Battery pack disassembly method and disassembly line

Abstract

The patent belongs to the technical field of battery pack disassembly, and relates to a battery pack disassembly method. An outer shell disassembly visual camera is used to collect point cloud data of a battery pack outer shell, a visual controller is used to obtain outer shell cutting track point data, and laser cutting is used, which is suitable for cutting of outer shells of different specifications of battery packs. A first visual camera is used to collect a depth map of an electrode connecting piece, a visual controller is used to process and obtain base point coordinates of electrode centers corresponding to each electrode connecting piece, and laser cutting is used. A second visual camera is used to obtain unloading coordinates of the cut electrode connecting piece, and the electrode connecting piece can be automatically unloaded. Power conveying lines are used between the stations to transfer materials, realize online processing, have high efficiency, high flexibility and good safety. The patent also provides a battery pack disassembly line.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of battery pack disassembly, and particularly relates to a battery pack disassembly method and a battery pack disassembly line. BACKGROUND

[0002] New energy technology is widely used in vehicles and carrying equipment. As one of the core components of new energy technology, power batteries cannot meet the demand of providing power after being used for a certain period and decaying below the design requirement. In the near future, there will be a peak of recycling and utilization of power batteries of new energy vehicles.

[0003] The battery pack disclosed by the patent generally comprises a battery body, a base and a shell. The battery body is installed on the upper side of the base, and the shell is arranged on the outer side of the battery body. The base edge is provided with a base connecting edge extending out of the edge of the battery body. The lower end of the shell is provided with a shell connecting edge fixedly connected with the base connecting edge. The shell connecting edge and the base connecting edge are connected (usually connected by a connecting piece such as a screw, or by adhesion, welding, etc.). The battery body is composed of a plurality of groups of battery monomers. Each battery monomer is provided with two electrodes at the upper end. Each battery monomer is electrically connected together through the electrode connecting piece connected to the electrode.

[0004] The existing battery pack recycling needs to disassemble the battery monomers for subsequent separation and recycling.

[0005] The patent is an improvement on the separation link of the shell and the electrode connecting piece, and relates to the disassembly and recycling of the shell and the electrode connecting piece. In the prior art, the shell disassembly is manually disassembled, such as disassembling screws and manually cutting. The operation is troublesome, inefficient and difficult to disassemble manually. The electrode connecting piece is separated by a milling cutter device that mills the electrode connecting piece and the electrode connecting position. The cutting in the milling process is easy to cause short circuit between the battery units, causing installation hazards. In addition, the inventor of the patent found that the processing of the above-mentioned link is transferred to the next link processing device after being processed on each device, which is difficult to realize the connection of the automatic production line. SUMMARY

[0006] One object of the present application is to solve the problems in the prior art that the battery pack is manually disassembled in the shell and electrode connecting piece separation link, the operation is troublesome and inefficient, the electrode connecting piece is separated by a milling cutter device, which has safety hazards, and it is difficult to realize the connection of the automatic production line. The battery pack disassembly method adopts visual technology and laser cutting to cut the shell and the electrode connecting piece, adopts visual technology and a connecting piece blanking station to realize automatic taking of the connecting piece, and adopts a power conveying line to transfer materials between the stations.

[0007] In order to solve the above technical problems, the present application adopts the following technical scheme:

[0008] The battery pack disassembly method comprises:

[0009] S200 cutting the battery pack shell: the battery pack enters the rotating table of the shell cutting station; the deviation vision camera collects the angle a of the battery pack relative to the first reference datum; the rotating table adjusts the angle a according to the position data fed back by the deviation vision camera, and adjusts the battery pack to the preset angle; the shell disassembly vision camera collects the point cloud data of one section of the side of the battery pack shell according to the section collection scheme; the point cloud data is matched with the battery pack shell section data model preset by the shell cutting vision controller to obtain the cutting track point data of the section; the first laser cutter cuts one section of the battery pack shell along the cutting track constructed by the cutting track point data; the position of the battery pack shell is rotated and switched by the rotating table, the shell disassembly vision camera collects the point cloud data of the next section, and the first laser cutter cuts the section until all sections are cut;

[0010] S300 removing the battery pack shell: the battery pack with the cut shell moves from the rotating table to the battery pack shell removal station of the second power conveying line downstream, and the battery pack shell is removed.

[0011] S400 cutting the electrode connecting piece: the battery pack enters the connecting piece cutting station; the connecting piece disassembly first vision camera collects the first depth map of the overhead angle of the battery body; the first depth map is processed to obtain the contour features of the electrode connecting piece; the contour features are matched with the first feature model preset by the connecting piece disassembly vision controller to obtain the base point coordinates of the electrode center corresponding to the electrode connecting piece; the second laser cutter is used to cut the electrode connecting piece based on the base point coordinates, so that the connection between the electrode connecting piece and the electrode is separated.

[0012] S500 electrode connecting piece blanking: the battery pack enters the connecting piece blanking station; the connecting piece disassembly second vision camera collects the second depth map of the overhead angle of the battery body; the second depth map is processed to obtain the overhead contour features of the battery body and the contour features of the electrode connecting piece; the contour features are matched with the second feature model preset by the connecting piece disassembly vision controller to obtain the material taking coordinates of the electrode connecting piece; the included angle β of the battery body and the second reference datum is obtained; the corresponding electrode connecting piece is transferred to the blanking area according to the material taking coordinates and the included angle β.

[0013] The battery pack disassembly method has the following advantages. The shell cutting station adopts a shell disassembly visual camera to collect point cloud data of the battery pack shell, cooperates with a shell cutting visual controller to obtain shell cutting track point data, and adopts laser cutting, which is suitable for cutting of battery pack shells of different specifications. Laser cutting has high controllability and high efficiency of the cutting path. The connecting piece cutting station adopts a connecting piece disassembly first visual camera to collect a depth map of the electrode connecting piece, processes and obtains base point coordinates of the electrode center corresponding to each electrode connecting piece through a connecting piece disassembly visual controller, and adopts laser cutting, which has high flexibility, is suitable for cutting of electrode connecting pieces of battery units of different specifications and different arrangement modes, and has controllable cutting position and depth, and is safe and will not cause short circuit between electrodes. The connecting piece blanking station adopts a connecting piece disassembly second visual camera to cooperate with a connecting piece disassembly visual controller to obtain blanking coordinates of the cut electrode connecting piece, and can automatically take down the electrode connecting piece. The power conveying line is used for transferring materials between stations to realize online processing, high efficiency and high flexibility.

[0014] Further, after the battery pack is adjusted to the preset angle, a step of detecting the distance between the battery pack and a reference position of the rotating table is further included. When the distance is greater than a preset value, the control system of the shell cutting station issues a warning prompt. By using the above control, the battery pack can be avoided from exceeding the working movement range of the first laser cutter and the working range of the shell disassembly visual camera, and the battery pack can be adjusted to the middle position of the rotating table through the warning prompt.

[0015] Further, the making of the data model includes that the shell disassembly visual camera collects point cloud data of the side section of the battery pack according to a collection scheme, and the shell cutting visual controller receives a marking operation of a user to mark key points of cutting on the point cloud data of each section, the key points including a starting position point and a terminal position point of the cutting route, and a position point of an inflection point.

[0016] Further, the making of the first feature model includes that the connecting piece disassembly visual controller collects data of the battery body according to the connecting piece disassembly first visual camera (ii) to generate a first depth map of a top view angle, processes the first depth map to obtain a battery body contour feature map containing an electrode connecting piece contour feature, receives a contour feature map of at least part of the battery body containing at least one shape contour feature of the electrode connecting piece as a first feature model base map, and receives a contour feature marking operation of each electrode connecting piece shape to mark each first feature model base map to obtain the first feature model. The first contour feature marking includes an end segment contour feature containing only one electrode contour in the electrode connecting piece contour feature and an electrode contour center point.

[0017] Further, the manufacturing of the second feature model comprises: the tab disassembly visual controller collects data of the battery body from the second visual camera for tab disassembly, generates a second depth map from a top view, and processes the second depth map to obtain a battery body contour feature map containing electrode tab contour feature; the tab disassembly visual controller receives a contour feature map of at least part of the battery body containing at least one shape contour feature of the electrode tab as a second feature model base map, and receives a contour feature marking operation of each electrode tab shape to obtain a second feature model; the second feature contour marking comprises electrode tab contour feature and center point.

[0018] Further, the first laser cutter cuts the lower side of the battery pack shell side wall at an angle θ relative to the horizontal plane, θ∈[30, 75] degrees. Since there is a certain spacing space between the inner wall of the battery pack shell and the outer wall of the battery body, when cutting the side wall of the battery pack shell, if there is a section with a terminal seat structure, the above angle can ensure that the cutting beam is in the spacing space, avoiding cutting the battery body.

[0019] Further, it further comprises: S100 loading step: loading materials to the first power conveying line through the lifting material transfer machine, and conveying the materials to the shell cutting station through the first power conveying line. S600 unloading step: unloading the battery pack with electrode tabs unloaded from the tab unloading station through the lifting material transfer machine. The above scheme can realize the automatic loading and unloading of the battery pack, improve the work efficiency, and reduce the labor intensity of manual loading and unloading.

[0020] Another object of the present application is to provide a battery pack disassembly line, comprising: a first power conveying line, a shell cutting station, a second power conveying line, a tab cutting station and a tab unloading station.

[0021] The first power conveying line is used for conveying the battery pack to be cut.

[0022] The outer casing cutting station includes: a rotating platform with: a conveying and rotating device for supporting materials and connecting to the downstream end of the first power conveyor line, equipped with a material detection element for sensing material arrival; a rotating drive mechanism for driving and controlling the rotation and angle of the conveying and rotating device; a correction vision camera, configured above the conveying and rotating device, for acquiring the angle α of the battery pack relative to a first reference datum; a robot arm with at least 6 degrees of freedom; an outer casing disassembly vision camera, configured at the end of the robot arm, for acquiring point cloud data of a segment of the side of the battery pack outer casing according to the acquisition scheme; an outer casing cutting vision controller, which matches the point cloud data with a preset battery pack outer casing segment data model to obtain the cutting trajectory point data of that segment; the robot arm controls the first laser cutter to cut a segment of the battery pack outer casing according to the cutting trajectory point data; by rotating the rotating platform to switch the position of the battery pack outer casing, the outer casing disassembly vision camera acquires point cloud data of the next segment, and the robot arm controls the first laser cutter to cut the segment until all segments are cut.

[0023] The second power conveyor line connects to the conveyor rotation device of the outer casing cutting station and is equipped with a battery pack outer casing removal station.

[0024] The connecting piece cutting station includes: a third power conveyor line, connected to the downstream end of the second power conveyor line, equipped with a material detection element for sensing material arrival; a first drive module, having at least XYZ three-axis degrees of freedom; a connecting piece disassembly first vision camera, driven by the first drive module; a second laser cutter, driven by the first drive module; the first drive module drives the connecting piece disassembly first vision camera to acquire a first depth map of the battery body from a top-down angle; a connecting piece disassembly vision controller processes the first depth map to obtain a battery body contour feature map including the electrode connecting piece contour features; the connecting piece disassembly vision controller matches the electrode connecting piece contour features with a preset first feature model to obtain the base point coordinates of the center of the corresponding electrode of the electrode connecting piece; the first drive module drives the second laser cutter to cut the electrode connecting piece based on the base point coordinates, separating the connection between the electrode connecting piece and the electrode.

[0025] The connecting piece blanking station comprises: a fourth power conveying line connected to the downstream end of the third power conveying line, and provided with a fourth power conveying line material detection element for sensing the material position; a second driving module having at least XYZ three-axis freedom; the second driving module drives the second driving module connecting piece to disassemble the second vision camera to collect the second depth map of the battery body top view angle; the connecting piece disassembly vision controller is used for processing the second depth map to obtain the battery body contour feature map containing the electrode connecting piece contour feature; the connecting piece disassembly vision controller matches the contour feature with the preset second feature model to obtain the electrode connecting piece taking material coordinates and the angle β between the battery body and the second reference datum; the second driving module drives the connecting piece taking material device to transfer the corresponding electrode connecting piece to the blanking area according to the taking material coordinates and the angle β.

