Battery pack casing cutting methods, equipment, and battery pack disassembly lines

Abstract

This patent belongs to the field of battery pack disassembly technology, and relates to a battery pack casing cutting method. The method involves using a casing disassembly vision camera to collect point cloud data of the battery pack casing on a rotating platform, segmented according to a data acquisition scheme. This point cloud data is then matched with a pre-set segment data model of the battery pack casing from a casing cutting vision controller to obtain the cutting trajectory point data for that segment. A first laser cutter cuts one segment of the battery pack casing along the cutting trajectory constructed from the cutting trajectory point data. By rotating the platform and changing the position of the battery pack casing, the casing disassembly vision camera acquires point cloud data for the next segment, and the first laser cutter cuts that segment until all segments are cut. This invention combines machine vision and laser cutting, and is suitable for cutting battery pack casings of different specifications. Using laser cutting, the cutting path is highly controllable and efficient. This invention also provides related battery pack casing cutting equipment and battery pack disassembly lines.

Description

Technical Field

[0001] This invention belongs to the field of battery pack disassembly technology, specifically a battery pack shell cutting method, equipment, and battery pack disassembly line. Background Technology

[0002] New energy technologies are widely used in transportation vehicles and handling equipment. As one of the core components of new energy technologies, power batteries can no longer meet the power requirements when they degrade to below the design requirements after a certain period of use, and therefore need to be recycled.

[0003] The battery pack involved in this patent is a battery pack with a shell, especially a square-shell power battery pack. Its basic structure generally includes a battery pack body, a base plate and a shell. The battery body is mounted on the upper side of the base, and the shell covers the outside of the battery body. The base edge is provided with a base connecting edge that extends out of the edge of the battery pack body. The lower end of the shell is provided with a shell connecting edge that is connected and fixed to the base connecting edge. The shell connecting edge is connected to the base plate connecting seat (usually a connector, such as a screw; adhesive, welding, etc.).

[0004] This patent relates to the disassembly and recycling of the outer casing. In the prior art, the outer casing is disassembled manually, such as by removing screws or cutting by hand, which is cumbersome and inefficient. Summary of the Invention

[0005] One objective of this invention is to solve the problem of cumbersome and inefficient manual disassembly of battery pack casings in the prior art. The invention solves this problem by using a casing disassembly vision camera to collect point cloud data of the battery pack casing, a casing cutting vision controller to obtain cutting trajectory point data based on the point cloud data, and a first laser cutter to cut the battery pack casing along the cutting trajectory constructed by the cutting trajectory point data.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: Methods for cutting the battery pack casing include: The battery pack enters the rotary table at the casing cutting station; The visual camera used for shell disassembly collects point cloud data of a section of the side of the battery pack shell 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 to obtain the cutting trajectory point data of the segment. The first laser cutter cuts a segment of the battery pack casing along a cutting trajectory constructed from cutting trajectory point data; The position of the battery pack casing is switched by rotating the rotating material table. The casing disassembly vision camera collects point cloud data for the next segment, and the first laser cutter cuts the segment until all segments are cut.

[0007] This invention employs a visual camera to collect point cloud data of the battery pack casing. By matching this data with a pre-set data model of a battery pack casing segment in a visual controller for casing cutting, the cutting trajectory point data for that segment is obtained. A first laser cutter cuts the battery pack casing along the cutting trajectory constructed from the cutting trajectory point data. The cutting of each segment of the battery pack casing is achieved by rotating the cutting table to the correct position. This invention is suitable for cutting battery pack casings of different specifications. Using laser cutting, it offers high controllability of the cutting path, high flexibility, high efficiency, and good safety.

[0008] Furthermore, the battery pack enters the rotating table at the casing cutting station. Before the vision camera captures the data during casing disassembly, a correction camera acquires the angle α of the battery pack relative to a first reference benchmark. The rotating table corrects the angle α based on the position data fed back by the correction camera, adjusting the battery pack to a preset angle. The purpose of acquiring the angle α is to obtain the angle between the battery pack and the flow direction, thereby rotating and adjusting the position of the battery pack to achieve the benchmark adjustment before the battery pack casing is cut. Furthermore, after adjusting the battery pack to a preset angle, the process also includes detecting the distance between the battery pack and a reference position on the rotating table. If the distance exceeds a preset value, the housing cutting vision controller issues a warning. This control method prevents the battery pack from exceeding the working range of the first laser cutter and the working range of the housing disassembly vision camera, adjusting it to the center position of the rotating table through a warning.

