stored battery pack to be disassembled to the input end of the conveyor belt 3 based on whether the battery pack to be disassembled stored in the reflux device 6 meets the current disassembly conditions specifically includes:

[0073] Calculate the total number or proportion of battery packs to be disassembled that meet the current disassembly conditions and are stored in the reflux device 6;

[0074] If the total number or proportion exceeds the corresponding preset threshold (which can be set according to actual needs), the reflux device 6 is controlled to send the stored battery packs to be disassembled to the input end of the conveyor belt 3.

[0075] This effectively avoids sending too many battery packs to be disassembled that do not meet the current disassembly conditions into the conveyor belt 3, causing the transfer robot 5 and the identification device 4 to spend too much time to send these battery packs to be disassembled back into the reflow device 6.

[0076] Preferably, see Figure 5 The manual disassembly station 2 includes a placement table 201, a visual system 202, a transfer robot 203 and a second controller (not shown in the figure), and the visual system 202 and the transfer robot 203 are both electrically connected to the second controller;

[0077] The vision system 202 is used to obtain the worker's location data and the model of the battery pack to be disassembled;

[0078] The second controller is used to calculate the optimal placement posture of the battery pack to be disassembled based on the worker's position data and the model of the battery pack to be disassembled, and control the transfer robot 203 to take out the battery pack to be disassembled after preliminary disassembly from the mechanical disassembly station 1 and place it on the placement table 201 according to the optimal placement posture.

[0079] Therefore, when the battery pack to be disassembled is placed on the placement table 201, the placement position of the battery pack to be disassembled relative to the worker has been adjusted according to the actual standing position of the worker, so that the placement position is most suitable for the worker to perform secondary disassembly of the battery pack to be disassembled, which is beneficial to reduce the number of times the worker adjusts his position around the placement table 201, thereby improving the work efficiency of battery pack disassembly.

[0080] The visual system 202 is disposed above the placement table 201 and may include a visual sensor (such as a CCD camera, a depth camera, etc.) and uses image recognition to obtain the worker's location data and the model of the battery pack to be disassembled.

[0081] Furthermore, when the second controller calculates the optimal placement posture of the battery pack to be disassembled based on the worker's position data and the model of the battery pack to be disassembled, it executes:

[0082] Obtain the optimal relative posture between the battery pack to be disassembled and the worker based on the model of the battery pack to be disassembled;

[0083] The optimal placement pose is calculated based on the optimal relative pose and the worker's position data.

[0084] Among them, the optimal relative posture between various models of battery packs to be disassembled and workers can be determined in advance through experiments and recorded in a local database. The corresponding optimal relative posture can be obtained by querying the model of the battery pack to be disassembled.

[0085] Among them, the optimal placement posture can be obtained by multiplying the optimal relative posture by the worker's position data.

[0086] In actual applications, different workers may have different optimal relative postures between different types of battery packs and workers due to differences in height, arm length, dominant arm (left-handed and right-handed people have different dominant arms), etc. Therefore, the optimal relative postures between different types of battery packs to be disassembled and different workers can be determined in advance through experiments, and a lookup table of optimal relative postures can be created and recorded in a local database. Therefore, in some preferred embodiments, the manual disassembly station 2 also includes an identity recognition device (not shown in the figure, this identity recognition device can be a facial recognition device, fingerprint recognition device, identity card recognition device, etc.), which is electrically connected to the second controller and is used to identify the worker's identity.

[0087] When the second controller obtains the optimal relative posture between the battery pack to be disassembled and the worker according to the model of the battery pack to be disassembled, it executes:

[0088] According to the identity of the worker and the model of the battery pack to be disassembled, the optimal relative posture between the battery pack to be disassembled and the worker is obtained by querying the preset optimal relative posture query table.

[0089] The optimal relative posture thus obtained is more accurate and is more conducive to reducing the number of times workers adjust their standing positions.