[0026] Further, the lifting material transfer machine connected to the upstream end of the first power conveying line and / or connected to the downstream end of the fourth power conveying line is further included, and the lifting material transfer machine comprises: a power conveying device having two power conveying parts arranged apart; a lifting device for synchronously lifting the power conveying parts; a base arranged at the feeding end of the power conveying device for guiding and supporting the forklift, and having a fork arm supporting part extending into the two power conveying parts and arranged apart.

[0027] By arranging the lifting material transfer machine, the forklift loading and / or unloading can be directly connected, and the material transfer efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a three-dimensional schematic view of the battery pack disassembly line

[0029] Figure 2 It is a three-dimensional schematic view of the battery pack disassembly line removing the outer cover

[0030] Figure 3 It is a three-dimensional schematic view of the battery pack disassembly line removing the outer cover from another angle

[0031] Figure 4 It is a three-dimensional schematic view of the lifting material transfer machine

[0032] Figure 5 It is a three-dimensional schematic view of the lifting material transfer machine from another angle

[0033] Figure 6 It is a three-dimensional schematic view of part of the lifting material transfer machine

[0034] Figure 7 It is a three-dimensional schematic view of part of the lifting material transfer machine from another angle

[0035] Figure 8 It is a three-dimensional schematic view of (part of the) loading material

[0036] Figure 9 Perspective view of the lifting material transfer machine (located at the front end of the battery pack disassembly line) loading material

[0037] Figure 10 Perspective view of the lifting material transfer machine (located at the front end of the battery pack disassembly line) loading material

[0038] Figure 11 Perspective view of the equipment for the shell cutting station

[0039] Figure 12 Perspective view of the equipment for the shell cutting station from another angle

[0040] Figure 13 Perspective view of the equipment for the shell cutting station loading battery pack

[0041] Figure 14a Top view of the initial state of the battery pack loaded on the rotating table

[0042] Figure 14b Top view of the battery pack loaded on the rotating table after angle correction

[0043] Figure 15a Point cloud data (or data model) diagram of the first section of the battery pack shell

[0044] Figure 15b Point cloud data (or data model) diagram of the second section of the battery pack shell

[0045] Figure 15c Point cloud data (or data model) diagram of the third section of the battery pack shell

[0046] Figure 15d Point cloud data (or data model) diagram of the fourth section of the battery pack shell

[0047] Figure 16 Cutting trajectory diagram of the first section of the battery pack based on cutting trajectory point data

[0048] Figure 17 Cutting trajectory diagram of the second section of the battery pack based on cutting trajectory point data

[0049] Figure 18 Cutting trajectory diagram of the third section of the battery pack based on cutting trajectory point data

[0050] Figure 19 Cutting trajectory diagram of the fourth section of the battery pack based on cutting trajectory point data

[0051] Figure 20Perspective view of the device for connecting the cutting station and the tab blanking station

[0052] Figure 21 For Figure 20 Enlarged view of the Q1 site

[0053] Figure 22 Perspective view of the device for connecting the cutting station and the tab blanking station loaded with the battery pack

[0054] Figure 23 Perspective view of the device for connecting the cutting station and the tab blanking station loaded with the battery pack from another angle

[0055] Figure 24 Perspective view of the battery pack entering the tab cutting station

[0056] Figure 25a Part of the first (second) depth map obtained by scanning the battery pack body for the first time

[0057] Figure 25b First (second) depth map obtained by splicing after three scans

[0058] Figure 25c Battery body contour feature map obtained after the first time gray processing of the first (second) depth map

[0059] Figure 25d Battery body contour feature map obtained after the second time gray processing of the first (second) depth map

[0060] Figure 25e For Figure 25d Enlarged view of the local part

[0061] Figure 26a Schematic diagram of the first feature model (marking the first kind of end piece contour feature)

[0062] Figure 26b Schematic diagram of the first feature model (marking the second kind of end piece contour feature)

[0063] Figure 26c Schematic diagram of the first feature model (marking the third kind of end piece contour feature)

[0064] Figure 27 Schematic diagram of obtaining the base point coordinates of all electrode connecting pieces

[0065] Figure 28a Schematic diagram of the second feature model (marking the first kind of electrode connecting piece contour feature)

[0066] Figure 28b Schematic diagram of the second feature model (marking the second kind of electrode connecting piece contour feature)

[0067] Figure 28c Schematic diagram for obtaining the top view profile edge feature of the battery pack body as the second linear feature

[0068] Figure 29a Schematic diagram for obtaining the angle between the second linear feature and the second reference datum

[0069] Figure 29b Schematic diagram for obtaining all the coordinates and angles of the electrodes taken

[0070] Figure 30 Top view of the battery pack body after all the electrode connection tabs have been cut

[0071] Figure 31 Top view of the battery pack body after some of the electrode connection tabs have been taken

[0072] Figure 32 Schematic diagram of the housing cutting station outer cover removing the front side plate

[0073] Figure 33 Schematic diagram of the Figure 32 Enlarged view of the Q2 site

[0074] Figure 34 Schematic diagram of the connection tab cutting general outer cover removing the front side plate

[0075] Figure 35 Flowchart of the battery pack disassembly process

[0076] Figure 36 Flowchart of the battery pack housing cutting process

[0077] Figure 37 Flowchart of the electrode connection tab cutting process

[0078] Figure 38 Flowchart of the electrode connection tab blanking process DETAILED DESCRIPTION

[0079] The specific embodiments of the present application will be described below with reference to the drawings. In the description of the present application, it should be noted that the terms "upper", "lower", "vertical", "horizontal", "radial", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0080] Embodiments of the present application generally relate to a battery pack disassembly method and a battery pack disassembly line.

[0081] Referring to FIG. 14, the material 100 described in the patent includes the turnover seat 100' and the battery pack 1 collectively, and of course in other embodiments, the turnover seat 100' is not required, and the material 100 refers to the battery pack 1.

[0082] Referring to Figures 16 to 19 and Figure 24 In an embodiment, the battery pack 1 includes a base 1a, a battery body 1' mounted on the base 1a, and a battery pack shell 10 covering the battery body 1'. The battery body 1' is composed of a plurality of battery cells 1.1, and the electrodes 1.10 between the battery cells 1.1 are connected by electrode connecting pieces 1.11. The electrode connecting pieces 1.11 correspond to the electrodes 1.10 and are provided with two electrode assembly holes 1.10'. The electrode connecting pieces 1.11 are sleeved on the corresponding electrodes 1.10 through the electrode assembly holes 1.10 and are fixedly connected (connecting pieces such as screws; adhesion, welding, etc.). The base 1a is provided with a base connecting edge 102 extending out of the side of the battery body 1', and the lower end of the battery pack shell 10 is correspondingly provided with a shell connecting edge 101. The shell connecting edge 101 and the base connecting edge 102 are connected, and the shell connecting edge 101 and the base connecting edge 102 are generally connected by connecting pieces such as threaded connecting pieces. As shown in Figure 16 In some embodiments, the shell connecting edge 101 and the base connecting edge 102 are connected by connecting holes 103 through screw connection (not shown). As shown in Figure 19 The battery pack shell 10 is provided with a terminal seat structure 102'. Since the terminal seat structure 102' has a connecting structure with the battery body 1', it needs to avoid cutting the battery pack shell 10. The battery pack shell 10 at this position is generally provided with a partition layer between the battery body 1', so the cutting of the battery pack shell 10 around the terminal seat structure 102' can be directly performed.

[0083] The material of the battery pack shell 10 is commonly resin, carbon fiber, etc., and the patent is also applicable to the disassembly of other existing materials for the battery pack shell 10. The cutting of the battery pack shell in the patent refers to the cutting and separation of the connection (such as the connection of the base) between the battery pack shell 10 and the battery pack 1; the cutting of the electrode connecting piece refers to the cutting and separation of the connection between the electrode connecting piece 1.11 and the electrode 1.10.

[0084] Referring to Figures 1 to 3The battery pack disassembly line of one embodiment of the patent comprises: a lifting material transfer machine a, a first power conveying line b, a shell cutting station c, a second power conveying line d, a connecting piece cutting station e, a connecting piece blanking station f, and a lifting material transfer machine g. The lifting material transfer machine a is connected to the upstream end of the first power conveying line b. The shell cutting station c is connected to the downstream end of the first power conveying line b. The second power conveying line d is connected to the downstream end of the shell cutting station c. The connecting piece cutting station e and the connecting piece blanking station f are connected to the downstream end of the second power conveying line d in sequence. The lifting material transfer machine g is connected to the downstream end of the connecting piece blanking station f.

[0085] Referring to Figure 31 , and Figures 1 to 30 , the disassembly method of the battery pack of the patent is described as follows:

[0086] S100 loading step: feeding materials 100 to the first power conveying line b through the lifting material transfer machine a. The first power conveying line b conveys the materials to the shell cutting station c.

[0087] S200 cutting the battery pack shell:

[0088] S201: The battery pack 1 enters the rotating table c1 of the shell cutting station c.

[0089] S202: The deviation correction vision camera i0 above the rotating table c1 collects the position data of at least one first linear feature of the battery pack 1. The position data includes the angle α of the first linear feature w1 relative to the first reference datum.

[0090] One preferred scheme of the first reference datum of the patent is the coordinate system of the deviation correction vision camera i0, such as the imaging plane coordinate system in the angle α of the battery pack 1 flow direction and the first linear feature. Of course, it can also be the angle α of the first linear feature in other directions of the coordinate system of the deviation correction vision camera i0. Another scheme of the first reference datum is a fixed reference position of the rotating table, such as the side of the support bracket c111. By collecting the angle α between the first linear feature and the first reference datum, if the angle α exceeds the preset expected range, the corresponding angle is adjusted by rotating the rotating table c1, and if the angle α is within the preset expected range, the corresponding angle of the rotating table c1 is adjusted to 0 degrees, i.e. no adjustment is needed. If the first reference datum is parallel to the flow direction of the battery pack 1, the most preferred scheme is to adjust the angle between the first linear feature w1 and the first reference datum to 0 degrees. If the first reference datum is at a certain angle to the flow direction of the battery pack 1, the angle between the first linear feature w1 and the first reference datum is adjusted to the corresponding angle to adjust the angle between the battery pack 1 and the flow direction to be parallel. Of course, the preset angle can have a certain deviation, such as a range of 0 degrees ± 0.5 degrees.

[0091] The deviation correction vision camera i0 adopts an industrial plane camera, such as an industrial area camera of Hikvision, and is arranged above the rotating table c1, preferably above the middle part. The first linear feature is a linear feature identified by the deviation correction vision camera i0 when collecting the edge of the battery pack 1, such as the top edge of the battery pack 1, the base edge, or other identifiable linear features on the battery pack 1. The first linear feature is preferably extended along the flow direction of the battery pack 1. The selection of the first linear feature can be made by the vision controller v1 after collecting the top view feature of the battery pack 1 by the deviation correction vision camera i0, and the position where the linear feature is more obvious is selected. The angle α is obtained by comparing the algorithm built in the control module matched with the deviation correction vision camera i0 with the plane coordinate system. Specifically, the angle between the first linear feature and the flow direction of the battery pack 1 (reference direction, i.e., the preset angle between the first linear feature w1 and the plane coordinate system). The technical means for collecting the angle of the linear feature of the target object by the algorithm built in the control module matched with the deviation correction vision camera i0 is existing, such as the control module matched with the industrial area camera of Hikvision, specifically the industrial camera of Hikvision MV-CS050-10GM model, and the lens of Hikvision MVL-HF0624M-10MP model, which will not be described in detail in this patent. Of course, in other embodiments, the deviation correction vision camera i0 can also adopt other existing industrial cameras that can collect the angle of the battery pack 1.

[0092] Generally, the angle of the battery pack 1 when loaded and the change in position during transmission cannot ensure that the battery pack 1 enters the shell cutting station c within the expected angle range, resulting in cutting of the battery pack shell 10. Therefore, the angle of the battery pack 1 after entering the rotating table c1 needs to be adjusted to the required angle range.

[0093] The function of collecting the angle α is to obtain the angle between the battery pack 1 and the first reference, and to determine whether the angle α needs to be adjusted. If the angle α exceeds the preset expected range, the position of the battery pack 1 is rotated to adjust the reference before cutting of the battery pack shell 10. Because the position of the battery pack 1 after the subsequent rotation of the rotating table c1 needs to be determined according to the initial position of the battery pack 1, the position of the battery pack shell 1 needs to be adjusted. Preferably, the angle α is 0 or 180 degrees, or close to the above angles.