[0009] Furthermore, the data model creation includes: a shell disassembly vision camera acquiring point cloud data of the side sections of the battery pack according to the acquisition scheme; and a shell cutting vision controller receiving user marking operations to mark key points for cutting each section's point cloud data. These key points include the start and end points of the cutting path, as well as the locations of inflection points. Using this scheme, the cutting path can be optimized, and cutting efficiency can be improved.

[0010] Another object of the present invention is to provide a battery pack casing cutting device, comprising: a rotating platform having: a conveying rotating device for supporting materials and connecting to the downstream end of a first power conveyor line, and a material detection element for sensing the arrival of materials; and a rotating drive mechanism for driving and controlling the rotation and angle of the conveying rotating device. A correction camera is positioned above the conveying and rotating device to collect the angle α of the battery relative to the first reference reference. The rotating table corrects the angle α based on the position data fed back by the correction camera, adjusting the battery pack to a preset angle. A robotic arm must have at least 6 degrees of freedom. A disassembly vision camera is mounted on the end of a robotic arm and is used to collect point cloud data of a section of the side of the battery pack casing according to the acquisition scheme. The shell cutting vision controller 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 controls the first laser cutter to cut a segment of the battery pack casing based on the cutting trajectory data. The position of the battery pack casing is switched by rotating the rotating table. The casing disassembly vision camera collects point cloud data of the next segment. The robotic arm controls the first laser cutter to cut the segment until all segments are cut.

[0011] The battery pack casing cutting equipment provided by this invention uses a casing disassembly vision camera to collect point cloud data of the battery pack casing. By matching this data with a pre-set data model of a battery pack casing segment by a casing cutting vision controller, the cutting trajectory point data for that segment is obtained. A first laser cutter cuts the battery pack casing along the cutting trajectory constructed from the cutting trajectory point data. The cutting of each segment of the battery pack casing is achieved by rotating the cutting table to the correct position. It is suitable for cutting battery pack casings of different specifications, uses laser cutting, and offers high controllability of the cutting path, high flexibility, high efficiency, and good safety.

[0012] Another objective of this invention is to provide a battery pack disassembly line, comprising: a casing cutting station, a second power conveyor line, and a connecting piece cutting station; the casing cutting station includes battery pack casing cutting equipment, the second power conveyor line is connected to the downstream end of the casing cutting station, and a battery pack casing removal station is configured therein; the connecting piece cutting station is connected to the downstream end of the second power conveyor line and is used to cut the connection between the electrode connecting pieces and the electrodes of the battery cells; the connecting piece unloading station is connected to the downstream end of the connecting piece cutting station and is used to pick up and place the cut electrode connecting pieces into the unloading area. This patented battery pack disassembly line uses a power conveyor line to transfer materials between each station, achieving fully online processing, high efficiency, and high flexibility.

[0013] Some of the technical effects of the present invention are demonstrated in specific embodiments. Attached Figure Description