[0090] In a further preferred embodiment, the second controller is also used to count the total number of standing points of the workers in this secondary disassembly work and the duration of the workers' standing at each standing point, and judge whether it is necessary to adjust the optimal relative posture between the model of the battery pack to be disassembled and the worker based on the total number of points. If necessary, adjust the corresponding optimal relative posture in the optimal relative posture query table according to the duration of standing at each standing point.

[0091] The pre-set optimal relative posture may have a certain deviation. Here, by counting the number of times the workers adjust their standing position (i.e., standing point) during actual work and the duration of standing at each standing position, the data in the optimal relative posture query table is updated, thereby making the optimal relative posture data more accurate.

[0092] For example, when the total number of points is greater than a preset point threshold (which can be set according to actual needs), it is determined that the optimal relative posture between the model of the battery pack to be disassembled and the worker needs to be adjusted; however, the specific judgment method is not limited to this.

[0093] For example, when the optimal relative posture between the model of the battery pack to be disassembled and the worker needs to be adjusted, the standing point with the longest standing duration can be used as the reference standing point, and the current relative posture of the battery pack to be disassembled relative to the reference standing point can be calculated as the new optimal relative posture, thereby updating the optimal relative posture lookup table. Alternatively, the standing points can be sorted in descending order according to the standing duration, and the center point of the first N standing points (N is a preset positive integer that can be set according to actual needs, such as 2, but is not limited to this) is calculated as the reference standing point. The current relative posture of the battery pack to be disassembled relative to the reference standing point is calculated as the new optimal relative posture, thereby updating the optimal relative posture lookup table. However, the specific adjustment method is not limited to this.

[0094] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0095] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A lithium battery recycling and disassembly system, comprising a mechanical disassembly station (1) and a manual disassembly station (2), wherein the mechanical disassembly station (1) is used for performing preliminary disassembly of a battery pack to be disassembled, and the manual disassembly station (2) is used for performing secondary disassembly of the battery pack to be disassembled; characterized in that: It also includes a conveyor belt (3), an identification device (4) arranged above the output end of the conveyor belt (3), a transfer robot arm (5) arranged on one side of the output end of the conveyor belt (3), a reflow device (6) and a first controller, wherein the conveyor belt (3), the identification device (4), the transfer robot arm (5) and the reflow device (6) are all electrically connected to the first controller; The transport belt (3) is used to transport the battery pack to be disassembled to the mechanical disassembly station (1) for preliminary disassembly; The identification device (4) is used to identify parameter information of the battery pack to be disassembled on the transport belt (3); the parameter information includes the model of the battery pack to be disassembled and the type of disassembly tools required for initial disassembly; The first controller is used to determine whether the battery pack to be disassembled meets the current disassembly condition based on the parameter information. If not, the transfer robot arm (5) is controlled to transfer the battery pack to be disassembled from the transport belt (3) to the reflux device (6) for storage, and when the first condition is met, the reflux device (6) is controlled to send the stored battery pack to be disassembled to the input end of the transport belt (3); the current disassembly condition includes: the model of the battery pack to be disassembled is the same as the model of the reference battery pack, or the type of disassembly tool required for the battery pack to be disassembled during preliminary disassembly is the same as the type of disassembly tool required for the reference battery pack during preliminary disassembly; the first condition includes: the identification device (4) continuously identifies a preset number of battery packs to be disassembled that do not meet the current disassembly condition, or the battery packs to be disassembled identified by the identification device (4) within a continuous first preset time period do not meet the current disassembly condition, or the identification device (4) cannot identify the battery pack to be disassembled within a continuous second preset time period.

2. The lithium battery recycling and disassembly system according to claim 1, characterized in that: The first controller is further configured to initialize the reference battery pack to a preset battery pack, and whenever the first condition is met, update the reference battery pack to the next battery pack to be disassembled that is identified by the identification device (4) after the first condition is met.