[0094] In one embodiment, as Figure 14a and Figure 14b, as shown in FIG. 1, the vision controller collects the top edge feature of the battery pack 1 as the first linear feature w1, obtains the coordinate system X direction angle a of the first linear feature w1 and the deviation vision camera i0, and sends the angle a data to the rotation driving mechanism c12 of the rotating table c1. The rotation driving mechanism c12 rotates the conveying rotating device c11 of the rotating table c1 by an angle a in the adjustment direction, as shown in FIG. 2, which rotates by an angle a in the counterclockwise direction. At this time, the first linear feature w1 edge is parallel to the coordinate system X direction of the deviation vision camera i0, as shown in FIG. 3. Figure 14a As shown in FIG. 4, the vision controller collects the top edge feature of the battery pack 1 as the first linear feature w1, obtains the coordinate system X direction angle a of the first linear feature w1 and the deviation vision camera i0, and sends the angle a data to the rotation driving mechanism c12 of the rotating table c1. The rotation driving mechanism c12 rotates the conveying rotating device c11 of the rotating table c1 by an angle a in the adjustment direction, as shown in FIG. 2, which rotates by an angle a in the counterclockwise direction. At this time, the first linear feature w1 edge is parallel to the coordinate system X direction of the deviation vision camera i0, as shown in FIG. 3. Figure 14b As shown in FIG. 4, the vision controller collects the top edge feature of the battery pack 1 as the first linear feature w1, obtains the coordinate system X direction angle a of the first linear feature w1 and the deviation vision camera i0, and sends the angle a data to the rotation driving mechanism c12 of the rotating table c1. The rotation driving mechanism c12 rotates the conveying rotating device c11 of the rotating table c1 by an angle a in the adjustment direction, as shown in FIG. 2, which rotates by an angle a in the counterclockwise direction. At this time, the first linear feature w1 edge is parallel to the coordinate system X direction of the deviation vision camera i0, as shown in FIG. 3. Figure 14a As shown in FIG. 4, the vision controller collects the top edge feature of the battery pack 1 as the first linear feature w1, obtains the coordinate system X direction angle a of the first linear feature w1 and the deviation vision camera i0, and sends the angle a data to the rotation driving mechanism c12 of the rotating table c1. The rotation driving mechanism c12 rotates the conveying rotating device c11 of the rotating table c1 by an angle a in the adjustment direction, as shown in FIG. 2, which rotates by an angle a in the counterclockwise direction. At this time, the first linear feature w1 edge is parallel to the coordinate system X direction of the deviation vision camera i0, as shown in FIG. 3. Figure 14b As shown in FIG. 4, the vision controller collects the top edge feature of the battery pack 1 as the first linear feature w1, obtains the coordinate system X direction angle a of the first linear feature w1 and the deviation vision camera i0, and sends the angle a data to the rotation driving mechanism c12 of the rotating table c1. The rotation driving mechanism c12 rotates the conveying rotating device c11 of the rotating table c1 by an angle a in the adjustment direction, as shown in FIG. 2, which rotates by an angle a in the counterclockwise direction. At this time, the first linear feature w1 edge is parallel to the coordinate system X direction of the deviation vision camera i0, as shown in FIG. 3.

[0095] In some embodiments, after the battery pack 1 is adjusted to the preset angle, a step of detecting the distance h1 between the battery pack 1 and a reference position of the rotating table c1 is further included. When the distance h1 is greater than a preset value, the vision controller v1 issues a warning prompt. By using the above control, the battery pack 1 can be prevented from exceeding the working movement range of the first laser cutter L1 and the working range of the shell disassembly vision camera, and the battery pack 1 can be adjusted to the middle position of the rotating table c1 through the warning prompt.

[0096] As shown in FIG. 4, the vision controller collects the top edge feature of the battery pack 1 as the first linear feature w1, obtains the coordinate system X direction angle a of the first linear feature w1 and the deviation vision camera i0, and sends the angle a data to the rotation driving mechanism c12 of the rotating table c1. The rotation driving mechanism c12 rotates the conveying rotating device c11 of the rotating table c1 by an angle a in the adjustment direction, as shown in FIG. 2, which rotates by an angle a in the counterclockwise direction. At this time, the first linear feature w1 edge is parallel to the coordinate system X direction of the deviation vision camera i0, as shown in FIG. 3. Figure 14a As shown in FIG. 4, the vision controller collects the top edge feature of the battery pack 1 as the first linear feature w1, obtains the coordinate system X direction angle a of the first linear feature w1 and the deviation vision camera i0, and sends the angle a data to the rotation driving mechanism c12 of the rotating table c1. The rotation driving mechanism c12 rotates the conveying rotating device c11 of the rotating table c1 by an angle a in the adjustment direction, as shown in FIG. 2, which rotates by an angle a in the counterclockwise direction. At this time, the first linear feature w1 edge is parallel to the coordinate system X direction of the deviation vision camera i0, as shown in FIG. 3.

[0097] S203 The rotating table c1 adjusts the angle a according to the position data fed back by the deviation vision camera i0, and adjusts the battery pack 1 to a preset angle. Specifically, the vision controller sends the angle a data to the rotation driving mechanism c12 of the rotating table c1, and the rotation driving mechanism c12 rotates the conveying rotating device c11 of the rotating table c1 by an angle a in the adjustment direction.

[0098] In this embodiment, the battery pack 1 enters the shell cutting station c at an expected angle of 0 or 180 degrees. Of course, in other embodiments, a specific angle can be selected as needed.

[0099] S204 The shell disassembly visual camera i collects the point cloud data of one section of the side of the battery pack shell 10 according to the collection scheme.

[0100] The collection scheme of the battery pack shell 10 is specifically divided into sections according to the shape of the battery pack shell 10, such as the number of side surfaces, and in addition, the range of each section is divided considering the motion range and efficiency of the shell disassembly visual camera i and the first laser cutter L1. The advantage of dividing by surface is to facilitate the planning of the cutting path, and to ensure that the shell disassembly visual camera i and the first laser cutter L1 are within the range of travel, avoiding interference, while improving the collection and cutting efficiency. In subsequent embodiments, one side surface is used as a section for division, and in other embodiments, two or more surfaces can be used as a section for division. The specific consideration can be based on the motion range of the shell disassembly visual camera i and the first laser cutter L1, as well as the working conditions of the equipment driving the shell disassembly visual camera i and the first laser cutter L1, such as the mechanical hand c2.

[0101] The preferred scheme of the shell disassembly visual camera i is a structured light 3D camera. In this patent, the technical means for the shell disassembly visual camera i to collect point cloud data is existing technology, such as using a 3D camera of the Meixiangda UHP-140 model and the supporting system.

[0102] Figure 2 shows a schematic diagram of the battery pack shell disassembly system according to an embodiment of the present application. Figures 16 to 19 As shown in one embodiment, the side of the battery pack shell 10 has four surfaces, and according to the collection scheme, the side of the battery pack shell 10 is divided into four sections ①-④ according to each surface. The rotating table c1 rotates 90 degrees when switching to the next section according to the collection scheme, specifically when the control module of the rotating table c1 receives that a section has been collected, and of course the system needs to confirm whether the shell disassembly visual camera i avoids the rotation trajectory of the battery pack 1, and rotates 90 degrees to the next section.

[0103] S205 The visual controller v2 matched with the shell disassembly visual camera i matches the point cloud data with the pre-set battery pack shell section data model to obtain the cutting trajectory point data of the section.

[0104] S206 The first laser cutter L1 cuts one section of the battery pack shell 10 along the cutting trajectory constructed by the cutting trajectory point data.

[0105] In one embodiment, as shown in Figure 2, the shell disassembly visual camera i uses the point cloud data of the battery pack shell 10 of surface ①, and the visual controller v2 matches the point cloud data with the pre-set data model of the battery pack shell section ①, such as Figure 16 Figure 15a ​As shown, the data of cutting trajectory points 1-1 to 1-5 corresponding to cutting trajectory points 1 to 5 in the data model are obtained for the battery pack shell section ①, that is, the coordinate data of key points 1-1 to 1-5. The first laser cutter L1 cuts the battery pack shell section ① along the cutting trajectory P1 constructed by the above cutting trajectory points 1-1 to 1-5.

[0106] See Figure 17 The rotating platform c1 rotates and switches the position of the battery pack outer shell 10 relative to the outer shell disassembly vision camera i to the battery pack outer shell section ②. The outer shell disassembly vision camera i collects point cloud data of section ②, and the vision controller v2 matches the point cloud data with a preset data model of the battery pack outer shell section ②, such as... Figure 15b As shown, the data of cutting trajectory points 2-1 to 2-4 corresponding to cutting trajectory points 1 to 4 in the data model are obtained for the battery pack shell section ②, that is, the coordinate data of key points 2-1 to 2-4. The first laser cutter L1 cuts the battery pack shell section ② along the cutting trajectory P2 constructed by the above-mentioned cutting trajectory points 2-1 to 2-4.

[0107] See Figure 18 The rotating platform c1 rotates and switches the position of the battery pack outer shell 10 relative to the outer shell disassembly vision camera i to the battery pack outer shell section ③. The outer shell disassembly vision camera i collects point cloud data of section ③, and the vision controller v2 matches the point cloud data with a preset data model of the battery pack outer shell section ③, such as... Figure 15c As shown, obtain the battery pack outer casing section ③.

[0108] The data of cutting trajectory points 3-1 to 3-4 corresponding to cutting trajectory points 1 to 4 in the data model, i.e., the coordinate data of key points 3-1 to 3-4, are used by the first laser cutter L1 to cut the segment ③ of the battery pack shell 10 along the cutting trajectory P3 constructed from the data of the cutting trajectory points 3-1 to 3-4.

[0109] See Figure 19 The rotating platform c1 rotates and switches the position of the battery pack outer shell 10 relative to the outer shell disassembly vision camera i to the battery pack outer shell section ④. The outer shell disassembly vision camera i collects point cloud data of section ④, and the vision controller v2 matches the point cloud data with a preset data model of the battery pack outer shell section ④, for reference. Figure 15d As shown, the data of cutting trajectory points 4-1 to 4-8 corresponding to the cutting trajectory points 1 to 8 of the data model are obtained for the battery pack shell section ④, that is, the coordinate data of key points 4-1 to 4-8. The first laser cutter L1 cuts the battery pack shell section ④ along the cutting trajectory P8 constructed by the above cutting trajectory points 4-1 to 4-8 until the battery pack shell 10 has been switched.

[0110] It should be noted that, for the convenience of understanding, Figures 15a to 15d the schematic diagram of the corresponding data model is only for the convenience of explaining the distribution of the cutting track points, and is not the corresponding Figures 16 to 19 real captured image. As Figure 15d the part of the terminal seat structure 102' is enlarged for the convenience of explaining the arrangement of the track points in this section, the display ratio is not the corresponding Figure 19 ratio of the coordination of each part.

[0111] The first laser cutter L1 cuts section ② until the cutting is completed and the ②-④ section is left.

[0112] As Figures 16 to 19 shown, the cutting track points at the beginning and end of each section are located outside the shell connecting edge 101, and the end parts of the cutting tracks of adjacent sections intersect, which is to make the cutting track form a closed loop to ensure that the battery pack shell 10 can be completely cut off.

[0113] As Figure 16 shown, the configuration of cutting track points 1-4 is to avoid the connecting structure (such as connecting hole 103), and similar solutions are also used in other sections. Of course, in some embodiments, if the connecting structure (such as connecting hole 103) does not affect the cutting track, cutting track points 1-4 may not be needed, and similar solutions are also used in other sections.

[0114] As Figure 16 shown, cutting track points 1-2 and 1-3 form a step because a protruding part 104 is formed on the surface of the battery pack shell 10 ①, and the cutting track points need to be planned according to the shape of the surface of the battery pack shell 10 ①. Of course, in other embodiments, without the protruding part 104, cutting track point 1-3 is not needed.

[0115] As Figure 15d and Figure 19 shown, the configuration of data model cutting track points 2 to 7 and cutting track points 4-2 to 4-7 is to avoid the terminal seat structure 102'.

[0116] In one embodiment, the first laser cutter L1 cuts the battery pack shell 10 at an angle θ relative to the horizontal plane. Preferably, θ ∈ [30, 75] degrees, preferably 40-50 degrees, such as 40 degrees, 45 degrees, 50 degrees, etc. Since there is a certain spacing between the inner wall of the battery pack shell 10 and the battery body 1', when cutting the side wall of the battery pack shell 10, such as the section provided with the terminal seat structure 102', the above angle can ensure that the cutting beam is in the spacing, and the laser beam is controlled between the inner wall of the battery pack shell 10 and the outer wall of the battery body 1', avoiding cutting the battery body 1', and this angle range can effectively avoid the interference of the battery pack shell 10 with the first laser cutter L1.

[0117] The following explains the creation of the data model. Each time the battery pack casing 10 is cut to different specifications, the data model needs to be remade. Of course, the data models of several specifications of battery pack casing 10 can also be made together in advance.

[0118] See 15a-15d for a data model of one embodiment of the present invention. The battery pack shell 10 is square and has four sides. The battery pack shell 10 is divided into four sections, ①-④, according to each side as a data acquisition scheme.

[0119] The first section data model is created by disassembling the outer casing. The visual camera i captures point cloud data from at least three stereo angles (upper right, upper center, and upper left) as shown in angle 15a. The cloud data captured from each angle are then merged to obtain the data shown in the figure. Figure 15a The data model of the first segment shown includes point cloud data of the side and bottom edge of the first segment of the battery pack housing 10; then, based on the shape of the side wall of the battery pack housing 10, the position of the connection structure (such as the connection hole 103) on the housing connection edge 101, the cutting trajectory points of the key points marked by the user on the human-machine interface of the vision controller v1, including the cutting trajectory points 1 and 5 at the start and end points of the cutting, as well as the inflection points 2 and 3 (protrusion 104) on the housing connection edge 101, and the inflection point 4 (avoiding the connection structure, such as the connection hole 103), the data model of the first segment is obtained.

[0120] Similarly, see Figure 15c The data model for section ② is created by rotating the rotating material table c1 to switch the position of the battery pack shell 10 relative to the shell disassembly vision camera i to section ② of the battery pack shell. The user collects data and marks the cutting trajectory points 1 to 4 of key points in section ② on the human-machine interface of vision controller v1.

[0121] Similarly, see Figure 15c The data model of section ③ is created by rotating the rotating material table c1 to switch the position of the battery pack shell 10 relative to the shell disassembly vision camera i to section ③ of the battery pack shell. The user collects data and marks the cutting trajectory points 1 to 5 of key points of section ③ on the human-machine interface of vision controller v1.

[0122] See Figure 15d, the fourth section data model is made, the position of the battery pack shell 10 relative to the shell disassembly visual camera i is switched to the fourth section by rotating the rotating table c1, data of the fourth section is collected, since the side of the fourth section is a terminal block structure 102', since a partition is arranged between the battery pack shell 10 and the battery body 1' at this position, the terminal block structure 102' can be directly cut around the periphery, and therefore the cutting trajectory point 2 to 7 around the periphery of the terminal block structure 102' is identified as a key point, and the start and end points 1 and 8 are obtained, and the cutting trajectory points 1 to 8 are obtained.

[0123] Preferably, the start and end cutting trajectory points need to be identified outside the shell connecting edge 101, and the cutting trajectory points of adjacent sections are connected to form an intersection, so that the cutting trajectory forms a closed loop, and it is ensured that the battery pack shell 10 can be completely cut off.

[0124] In order to facilitate collection, the angle of the battery pack 1 needs to be corrected before collection.

[0125] In actual cutting, taking the cutting of the first section as an example, the shell disassembly visual camera i captures point cloud data of the first section of the battery pack shell 10 from three stereoscopic angles of the right upper, middle upper and left upper, merges the cloud data captured from each angle to obtain the first section point cloud data, and the visual controller v2 matches the first section point cloud data with the data model of the first section, as shown in Figure 15a , the cutting trajectory point 1-1 to 1-5 corresponding to the cutting trajectory point 1 to 5 of the battery pack shell section 1 and the data model is obtained, that is, the coordinate data of the key points 1-1 to 1-5, the coordinate data of the key points 1-1 to 1-5 is sent to the manipulator c2 controlling the movement of the first laser cutter L1, and the controller of the manipulator c2 constructs the cutting trajectory P1 according to the data of the cutting trajectory point 1-1 to 1-5 to cut the section 1 of the battery pack shell 10, as shown in Figure 16 .

[0126] S300 removes the battery pack shell: the battery pack 1 with the cut shell is moved downstream from the rotating table c1 into the battery pack shell 10 removal station of the second power conveying line d, and the battery pack shell 10 and related electrical accessories such as wire joints and circuit boards 1 are removed. The battery pack shell 10 can be removed manually, which has the advantage of being able to arrange the electrical accessories; of course, it can also be removed by automatic mechanical equipment.

[0127] S400 cuts the electrode connecting piece:

[0128] S401 the battery body 1' enters the connecting piece cutting station e. As shown in Figure 24The battery pack 1 is shown to be removed from the shell of the battery body 1', and the electrodes 1.10 between the battery cells 1.1 are connected by the electrode connecting pieces 1.11. The station cuts the connection between the electrode connecting pieces 1.11 and the electrodes 1.10.

[0129] S402 The connecting piece disassembly first vision camera ii collects the first depth map of the battery body 1' from the top view.

[0130] Specifically, by Figures 20 to 23 The first linear drive mechanism e2 drives the connecting piece disassembly first vision camera ii to scan the battery body 1'. The first linear drive mechanism e2 will be described later.

[0131] The connecting piece disassembly first vision camera ii is a line scanning camera, preferably a 3D line scanning camera. Since the scanning range of the connecting piece disassembly first vision camera ii is limited, the entire first depth map can be spliced by multiple scans. As shown in Figure 25a The depth map part of the first scan is shown, Figure 25b The entire first depth map is obtained by splicing three scans. This segmented scanning and splicing technique is prior art, and the specific implementation process is not described here.

[0132] S403 The vision controller v2 processes the first depth map to obtain a battery body contour feature map containing the electrode connecting piece contour feature 1.11'.

[0133] As shown in the accompanying Figure 25c After the first gray processing, according to the display quality after processing, multiple gray processing can be performed, such as Figure 25d The effect of the second gray processing is shown, Figure 25e The local map of Figure 25d The contour feature of the electrode connecting piece 1.11 is already relatively clear.

[0134] S404 The vision controller v2 matches the contour feature 1.11' with the preset first feature model to obtain the base point coordinates Q1 corresponding to the center of the electrode 1.10. As shown in Figure 25d The contour feature is compared with Figures 26a to 26c The first feature model, and Figure 25d Each contour feature 1.11' of Figure 27 is matched with the corresponding contour feature 1.11' in the three first feature models to obtain the base point coordinates Q1 of all electrode connecting pieces 1.11, as shown in

[0135] S405 drives the second laser cutter L2 to cut a circle around the electrode connecting piece 1.11, separating the connection between the electrode connecting piece 1.11 and the electrode 1.10, using the base point coordinates Q1 as a reference. Specifically, the laser cutter can be positioned around the electrode 1.10 at a preset distance offset from the base point coordinates Q1. This preset distance is determined based on the diameter of the electrode 1.10. The cutting path only needs to ensure that it effectively severs the connection between the electrode connecting piece 1.11 and the electrode 1.10. For example, the cutting path can be 0.1-0.3 mm larger than the diameter of the electrode 1.10. Figure 30 As shown, R represents the cutting trajectory.

[0136] Specifically, it could be through... Figures 20 to 23 The first linear drive mechanism e2 shown drives the second laser cutter L2 to cut around the electrode 1.10 and the electrode connecting piece 1.11 at a position with an offset greater than the preset distance of the electrode 1.10, with the base point coordinates Q1 as the reference.

[0137] S500 electrode connector blanking:

[0138] The battery body 1' with the cut electrode connecting piece 1.11 in S501 enters the connecting piece unloading station f.

[0139] The S502 connector was disassembled, and the second vision camera iii captured a second depth map of the battery body 1' from a top-down angle.

[0140] Specifically, it could be through... Figures 20 to 23 The second drive module f2 shown disassembles the drive connector and the second vision camera iii scans the battery body 1'. The second drive module f2 will be described later.

[0141] One solution for disassembling the connecting piece using the second vision camera iii is a line scan camera, preferably a 3D line scan camera. Since the scanning range of the second vision camera iii is limited, the entire first depth map can be constructed by stitching together multiple scans. For example... Figure 25a The image shown is a portion of the first depth map from the first scan. Figure 25b This is the entire first depth map obtained by stitching together three scans. This technique of segmented scanning and stitching is existing technology, and the specific implementation process will not be described in detail here. Figure 25a and 25b The cutting trajectory R is not displayed.

[0142] The S503 vision controller v2 processes the second depth map to obtain a battery body contour feature map including the electrode connection piece contour feature 1.11'. (See attached image.) Figure 25c After the initial grayscale processing, multiple grayscale processing steps can be performed depending on the resulting display quality. Figure 25dFor the effect of the second time gray processing, such as Figure 25e For Figure 25d The profile feature of the electrode connecting piece 1.11 has been relatively clear.

[0143] S504 matches the profile feature 1.11' with the second feature model preset by the visual controller v2, obtains all the taking coordinates Q2 of the electrode connecting piece, and obtains the included angle β between a second linear feature of the top profile feature of the battery pack body along the line scanning direction and the second reference, such as Figures 26a to 26c And as shown in 29a, the second linear feature can be the edge feature of the battery pack body 1, and of course other distinguishable linear features can also be selected.

[0144] The second reference can be a vector of the coordinate system of the connecting piece disassembly second visual camera iii, such as parallel to the line scanning direction. Of course, it can also be a fixed reference position of the connecting piece blanking station f. The included angle β serves to determine the offset angle of the electrode connecting piece 1.11.

[0145] S505 transfers the corresponding electrode connecting piece 1.11 to the blanking area f4 according to the taking coordinates Q2 and the included angle β.

[0146] Specifically, as shown in Figures 20 to 23 The second driving module f2 drives the taking device f3 to transfer the corresponding electrode connecting piece 1.11 to the blanking area f4 according to the taking coordinates Q2 and the included angle. The taking device f3 will be described later.

[0147] The following explains the making of the first feature model:

[0148] (1) Collect the first depth map of the battery body 1' from the top angle at the connecting piece cutting station e, and the visual controller v2 processes the gray level to obtain the profile feature map of the battery body, as shown in Figures 25a to 25e The specific process is described in the foregoing S402-S403.

[0149] (2) The user cuts at least part of the battery body profile feature map (such as Figure 25e ) as a first feature model base map according to the number of different shape electrode connecting pieces 1.11 on the human-machine interface of the visual controller v2, and each first feature model base map contains the electrode connecting piece profile feature 1.11' of the target shape, i.e. the end piece profile feature 1.11a.

[0150] (3) The user marks the first end piece profile feature 1.11a and the center point of the electrode profile 1.10', i.e. the base point coordinates Q1, in each first feature model base map on the human-machine interface of the visual controller v2.

[0151] As shown in Figures 26a to 26cAs shown, the user intercepts three first feature model bases on the man-machine interface of the visual controller v2. In the first feature model base Figure 26a the first end segment profile feature 1.11a and the center point of the electrode profile 1.10', i.e. the base point coordinate Q1, are marked; in the second feature model base Figure 26b the first end segment profile feature 1.11a and the center point of the electrode profile 1.10', i.e. the base point coordinate Q1, are marked; in the third feature model base Figure 26c the first end segment profile feature 1.11a and the center point of the electrode profile 1.10', i.e. the base point coordinate Q1, are marked. The first profile feature marking includes the end segment profile feature 1.11a containing only one electrode profile 1.10' and the center point of one electrode profile 1.10'.