3. The lithium battery recycling and disassembly system according to claim 2, characterized in that: The reflow device (6) includes a reflow conveyor belt (601), a temporary storage device (602) and a transfer conveyor belt (603); one end of the reflow conveyor belt (601) is arranged on one side of the transfer robot arm (5), and is used to transport the battery pack to be disassembled to the temporary storage device (602) for storage; the transfer conveyor belt (603) is arranged between the temporary storage device (602) and the input end of the transport belt (3), and is used to transport the battery pack to be disassembled stored in the temporary storage device (602) to the input end of the transport belt (3).

4. The lithium battery recycling and disassembly system according to claim 2, characterized in that: When the first condition is met, the first controller controls the reflux device (6) to send the stored battery pack to be disassembled to the input end of the transport belt (3), specifically performing: Determining whether the identification device (4) identifies a battery pack to be disassembled within a third preset time period starting from the moment the first condition is satisfied; If not, controlling the reflux device (6) to send the stored battery pack to be disassembled to the input end of the transport belt (3); If so, after the reference battery pack is updated, it is determined whether to control the reflux device (6) to send the stored battery pack to be disassembled to the input end of the transport belt (3) based on whether the battery pack to be disassembled stored in the reflux device (6) meets the current disassembly conditions.

5. The lithium battery recycling and disassembly system according to claim 4, characterized in that: After the reference battery pack is updated, determining whether to control the reflux device (6) to send the stored battery pack to be disassembled to the input end of the transport belt (3) according to whether the battery pack to be disassembled stored in the reflux device (6) meets the current disassembly conditions, specifically includes: Calculating the total number or proportion of the battery packs to be disassembled that meet the current disassembly conditions and are stored in the reflux device (6); If the total number or proportion exceeds the corresponding preset threshold, the reflux device (6) is controlled to send the stored battery packs to be disassembled to the input end of the transport belt (3).

6. The lithium battery recycling and disassembly system according to any one of claims 1 to 5, characterized in that: The manual disassembly station (2) comprises a placement table (201), a visual system (202), a transfer robot arm (203) and a second controller, wherein the visual system (202) and the transfer robot arm (203) are both electrically connected to the second controller; The visual system (202) is used to obtain the worker's location data and the model of the battery pack to be disassembled; The second controller is used to calculate the optimal placement posture of the battery pack to be disassembled based on the position data of the worker and the model of the battery pack to be disassembled, and control the transfer robot arm (203) to take out the battery pack to be disassembled after preliminary disassembly from the mechanical disassembly station (1) and place it on the placement table (201) according to the optimal placement posture.

7. The lithium battery recycling and disassembly system according to claim 6, characterized in that: When the second controller calculates the optimal placement posture of the battery pack to be disassembled according to the position data of the worker and the model of the battery pack to be disassembled, the second controller executes: Obtaining an optimal relative posture between the battery pack to be disassembled and the worker according to the model of the battery pack to be disassembled; The optimal placement posture is calculated according to the optimal relative posture and the position data of the worker.

8. The lithium battery recycling and disassembly system according to claim 7, characterized in that: The manual disassembly station (2) further includes an identity recognition device, which is electrically connected to the second controller and is used to identify the identity of the worker; When the second controller obtains the optimal relative posture between the battery pack to be disassembled and the worker according to the model of the battery pack to be disassembled, the second controller executes: According to the identity of the worker and the model of the battery pack to be disassembled, the optimal relative posture between the battery pack to be disassembled and the worker is obtained by querying in a preset optimal relative posture query table.

9. The lithium battery recycling and disassembly system according to claim 8, characterized in that: The second controller is also used to count the total number of standing points of the worker in this secondary disassembly work and the standing duration of the worker at each standing point, and judge whether it is necessary to adjust the optimal relative posture between the model of the battery pack to be disassembled and the worker based on the total number of points. If necessary, adjust the corresponding optimal relative posture in the optimal relative posture query table based on the standing duration of each standing point.

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