[0152] In actual cutting, in the step S404, the visual controller v2 matches the electrode tab profile feature 1.11' of the battery body profile feature map (see Figure 25d and 25e ) with the corresponding first feature model 26a to 26c, and the visual controller v2 matches each end segment profile feature 1.11a with the electrode connecting tab profile feature 1.11' of the battery body profile feature map, obtains the base point coordinates Q1 of all corresponding electrode 1.10 centers, as shown in Figure 27 . The visual controller v2 sends the data of the base point coordinates Q1 to the first linear driving mechanism e2, and the first linear driving mechanism e2 drives the second laser cutter L2 to cut the electrode connecting tab 1.11 around the electrode 1.10 at a position offset by a preset distance greater than the electrode 1.10 based on the base point coordinates Q1, so as to cut all electrode connecting tabs 1.11 of the base point coordinates Q1.

[0153] The following describes the making of the second feature model:

[0154] (1) The second depth map of the battery body 1' from the top view angle is collected at the connecting tab cutting station e, and the visual controller v2 obtains the profile feature map of the battery body through gray scale processing, as shown in Figures 25a to 25e , and the specific process is described in the foregoing S502-S503.

[0155] (2) The user intercepts at least part of the battery body profile feature map (such as FIG. 25) as the first feature model base according to the number of different shapes of electrode connecting tabs 1.11 on the man-machine interface of the visual controller v2, and each second feature model base contains the target shape of the electrode connecting tab profile feature 1.11'.

[0156] (3) The user marks the electrode tab profile feature 1.11' and the electrode tab profile feature center point coordinate Q2 in each second feature model base graph on the human-computer interface of the visual controller v2.

[0157] As shown in Figures 28a to 28b , the user intercepts two second feature model base graphs on the human-computer interface of the visual controller v2. The first electrode tab profile feature 1.11' and the electrode tab profile feature center point coordinate Q2 are marked in the second feature model base Figure 28a ; and the second electrode tab profile feature 1.11' and the electrode tab profile feature center point coordinate Q2 are marked in the second feature model base Figure 28b .

[0158] In actual unloading, in the S504 step, the visual controller v2 matches the electrode tab profile feature 1.11' of the battery body profile feature graph (see Figure 25d and 25e ) with the corresponding second feature model base Figures 28a to 28b , the visual controller v2 matches the electrode tab profile feature 1.11' of each second feature model with the electrode tab profile feature 1.11' of the battery body profile feature graph, obtains the center coordinates Q2 of all electrode tab profile features 1.11', and additionally obtains the included angle β of a second linear feature along the line scanning direction of the battery body profile feature graph and the second reference, as shown in Figures 28c to 29a , the arrow in 29a is the line scanning direction (or the parallel direction). The visual controller v2 sends the center coordinates Q2 and the data of the included angle data to the second driving module f2, the second driving module f2 drives the material taking device f3 to transfer the corresponding electrode tab 1.11 to the unloading area f4 according to the material taking coordinates Q2 and the angle. The material taking device f3 will be described later.

[0159] In this patent, the tab disassembly first visual camera ii and the tab disassembly second visual camera iii are prior art, such as a 3D camera of the Hikvision MV-DP3580-01H model.

[0160] S600 unloading step: the battery pack of the electrode tab 1.11 unloaded from the tab unloading station f is unloaded by the lifting type material transfer machine. The above scheme can realize full-process automatic unloading and loading.

[0161] The following describes the positions of the battery pack disassembly line of the present application:

[0162] Lifted material transfer machine a : see Figures 1 to 9, the lifting material transfer machine a is connected to the upstream end of the first power conveying line b and used for conveying the battery pack to be cut. The lifting material transfer machine a comprises a frame A, a power conveying device a1', a material blocking plate a1.1, a lifting device a2 and a base plate (a3). The frame A is provided with a material transfer channel a0 penetrating through the front side and the rear side, the power conveying device a1' has two power conveying portions a1 arranged apart, the material blocking plate a1.1 is arranged at the side of the outer side of the power conveying device a1, the lifting device a2 is used for synchronously lifting the power conveying device a1', the base plate a3 is used for guiding and supporting the forklift truck to enter or exit the material transfer channel a0, has a forklift arm supporting portion a31 extending into the two power conveying portions a1 and arranged apart, and the upper side of the power conveying portion a1 is higher than the upper surface of the base plate a3.

[0163] Since the two power conveying portions a1 are arranged apart, the ordinary forklift truck and the AGV forklift truck can be used for loading or unloading. When used for loading, the forklift truck carries the material 100 to the power conveying portion a1 at the initial position (the lowest position) through the base plate a3, then the forklift arm of the forklift truck is lowered from the space between the supporting forklift trucks to transfer the material to the upper side of the power conveying portion a1, and then is withdrawn backward, the lifting device a2 lifts the power conveying device a1' to the set height, and then the power conveying device a1' is used for conveying the material 100 in the downstream direction to realize loading. When used for unloading, the material 100 enters from the upstream conveying line and is loaded in place through the power conveying device a1', then the lifting device a2 lowers the power conveying device a1' to the lowest position, and the forklift truck takes out the material 100 from the power conveying device a1' through the base plate a3 to realize unloading. With the above structure, the existing forklift truck can be conveniently used for loading, the forklift arm supporting portion a31 is used for positioning and guiding the withdrawal of the forklift arm, and has the advantages of simple structure, high efficiency, no need of special certificate forklift truck for loading and unloading operation, and can be connected with automatic equipment or production line.

[0164] It should be noted that the ordinary forklift truck in the present patent refers to the forklift truck without special certificate operation.

[0165] The material blocking plate a1.1 is used for blocking the lateral position of the material 100 to ensure that it is completely supported on the power conveying device a1 during movement.

[0166] Each of the baffle plates a1.1 is provided with a lateral guide roller mechanism a1.2 outside the end of the base plate a3. When the material 100 deviates from the center of the two baffle plates a1.1 and contacts the lateral guide roller mechanism a1.2, the lateral guide roller mechanism a1.2 plays a guiding role on the material. When the lifting type material transfer machine a is used for feeding, the lateral guide roller mechanism a1.2 is used to ensure that the material 100 is successfully loaded onto the power conveying device a1 and avoids colliding with the baffle plate (a1.1). When the lifting type material transfer machine g is used for unloading, the lateral guide roller mechanism a1.2 ensures that the material 100 is unloaded from the power conveying device a1 and ensures that the material can enter the unloading handling equipment.

[0167] The base plate a3 further includes a platform portion a32 flush with the fork arm supporting portion a31, and a beveled portion a33 connected to the outer end of the platform portion a32. The beveled portion a33 is used to provide guidance for the forklift to enter and exit the platform portion a32, avoiding the influence of the high step on the entry and exit of the forklift. The platform portion a32 is configured to be flush with the fork arm supporting portion a31, avoiding the influence on the lifting and lowering of the fork arm of the forklift.

[0168] The frame A has an upper end member A.1, a lower end member A.2, and a support member A.3 connecting the two sides of the upper end member A.1 and the lower end member A.2. The frame A is provided with a material transfer passage a0 penetrating through the front side and the rear side. The lifting device a2 includes an electric chain drive a2.1 and two groups of chains a2.2 arranged on both sides of the frame A. The upper end member A.1 is provided with a synchronization shaft a2.21 coupling the two groups of chains a2.2 through a chain wheel. The synchronization shaft a2.21 is drivingly connected with the electric chain drive a2.1. The lower end member A.2 is provided with a rotating seat a2.22 respectively connected with the two groups of chains a2.2. One side of each group of chains a2.2 is fixedly connected with the corresponding side of the power conveying portion a1.

[0169] Specifically, each group of chains a2.2 is provided with two chains a2.2 respectively. The power conveying device a1 connects the two chains a2.2 of each group through a connecting beam a1.3. The connecting beam a1.3 connects the power conveying portion a1 through a side connecting member a1.4. The above scheme can balance the stress of the power conveying device a1 and stabilize the lifting.

[0170] The baffle plate a1.1 and the power conveying device a1 are installed on the side connecting member a1.4. This structure is simple and has good integration.

[0171] When working, the electric chain drive a2.1 rotates forward (or reversely), drives the synchronous shaft a2.21 to move the chain a2.2 forward, drives the power conveyor a1 to move up to a preset position and stop, so as to connect the material with the subsequent production line. When loading the material, the electric chain drive a2.1 reversely rotates (or forward), drives the synchronous shaft a2.21 to move the chain a2.2 reversely, drives the power conveyor a1 to move down to the lowest position under the action of gravity, and then the material can be loaded by a forklift or the like.

[0172] In order to limit and guide the power conveyor a1, a guide mechanism (not shown) is arranged between the side connecting piece a1.4 and the supporting member A.3. The guide mechanism can be a guide wheel arranged on the side connecting piece a1.4 and a guide groove arranged on the supporting member A.3. Of course, the guide mechanism can be a guide rail device, a guide column and a guide sleeve device, or other linear guide mechanisms in the prior art. In other embodiments, the guide mechanism can also be arranged on the power conveyor a1'.

[0173] The power conveyor a1 comprises a base body, the base body comprises two main holders a101 arranged at intervals, power rollers a11 are arranged on the main holders a101, the power rollers a11 are driven by roller drive motors a10, and the base body is fixed on the side connecting piece a1.4. The drive mechanism between the roller drive motors a10 and the power rollers a11 is the prior art.

[0174] In an improvement, a first auxiliary holder a102 is arranged between the two main holders a101, and a roller is arranged on the first auxiliary holder a102. The two main holders a101 and the first auxiliary holder are connected by a second auxiliary holder a103 away from the base plate a3, and a roller is arranged on the second auxiliary holder a103. The two main holders a101, the first auxiliary holder a102 and the second auxiliary holder a103 form a "mountain" structure. The above scheme can make the overall structure of the power conveyor a1 bear force well, and the first auxiliary holder a102 and the second auxiliary holder a103 can assist in supporting the material. Preferably, the rollers on the first auxiliary holder a102 and the second auxiliary holder a103 are designed as power rollers.

[0175] Referring to Figure 4 A travel switch a4 is arranged on the supporting member A.3, which is used to limit the vertical position of the power conveyor a1. When the trigger part linked with the power conveyor a1 triggers the travel switch a4, the lifting device a2 stops working.

[0176] Referring to Figure 8, the material 100 is transferred by the turnover seat 100', specifically, the turnover seat 100' is in contact with the power conveying device a1. A material sensor S6 is arranged at both ends of the power conveying device a1', for sensing the material entering or leaving the power conveying device a1.

[0177] In some embodiments, the lifting type material transfer machine is used for discharging. When the material enters the power conveying device a1 from the upstream to the position, the electric chain drive a2.1 reversely rotates (which can also be defined as forward rotation), drives the synchronous shaft a2.21 to reversely move the chain a2.2, drives the power conveying device a1 to move downward to the lowest position under the action of gravity, and then the material can be discharged by a forklift or other material trolley.

[0178] Housing cutting station c : see Figures 1 to 3 , Figures 11 to 13 , including a shell cutting device, comprising: a rotating table c1, a deviation correction vision camera i0, a manipulator c2, a shell disassembly vision camera i, and a first laser cutter L1.

[0179] The rotating table c1 has: a conveying rotating device c11 for supporting the material and connecting the downstream end of the first power conveying line b, and is provided with a table material detection element S1 for sensing the material to the position; a rotating drive mechanism c12 for driving and controlling the rotation and angle of the conveying rotating device c11.

[0180] The deviation correction vision camera i0 is arranged above the conveying rotating device c11 and is used to collect position data of at least one first linear feature of the battery pack 1, and the position data includes the angle α of the first linear feature relative to the first reference datum. The first reference datum is described in the related description of the disassembly method of the battery pack.

[0181] The manipulator c2 is at least a manipulator with 6 axes, which has the advantage of high flexibility.

[0182] The shell disassembly vision camera i is arranged at the end of the manipulator c2 and is used to collect point cloud data of one section of the side of the battery pack shell 10 according to a section collection scheme.

[0183] The shell cutting vision controller v1 matches the point cloud data with the preset battery pack shell section data model to obtain the cutting trajectory point data of the section.

[0184] The manipulator c2 controls the first laser cutter L1 to cut one section of the battery pack shell 10 according to the cutting trajectory point data; the position of the battery pack shell 10 is switched by rotating the rotating table c1, the shell disassembly vision camera i collects point cloud data of the next section, the manipulator c2 controls the first laser cutter L1 to cut the section, and the process is repeated until all sections are cut.

[0185] Referring to Figure 3 and Figure 32 , the laser cutting controller 2.2 controls the operation of the first laser cutter L1, and the manipulator controller 2.3 controls the operation of the manipulator c2, and the manipulator controller 2.3 controls the manipulator c2 to drive the first laser cutter L1 to cut a section of the battery pack shell 10 according to the cutting trajectory constructed according to the cutting trajectory point data.

[0186] Referring to Figures 11 to 13 , the conveying rotating device c11 includes a supporting bracket c111 and a first power conveying roller mechanism c112 assembled on the supporting bracket c111, the first power conveying roller mechanism c112 is driven by a driving motor c110, such as through chain transmission; the upper end of the rotating driving mechanism c12 is connected to the middle part of the supporting bracket c111, and the lower end is installed on a rotating support base c13, and the two ends of the first power conveying roller mechanism c112 are provided with auxiliary roller mechanisms c113 connected with the downstream end of the first power conveying line a and the upstream end of the second power conveying line d, and the width of the auxiliary roller mechanisms c113 is designed to decrease from the end part to the middle part of the first power conveying roller mechanism c112. The above-mentioned auxiliary roller mechanisms c113 are arranged in the above-mentioned manner, which can avoid the contact interference between the conveying rotating device c11 and the downstream end of the first power conveying line a and the upstream end of the second power conveying line d during rotation, and can also support and guide the material to enter or leave the conveying rotating device c11.

[0187] The two ends of the first power conveying roller mechanism c112 are respectively provided with material table material detection elements S for sensing the entry and exit of the material into and out of the first power conveying roller mechanism c112, and one of the material detection elements S is an optical sensor.

[0188] The supporting bracket c111 is provided with a plurality of supporting guide wheels c114 arranged at intervals along the rotating center, and the rotating support base c13 is provided with an annular supporting rail c131 configured with the guide wheels. The configuration of the supporting guide wheels c114 and the annular supporting rail c131 can optimize the structure of the supporting bracket c111 and improve the stability.

[0189] The following describes the battery pack shell cutting process:

[0190] S100 loading step: loading the material 100 onto the first power conveying line b through the lifting type material transfer machine a, and conveying the material to the shell cutting work station c by the first power conveying line b.

[0191] S201: the battery pack 1 enters the rotating material table c1 of the shell cutting work station c.

[0192] S202: the deviation correction vision camera i0 collects the angle α of the first linear feature of the battery pack 1 relative to the first reference datum;

[0193] S203 Rotating the material table c1 to adjust the battery pack 1 to the preset angle according to the position data fed back by the deviation correction vision camera i0.

[0194] S204 The shell disassembly vision camera i collects point cloud data of one section of the side of the battery pack shell 10 according to the collection scheme.

[0195] S205 The vision controller v2 matched with the shell disassembly vision camera i matches the point cloud data with the preset battery pack shell section data model to obtain the cutting trajectory point data of the section.

[0196] S206 The first laser cutter L1 cuts one section of the battery pack shell 10 along the cutting trajectory constructed by the cutting trajectory point data.

[0197] The position of the battery pack shell 10 relative to the shell disassembly vision camera i is rotated to the next battery pack shell section by rotating the material table c1, and the above S204 to S206 are cycled until all sections are cut.

[0198] Figure 13 The battery pack shell 10 shown as a whole is square, and is divided into four sections for point cloud data collection and cutting. The rotating drive mechanism c12 adopts a servo motor, which can accurately control the rotation angle. Dividing the point cloud data collection and cutting into four sections can avoid the problem that the maximum movement range of the mechanical hand c2 is not enough due to the linkage of multiple axes in a large range, which affects the work efficiency.

[0199] The first laser cutter L1 cuts the lower side of the side wall of the battery pack shell 10 at an angle θ relative to the horizontal plane, θ ∈ [30, 75] degrees, such as 40 degrees, 45 degrees, 50 degrees, etc. As described above, since there is a certain interval space between the inner wall of the battery pack shell 10 and the battery body 1', when cutting the side wall of the battery pack shell 10, such as the section provided with the terminal seat structure 102', the above angle can ensure that the cutting beam is in the interval space, and the laser beam is controlled between the inner wall of the battery pack shell 10 and the outer wall of the battery body 1', avoiding cutting the battery body 1', and in addition, this angle range can effectively avoid the interference of the battery pack shell 10 to the first laser cutter L1.

[0200] The implementation process and related technical effects of the position data collected by the deviation correction vision camera i0, the point cloud data collected by the shell disassembly vision camera i, the matching of the point cloud data and the battery pack shell section data model, and the generation of the cutting trajectory can be referred to the related description of the disassembly method of the battery pack.

[0201] Referring to Figures 1 to 3 , and Figures 32 to 33The shell cutting station C is provided with a shell cutting station cover C3, the two ends of which are respectively provided with a first inlet C31 connected with the downstream end of the first power conveying line B and a first outlet C32 connected with the upstream end of the second power conveying line D, the first inlet C31 is provided with a first lifting baffle assembly C33, the first outlet C32 is provided with a second lifting baffle assembly C34, the first lifting baffle assembly C33 is lifted according to the first opening signal and is lowered according to the first closing signal, the second lifting baffle assembly C34 is lifted according to the second opening signal and is lowered according to the second closing signal, and the upper part of the shell cutting station cover C3 is provided with a first extraction interface C0 for connecting a negative pressure source. The shell cutting station cover C3 is configured to extract the exhaust gas generated during cutting of the battery pack shell 10, and to avoid direct observation of the cutting light beam by personnel, thereby achieving environmental protection and safety.

[0202] Specifically, one scheme of the first lifting baffle assembly C33 is that the two sides are slidably connected through guide seats C35 and guide columns C36 on the two sides of the first inlet C31. The shell cutting station cover C3 is provided with a driver C37, which can be a pneumatic cylinder. Of course, in addition to the above-mentioned guide column C36 and guide seat C35, the first lifting baffle assembly C33 and the first inlet C31 can also be connected in other guide connection structures, such as guide rails. The structure of the second lifting baffle assembly C34 is the same as that of the first lifting baffle assembly C33.

[0203] The working process of the first lifting baffle assembly C33 is as follows: in the working state, the conveying rotating device C11 is in the reset state, when the material detection element S of the material table does not sense the material, the first main controller 2.1 sends the first opening signal to lift the first lifting baffle assembly C33, and the first power conveying line B starts to convey the battery pack 1 to the conveying rotating device C11; when the material detection element S senses that the battery pack 1 is in place, the first main controller 2.1 sends the first closing signal to lower the first lifting baffle assembly C33 to close the first inlet C31.

[0204] In some embodiments, the first power conveying line B is provided with a pretreatment station for processing some accessories that need to be removed on the battery pack 1, such as wires; the pretreatment station is provided with a material detection element (not shown) and a first working switch (not shown), the material detection element stops working when sensing that the material is in place, and when the accessories that need to be removed are processed, the start switch is pressed, at this time, the first main controller 2.1 judges whether there is material on the conveying rotating device C11, if yes, the first lifting baffle assembly C33 is not opened, otherwise, the first lifting baffle assembly C33 is opened.

[0205] The following illustrates the working process of the second lifting baffle assembly c34: after the battery pack shell 10 is completed cutting, the conveying rotary device c11 rotates to reset, and the first main controller 2.1 judges whether there is material in the battery pack shell 10 removal station. If there is no material, a second opening signal is sent, and the second lifting baffle assembly c34 is lifted to open the first outlet c32. If there is material in the battery pack shell 10 removal station, the second opening signal is sent only after the material leaves the battery pack shell removal station c.

[0206] Referring to Figures 1 to 3 , the second power conveying line d is connected with the conveying rotary device c11 of the shell cutting station c, and is provided with a battery pack shell 10 removal station. The station can remove the battery pack shell 10 and related accessories such as wire harness and connector by manual operation, or can be configured with a mechanical removal device such as a manipulator according to user needs. The second power conveying line d is provided with a second power conveying line material detection element S5 for sensing that the material reaches the shell removal station and making the second power conveying line d provide a battery pack shell removal operation pause.

[0207] In some embodiments, the second power conveying line d is provided with two sections, i.e., a second power conveying line d1 section and a second power conveying line d2 section. The d1 section and the d2 section are both provided with a shell removal station, or the d1 section and the d2 section are respectively provided with a shell removal station and an accessory removal station. The d1 section and the d2 section are both provided with a second power conveying line material detection element S5. One scheme of the d1 section and the d2 section is to use a power roller, and the d1 section and the d2 section are respectively driven by different driving mechanisms. The driving mechanism of the d1 section needs to start conveying the material 100 when the d2 section has no material 100, and the d2 section can start conveying the material 100 when the first lifting baffle assembly c33 is lifted.

[0208] Tab cutting station e :

[0209] Referring to Figures 1 to 2 , Figures 20 to 23 , the connection piece cutting device comprises a third power conveying line e1, a first driving mechanism e2, a connection piece disassembly first visual camera ii, and a second laser cutter L2.

[0210] The third power conveying line e1 is connected with the downstream end of the second power conveying line d, and is provided with a third power conveying line material detection element S2 for sensing that the material is in place. The third power conveying line material detection element S2 uses a material sensor such as a photoelectric sensor. The third power conveying line e1 is a power roller conveying line, which is driven through a driver e10 and a transmission chain structure.

[0211] The first driving mechanism e2 has at least XYZ three-axis freedom, and the tab disassembly first visual camera ii is driven by the first driving module e2, and the second laser cutter L2 is driven by the first driving module e2.

[0212] The first driving module e2 drives the tab disassembly first visual camera ii to collect the first depth map of the top view angle of the battery body 1', as shown in Figure 25b The tab disassembly visual controller v2 processes the first depth map to obtain the battery body contour feature map containing the electrode tab contour feature 1.11', as shown in Figure 25d The tab disassembly visual controller v2 matches the electrode tab contour feature 1.11' with the preset first feature model to obtain the base point coordinate Q1 of the corresponding electrode 1.10 center, as shown in Figures 26a to 26c The first driving module e2 drives the second laser cutter L2 to cut the electrode tab 1.11 once around the base point coordinate Q1, so as to separate the connection between the electrode tab 1.11 and the electrode 1.10. For the selection of the specific cutting position, please refer to the related description of the battery pack disassembly method.

[0213] The first driving mechanism e2 includes the first X-direction driving module e2x arranged above the third power transmission line e1 and driven in the transmission direction thereof, the first Y-direction driving module e2y vertically coupled to the first X-direction driving module e2x, and the first Z-direction driving module e2z vertically coupled to the first Y-direction driving module e2y. The tab disassembly first visual camera ii and the second laser cutter L2 are installed at the end of the first Z-direction driving module e2z, and the tab disassembly first visual camera ii and the second laser cutter L2 are arranged separately and do not interfere with each other.

[0214] Referring to Figures 20 to 23 , the tab cutting device further includes a tab cutting frame E, the top of the tab cutting frame E includes two oppositely arranged tab cutting frame top beams E1, and the two ends of the first Y-direction driving module e2y are installed on the tab cutting frame top beam E1 through the first X-direction driving module e2x. The first X-direction driving module e2x, the first Y-direction driving module e2y and the first Z-direction driving module e2z can be realized by using the existing linear driving module.

[0215] Referring to Figure 2 and Figure 3 , the tab disassembly visual controller v2 is arranged on the upper part of the tab cutting frame E; referring to Figure 34 , the second laser controller 2.4 of the second laser cutter L2 is arranged on the lower part of the tab cutting frame E. Of course, the two controllers can be arranged at other positions according to actual needs.

[0216] Referring to Figures 1 to 3, 20 to Figure 27 The cutting process of the electrode connecting tab 1.11 is described as follows:

[0217] S401 The battery pack 1 flows with the turnover seat 100' to the third power conveying line e1, and the third power conveying line material detection element S2 senses the arrival of the battery pack 1;

[0218] S402 The first driving mechanism e2 drives the connecting tab disassembly first visual camera ii to collect the first depth map of the battery body 1' from the overhead angle.

[0219] As shown in the foregoing, since the scanning range of the connecting tab disassembly first visual camera ii is limited, the entire first depth map can be spliced by multiple scans. As Figure 25a shown is the depth map part of the first scan, Figure 25b the entire first depth map spliced after three scans.

[0220] S403 The visual controller v2 processes the first depth map to obtain the battery body contour feature map containing the electrode connecting tab contour feature 1.11'.

[0221] As shown in the accompanying Figure 25c After the first gray scale processing, multiple gray scale processing can be performed according to the display quality after processing, such as Figure 25d the effect of the second gray scale processing, such as Figure 25e the local map of Figure 25d .

[0222] S404 The visual controller v2 matches the contour feature 1.11' with the preset first feature model to obtain the base point coordinates Q1 of the corresponding electrode 1.10 center. As shown in the accompanying Figure 25d contour feature and Figures 26a to 26c the first feature model, each contour feature 1.11' of Figure 25d is paired with the corresponding contour feature 1.11' in the three first feature models, and the base point coordinates Q1 of all electrode connecting tabs 1.11 are obtained, as shown in the accompanying Figure 27 .

[0223] S405 The first linear driving mechanism e2 drives the second laser cutter L2 to cut the electrode connecting tab 1.11 around the electrode 1.10 at a position offset by a preset distance greater than the diameter of the electrode 1.10 with the base point coordinates Q1 as the reference, so as to separate the electrode connecting tab 1.11 from the electrode 1.10. As shown in the accompanying Figure 30 , R is the cutting trajectory.

[0224] The collection of the first depth map, the processing of the first depth map by the visual controller v2, the implementation process of the first feature model, and the detailed description of the related technical effects can be referred to the related description of the battery pack disassembly method.

[0225] Referring to Figures 1 to 3 , Figures 20 to 25e , and FIGS. 28-29, the connecting tab blanking station f includes a connecting tab blanking device, which includes a fourth power conveying line f1, a second driving module f2, a connecting tab disassembly second visual camera iii, and a connecting tab material picker f3.

[0226] The fourth power conveying line f1 connects the downstream end of the third power conveying line e1 and is provided with a fourth power conveying line material detection element S3 for sensing the position of the material. The fourth power conveying line material detection element S3 is a material sensor, such as a photoelectric sensor. The fourth power conveying line f1 is a power roller conveying line driven by a driver f10 and a transmission chain structure.

[0227] The second driving module f2 has at least XYZ three-axis freedom.

[0228] The second driving module f2 drives the second driving module f2 connecting tab disassembly second visual camera iii to collect a second depth map of the top view angle of the battery body 1', as shown in Figure 25a and Figure 25b .

[0229] The connecting tab disassembly visual controller v2 is used to process the second depth map to obtain a battery body contour feature map containing the electrode connecting tab contour feature 1.11', as shown in Figure 25d and 25e .

[0230] The connecting tab disassembly visual controller v2 matches the electrode connecting tab contour feature 1.11' with a preset second feature model to obtain the material picking coordinates Q2 of the electrode connecting tab and the angle β between a second linear feature w2 of the battery body contour feature map along the line scanning direction and the line scanning direction.

[0231] The second driving module f2 drives the connecting tab material picker f3 to transfer the corresponding electrode connecting tab 1.11 to the blanking area f4 according to the material picking coordinates Q2 and the angle β.

[0232] The second driving module f2 includes a second X-direction driving module f2x arranged above the fourth power transmission line f1 and driven opposite to the transmission direction of the fourth power transmission line f1, a second Y-direction driving module f2y vertically coupled to the second X-direction driving module f2x, and a second Z-direction driving module f2z vertically coupled to the second Y-direction driving module f2y. The tab disassembling second visual camera iii and the tab taking device f3 are installed at the end of the second Z-direction driving module f2z, and the tab disassembling second visual camera iii and the tab taking device f3 are spaced apart from each other without interfering with each other.

[0233] Referring to Figures 20 to 23 , the tab blanking device further includes a tab blanking frame F, the top of the tab blanking frame F includes two oppositely arranged tab blanking frame top beams F1, and the two ends of the second Y-direction driving module f2y are installed on the tab blanking frame top beam F1 through the second X-direction driving module f2x. The second X-direction driving module f2x, the second Y-direction driving module f2y, and the second Z-direction driving module f2z can be realized by using existing linear driving modules.

[0234] Referring to Figure 2 and Figure 3 , the tab taking device f3 can be an electric clamp or a pneumatic clamp, and the principle of the electric clamp or the pneumatic clamp is prior art.

[0235] Figure 20 The blanking area f4 shown is a blanking guide hopper.

[0236] Referring to FIG. 26 and Figure 34 , the following describes the electrode tab 1.11 blanking method:

[0237] S501 The cut electrode tab 1.11 of the battery body 1' enters the tab blanking station f.

[0238] S502 The second driving module f2 drives the tab disassembling second visual camera iii to collect a second depth map of the battery body 1' from a top view angle.

[0239] As described above, since the scanning range of the tab disassembling first visual camera ii is limited, the entire first depth map can be spliced by multiple times of scanning. As Figure 25a the first scanning part of the first depth map is shown, Figure 25b the entire first depth map spliced by three times of scanning is shown. Figure 25a and 25b do not show the cutting track R.

[0240] S503 The second depth map is processed to obtain a battery body contour feature map containing an electrode tab contour feature 1.11'. As shown in the accompanying Figure 25cAfter the first time gray processing, according to the display quality after processing, multiple gray processing can be carried out, such as Figure 25d For the effect of the second time gray processing, such as Figure 25e For Figure 25d The partial view of

[0241] S504 matches the profile feature 1.11' with the second feature model preset by the visual controller v2, obtains all the taking coordinates Q2 of the electrode connecting piece, and obtains the angle between the second linear feature along the line scanning direction of the top profile feature of the battery pack body and the second reference, such as Figures 26a to 26c As shown in 29a, the second linear feature can be the edge feature of the battery pack body 1, and of course other distinguishable linear features can also be selected. The second reference is described in the related description of the battery pack disassembly method.

[0242] S505 transfers the corresponding electrode connecting piece 1.11 to the discharging area f4 according to the taking coordinates Q2 and the angle.

[0243] The detailed description of the implementation process and related technical effects of the collection of the second depth map, the processing of the second depth map by the visual controller v2, and the making of the second feature model is described in the related description of the battery pack disassembly method.

[0244] This discharging scheme is not limited by the specifications and layout positions of the electrode connecting piece 1.11, and is flexible.

[0245] Referring to Figures 20 to 23 , the connecting piece cutting frame E and the connecting piece discharging frame F are integrated structures, the first end frame E2 is arranged at the upstream end of the connecting piece cutting frame F, the second end frame F2 is arranged at the downstream end of the connecting piece discharging frame F, the connecting piece cutting frame top beam E1 and the connecting piece discharging frame top beam F1 are integrated structures, and the middle part of both is provided with a middle stand EF and a connecting top beam EF1, and the stand EF and the connecting top beam EF1 constitute a middle frame e32. The connecting piece cutting frame E and the connecting piece discharging frame F are designed as integrated structures, which has good structural stability, saves cost, and has compact size.

[0246] Referring to Figures 20 to 23 , Figure 34 , it also includes a connecting piece cutting overall cover ef covering the outside of the connecting piece cutting station e and the connecting piece discharging station f, the upstream end of which is provided with a second inlet e31 connected with the downstream end of the second power conveying line d, the downstream end of which is provided with a second outlet f33, the second inlet e31 is provided with a third lifting baffle assembly e33, the middle frame e32 is provided with a fourth lifting baffle assembly e34, and the second outlet f33 is provided with a fifth lifting baffle assembly (not shown).

[0247] The third lifting baffle assembly e33 is raised according to a third opening signal and is lowered according to a third closing signal, the fourth lifting baffle assembly e34 is raised according to a fourth opening signal and is lowered according to a fourth closing signal, and the fifth lifting baffle assembly is raised according to a fifth opening signal and is lowered according to a fifth closing signal.

[0248] The upper part of the tab cutting total cover ef is provided with a second extraction interface c0 and f0 for connecting a negative pressure source. The tab cutting total cover ef can cover the tab cutting station e and the tab unloading station f at the same time, so as to extract the waste gas of the cutting electrode tab 1.11 and avoid direct observation of the cutting light beam by personnel, which is environmentally friendly and safe.

[0249] The working process of the third lifting baffle assembly e33 is described as follows: in the working state, when the third power conveying line material detection element S2 does not sense material, the second main controller 2.6 (in other embodiments, the first main controller 2.1 can also be used) sends a third opening signal to raise the third lifting baffle assembly e33, and the second power conveying line d2 section and the third power conveying line e1 start conveying the battery pack 1 to the third power conveying line e1; when the third power conveying line material detection element S2 senses that the battery pack 1 is in place, the second main controller 2.6 sends a third closing signal to lower the third lifting baffle assembly e33 to close the second inlet e31.

[0250] The working process of the fourth lifting baffle assembly e34 is described as follows:

[0251] After the electrode tab 1.1 is cut, the second main controller 2.6 (in other embodiments, the first main controller 2.1 can also be used) first determines whether the fourth power conveying line f1 has material, and if not, sends a fourth opening signal to raise the fourth lifting baffle assembly e34, and the third power conveying line material detection element S2 and the fourth power conveying line f1 are started, and the battery pack 1 flows from the third power conveying line material detection element S2 to the fourth power conveying line f1; when the fourth power conveying line material detection element S3 senses that the battery pack is in place, the second main controller 2.6 sends a fourth closing signal to lower the fourth lifting baffle assembly e34 to close the middle frame e32; if the fourth power conveying line material detection element S3 senses material, the third opening signal is sent only after the material leaves the electrode tab unloading station f.

[0252] The working process of the fifth lifting baffle assembly is described as follows:

[0253] When the power conveying device a1' of the lifting material transfer machine g is located at the position of connection with the fourth power conveying line f1, and the material sensor S6 of the power conveying device a1 does not detect material, the second main controller 2.6 sends a fifth opening signal, the fifth lifting baffle assembly is lifted, the fourth power conveying line f1 and the power conveying part a1 are started, the battery pack 1 flows from the fourth power conveying line f1 to the power conveying part a1, and when the material sensor S6 senses that the battery pack is in place, the second main controller 2.6 sends a fifth closing signal, the fifth lifting baffle assembly is lowered, and the second outlet f33 is closed.

[0254] The structures of the third lifting baffle assembly e33 and the fifth lifting baffle assembly (not shown) are similar to those of the first lifting baffle assembly c33, and can be realized by referring to the scheme of the first lifting baffle assembly c33.

[0255] The fourth lifting baffle assembly e34 is slidably connected through guide seats e341 on both sides and guide posts e342 on the middle columns EF on both sides, and a driver e343 is arranged on the middle columns EF. The driver e343 can be a cylinder. Of course, in addition to the above-mentioned guide post e342 and guide seat e341, other guide connection structures such as guide rails can also be used for mounting the fourth lifting baffle assembly e34 and the middle columns EF.

[0256] The lifting material transfer machine g is connected to the downstream end of the fourth power conveying line f1, and has the same structure as the lifting material transfer machine a. Material sensors S7 are arranged at both ends of the power conveying part a1 for sensing the entry or exit of material into or out of the power conveying part a1. When the material 100 conveying line from the upstream material that has removed the electrode connecting sheet 1.11 enters the power conveying device a1' and is sensed by the material sensor S6, the lifting device a2 drives the power conveying part a1 to descend, so that the material 100 is lowered to the lowest position. At this time, the material 100 can be taken out of the power conveying part a1 by a forklift to realize unloading.

[0257] In some embodiments, according to the needs of customers, the battery pack disassembly line does not have the lifting material transfer machines a and g, but is connected to the existing material transfer equipment of the customers, such as a flow line of the customers.

[0258] For the control part, refer to Figure 2 、 Figure 3 、 Figure 32 and Figure 34The first main controller 2.1 is used to control the lifting material transfer machine a and the front-end conveyor lines (such as the second power conveyor line d and the conveyor lines before it). The shell cutting vision controller v1 is used to correct the deviation vision camera i0 and control the shell disassembly vision camera i. The laser cutting controller 2.2 controls the operation of the first laser cutter L1. The robot controller 2.3 controls the operation of the robot c2. The connecting piece disassembly vision controller v2 is used to control the first connecting piece disassembly vision camera ii and the second connecting piece disassembly vision camera iii. The second laser controller 2.4 is used to control the operation of the second laser cutter L2. The second main controller 2.6 is used to control the first drive module e2, the second drive module f2, the lifting material transfer machine g, and the rear-end conveyor lines (such as the third power conveyor line e1 and the conveyor lines after it). Figure 3 The human-machine interface 2.5 of the connecting piece disassembly vision controller v2 is shown. Of course, human-machine interfaces are also configured in other workstations, such as the shell cutting vision controller v1. The control module of the correction vision camera i0, the shell cutting vision controller v1, and the connecting piece disassembly vision controller v2 all include related control systems and accessories. These parts are existing and can be implemented by those skilled in the art using existing technical means.

[0259] This patented battery pack disassembly method and disassembly line utilizes a shell disassembly vision camera (i) to collect point cloud data of the battery pack shell 10, combined with a shell cutting vision controller (v1) to obtain shell cutting trajectory point data, and then employs laser cutting. This method is suitable for cutting battery pack shells 10 of different specifications. Laser cutting offers high controllability and efficiency in the cutting path. The connecting piece cutting station (e) uses a connecting piece disassembly first vision camera (ii) to collect depth maps of the electrode connecting pieces 1.11. These maps are processed by the connecting piece disassembly vision controller (v2) to obtain the base point coordinates Q1 of the corresponding electrode center of each electrode connecting piece 1.11, and then laser cutting is performed. This method offers high flexibility and is suitable for cutting the electrode connecting pieces 1.11 of battery units 1.1 of different specifications and arrangements. Furthermore, the cutting position and depth are highly precise. Controllable, without damaging individual cells, and without causing short circuits between electrodes 1.10, ensuring high safety; the connecting piece unloading station f uses a connecting piece disassembly second vision camera iii in conjunction with a connecting piece disassembly vision controller v2 to obtain the unloading coordinates of the cut electrode connecting pieces 1.11, enabling automatic removal of electrode connecting pieces 1.11; this patent disassembles the entire external structure of the recycled battery pack, maintaining the integrity of individual cells during disassembly, avoiding the protection of the station caused by damage to individual cells, and considering the high costs of recycling leaked media and subsequent transfer, which is beneficial for subsequent individual cell recycling or reuse (such as for energy storage or other applicable situations). The transfer of materials between each station is carried out by a power conveyor line, realizing fully online processing, with high efficiency and high flexibility.

[0260] Those skilled in the art can make various modifications and changes to the above embodiments according to the disclosure and teachings herein. Therefore, the application is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the application shall fall within the protection scope of the claims of the application. In addition, although some specific terms are used in the specification, these terms are only for convenience of description and do not constitute any limitation on the application.

Claims

1. A method of battery pack disassembly, characterized by, include: S200 Cut-out Battery Pack Casing: The battery pack (1) enters the rotating table (c1) of the outer casing cutting station (c). The correction vision camera (i0) acquires the angle α of the battery pack (1) relative to the first reference reference; The rotating table (c1) performs angle α correction based on the position data fed back by the correction vision camera (i0) to adjust the battery pack (1) to the preset angle; The visual camera (i) disassembles the casing and collects point cloud data of a section of the side of the battery pack casing (10) according to the acquisition scheme. The point cloud data is matched with the battery pack shell segment data model preset by the shell cutting vision controller (v1) to obtain the cutting trajectory point data of the segment. The first laser cutter (L1) cuts a segment of the battery pack casing (10) along a cutting trajectory constructed using cutting trajectory point data; The position of the battery pack casing (10) is switched by rotating the rotating table (c1). The casing disassembly vision camera (i) collects point cloud data for the next segment. The first laser cutter (L1) cuts the segment until all segments are cut. S300 Remove battery pack casing: The battery pack (1) with the casing cut off moves downstream from the rotary table (c1) into the battery pack casing removal station of the second power conveyor line (d) and the battery pack casing (10) is removed. S400 cut electrode connector: The battery body (1') enters the connecting piece cutting station (e); The first vision camera (ii) acquires a first depth map of the battery body (1') from a top-down angle during the disassembly of the connecting piece; Processing the first depth map yields a battery body contour feature map containing the outline features of the electrode connection piece (1.11'); The outline feature (1.11') of the electrode connecting piece is matched with the first feature model preset by the connecting piece disassembly vision controller (v2) to obtain the base point coordinates (Q1) of the center of the electrode (1.10) corresponding to the electrode connecting piece (1.11). Using the base point coordinates (Q1) as a reference, the second laser cutter (L2) cuts the electrode connecting piece (1.11) to separate the connection between the electrode connecting piece (1.11) and the electrode (1.10); S500 electrode connector blanking: The battery body (1') enters the connector unloading station (f); The connecting piece is disassembled and the second vision camera (iii) acquires a second depth map of the battery body (1') from a top-down angle; The second depth map is processed to obtain a battery body contour feature map containing the electrode connection piece contour feature (1.11'); The contour feature matching connecting piece is disassembled by the vision controller (v2) to obtain the material picking coordinates of the electrode connecting piece (1.11); Obtain the angle β between the battery body (1') and the second reference reference; The corresponding electrode connecting piece (1.11) is transferred to the unloading area according to the material picking coordinates and the included angle β.

2. The battery pack disassembly method of claim 1, wherein, After adjusting the battery pack (1) to a preset angle, the process also includes detecting the distance (h1) between the battery pack (1) and a reference position of the rotating table (c1). When the distance (h1) is greater than the preset value, the shell cutting vision controller (v1) issues a warning.

3. The battery pack disassembly method of claim 1, wherein, The data model is created by a shell disassembly vision camera (i) collecting point cloud data of the side sections of the battery pack (1) according to the acquisition scheme, and a shell cutting vision controller (v1) receiving the user's marking operation to mark the key points of the cutting of each section of the point cloud data. The key points include the start point and end point of the cutting route, as well as the location of the inflection point.

4. The battery pack disassembly method according to claim 1, characterized in that, The creation of the first feature model includes: The connector disassembly vision controller (v2) collects data of the battery body (1') from the connector disassembly first vision camera (ii), generates a first depth map from a top-down angle, and processes the first depth map to obtain the contour feature map of the battery body. The connector disassembly vision controller (v2) receives a contour feature map of at least a portion of the battery body, which is captured by the user and contains at least one shape contour feature (1.11') of the electrode connector, as a first feature model base map. It receives the contour feature (1.11') marking operation of each electrode connector shape and marks each first feature model base map with the electrode connector contour feature (1.11') to obtain a first feature model. The first contour feature marking includes the end segment contour feature (1.11a) of the electrode connector contour feature (1.11') which contains only one electrode contour (1.10') and the center point of the electrode contour (1.10').

5. The battery pack disassembly method according to claim 1, characterized in that, The creation of the second feature model includes: The connecting piece disassembly vision controller (v2) collects data of the battery body (1') from the connecting piece disassembly second vision camera (iii), generates a second depth map from a top-down angle, and processes the second depth map to obtain the contour feature map of the battery body; The connector disassembly vision controller (v2) receives a contour feature map of at least a portion of the battery body, which is captured by the user and contains at least one shape contour feature (1.11') of the electrode connector, as a base map of the second feature model. It receives the contour feature (1.11') marking operation of each electrode connector shape and marks each second feature model base map with the electrode connector contour feature (1.11') to obtain the second feature model. The second feature contour marking includes the electrode connector contour feature (1.11') and the center point.

6. The battery pack disassembly method according to claim 1, characterized in that, The first laser cutter (L1) cuts the battery pack casing (10) at an angle θ relative to the horizontal plane, where θ ∈ [30, 75] degrees.

7. The battery pack disassembly method according to claim 1, characterized in that, Also includes: S100 feeding steps: The material (100) is fed to the first power conveyor line (b) by the lifting material transfer machine (a), and the first power conveyor line (b) conveys the material to the shell cutting station (c). S600 unloading steps: The battery pack with the electrode connecting piece (1.11) already unloaded is unloaded at the connecting piece unloading station (f) by a lifting material transfer machine.

8. A battery pack disassembly line, characterized in that, include: - First power conveyor line (b), used to convey battery packs to be cut; - Shell cutting station (c), including: The rotating platform (c1) includes: a conveying rotating device (c11) for supporting materials and connecting to the downstream end of the first power conveyor line (b), and is equipped with a platform material detection element (S1) for sensing the arrival of materials; and a rotating drive mechanism (c12) for driving and controlling the rotation and angle of the conveying rotating device (c11). A correction vision camera (i0) is configured above the conveying rotation device (c11) to acquire the angle α of the battery pack (1) relative to the first reference reference. The robotic arm (c2) has at least 6 degrees of freedom. A shell disassembly vision camera (i) is configured at the end of a robotic arm (c2) to collect point cloud data of a section of the side of the battery pack shell (10) according to the acquisition scheme. The shell cutting vision controller (v1) matches the point cloud data with a preset battery pack shell segment data model to obtain the cutting trajectory point data of the segment; The robotic arm (c2) controls the first laser cutter (L1) to cut a segment of the battery pack shell (10) based on the cutting trajectory data constructed from the cutting trajectory points. The position of the battery pack shell (10) is switched by rotating the rotating table (c1). The shell disassembly vision camera (i) collects point cloud data for the next segment. The robotic arm (c2) controls the first laser cutter (L1) to cut the segment until all segments are cut. - The second power conveyor line (d) is connected to the conveyor rotation device (c11) of the housing cutting station (c) and is equipped with a battery pack housing removal station; - Connecting piece cutting station (e), including: The third power conveyor line (e1) is connected to the downstream end of the second power conveyor line (d) and is equipped with a third power conveyor material detection element (S2) that senses the arrival of materials. The first drive module (e2) has at least three degrees of freedom in the XYZ axes; The connecting piece disassembles the first vision camera (ii), which is driven by the first drive module (e2); The second laser cutter (L2) is driven by the first drive module (e2); The first drive module (e2) disassembles the drive connector piece and the first vision camera (ii) acquires a first depth map from a top-down angle of the battery body (1'). The connecting piece disassembly vision controller (v2) processes the first depth map to obtain a battery body contour feature map containing the electrode connecting piece contour features (1.11'); The connecting piece disassembly vision controller (v2) matches the outline features (1.11') of the electrode connecting piece with a preset first feature model to obtain the base point coordinates (Q1) of the center of the electrode (1.10) of the corresponding electrode connecting piece (1.11); the first drive module (e2) drives the second laser cutter (L2) to cut the electrode connecting piece (1.11) based on the base point coordinates (Q1) to separate the connection between the electrode connecting piece (1.11) and the electrode (1.10); - Connecting sheet unloading station (f), including: The fourth power conveyor line (f1) is connected to the downstream end of the third power conveyor line (e1) and is equipped with a material detection element (S3) for sensing the arrival of materials. The second drive module (f2) has at least three degrees of freedom in the XYZ axes; The second drive module (f2) drives the second drive module (f2) to disassemble the connecting piece and the second vision camera (iii) to acquire the second depth map of the battery body (1') from a top-down angle; A visual controller (v2) for disassembling the connecting piece is used to process the second depth map to obtain a battery body contour feature map containing the electrode connecting piece contour features (1.11'). The connecting piece disassembly vision controller (v2) matches the outline features (1.11') of the electrode connecting piece with a preset second feature model to obtain the material picking coordinates of the electrode connecting piece and the angle β between the battery body (1') and the second reference datum. The second drive module (f2) drives the connecting piece feeder (f3) to transfer the corresponding electrode connecting piece (1.11) to the unloading area according to the material picking coordinates and included angle β.

9. The battery pack disassembly line according to claim 8, characterized in that, It also includes a lifting material transfer machine (a) connected to the upstream end of the first power conveyor line (b) and / or a lifting material transfer machine (g) connected to the downstream end of the fourth power conveyor line (f1). The lifting material transfer machine (a, g) includes: a frame (A) with a material transfer channel (a0) connecting the front and rear sides; a power conveying device (a1') having two power conveying parts (a1) spaced apart; a lifting device (a2) for lifting the power conveying parts (a1); and a base (a3) ​​for guiding and supporting forklifts into or out of the material transfer channel (a0), having a fork arm support part (a31) extending between the two power conveying parts (a1) and spaced apart, with the upper side of the power conveying part (a1) higher than the upper surface of the base (a3).

10. The battery pack disassembly line according to claim 8, characterized in that, The first laser cutter (L1) cuts the battery pack casing (10) at an angle θ relative to the horizontal plane, where θ ∈ [30, 75] degrees.

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