[0014] Figure 1 A 3D diagram of the battery pack disassembly line Figure 2 3D diagram of removing the outer cover from the battery pack disassembly line Figure 3 A 3D diagram showing the removal of the outer casing from another angle for the battery pack disassembly line. Figure 4 A three-dimensional schematic diagram of a lifting material transfer machine. Figure 5 A three-dimensional schematic diagram of the lifting material transfer machine from another angle. Figure 6 A three-dimensional schematic diagram of some parts of a lifting material transfer machine. Figure 7 A three-dimensional schematic diagram of some parts of a lifting material transfer machine from another angle. Figure 8 3D diagram of loading materials for (parts) Figure 9 A 3D diagram showing the loading of materials onto a lifting material transfer machine (located at the very front of the battery pack dismantling line). Figure 10 A 3D diagram showing the loading of materials onto a lifting material transfer machine (located at the very end of the battery pack dismantling line). Figure 11 3D schematic diagram of the equipment for the shell cutting station Figure 12 A three-dimensional schematic diagram of the equipment at the shell cutting station from another angle. Figure 13 A 3D diagram of equipment at the casing cutting station equipped with a battery pack. Figure 14a A top view of the battery pack in its initial state, mounted on a rotating platform. Figure 14b A top-view diagram of a battery pack mounted on a rotating platform after angular correction. Figure 15a A schematic diagram of the point cloud data (or data model) for section ① of the battery pack casing. Figure 15b A schematic diagram of the point cloud data (or data model) for section ② of the battery pack casing. Figure 15c A schematic diagram of the point cloud data (or data model) for section ③ of the battery pack casing. Figure 15d This is a schematic diagram of the point cloud data (or data model) for the fourth section of the battery pack casing. Figure 16 A schematic diagram of the cutting trajectory constructed based on the cutting trajectory point data for the first section of the battery pack. Figure 17 A schematic diagram of the cutting trajectory constructed based on the cutting trajectory point data for the second section of the battery pack. Figure 18 A schematic diagram of the cutting trajectory constructed based on the cutting trajectory point data for section ③ of the battery pack. Figure 19 A schematic diagram of the cutting trajectory constructed based on the cutting trajectory point data for the fourth section of the battery pack. Figure 20 A three-dimensional schematic diagram of the equipment for the connecting piece cutting station and the connecting piece unloading station. Figure 21 for Figure 20 Enlarged view of the Q1 part Figure 22A 3D schematic diagram of the equipment equipped with battery packs at the connecting piece cutting station and the connecting piece unloading station. Figure 23 A three-dimensional diagram showing the equipment for the connecting piece cutting station and the connecting piece unloading station equipped with a battery pack from another angle. Figure 24 A 3D schematic diagram of a battery pack entering the connector cutting station. Figure 25a This is part of the first (second) depth map obtained from the first scan of the battery pack body. Figure 25b The first (second) depth map obtained by stitching together three scans. Figure 25c The battery body contour feature map is obtained after the first (second) depth map is processed by the first grayscale. Figure 25d The battery body contour feature map is obtained by performing a second grayscale processing on the first (second) depth map. Figure 25e for Figure 25d Enlarged view of a part Figure 26a A schematic diagram of the first feature model (marking the first type of end segment contour feature). Figure 26b A schematic diagram of the first feature model (marking the second type of end segment contour features). Figure 26c A schematic diagram of the first feature model (marking the third type of end segment contour features). Figure 27 A schematic diagram for obtaining the base point coordinates of all electrode connectors. Figure 28a A schematic diagram of the second feature model (marking the contour features of the first type of electrode connector). Figure 28b A schematic diagram of the second feature model (marking the contour features of the second type of electrode connector). Figure 28c A schematic diagram of obtaining the top-view contour edge features of the battery pack body as the second linear feature. Figure 29a A schematic diagram for obtaining the second linear feature and the second reference datum. Figure 29b To obtain a schematic diagram of all material picking coordinates and included angles Figure 30 Top view of the battery pack body with all electrode connectors cut out. Figure 31 Top view of the battery pack body with some electrode connectors removed. Figure 32 3D schematic diagram of removing the front side panel of the outer casing at the outer shell cutting station. Figure 33 for Figure 32 Enlarged view of the Q2 part Figure 34 A three-dimensional schematic diagram showing the removal of the front side panel from the main outer cover for cutting the connecting piece. Figure 35 Battery pack disassembly flowchart Figure 36 Battery pack casing cutting flowchart Figure 37 Flowchart for cutting electrode connectors Figure 38 Electrode connector blanking process flow chart Detailed Implementation

[0015] The specific embodiments of the present invention are described below with reference to the accompanying drawings. In the description of the present invention, it should be noted that the terms "upper," "lower," "vertical," "horizontal," "radial," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0016] The embodiments of the present invention generally relate to a battery pack casing cutting method, a battery pack casing cutting device, and a battery pack disassembly line.

[0017] Referring to Figure 14, the material 100 described in this patent includes the turnover seat 100' and the battery pack 1 as a collective term. Of course, in other embodiments where the turnover seat 1 is not required, the material 100 refers to the battery pack 1.

[0018] See Figures 16 to 19 and Figure 24 In one 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 mounting units 1.1. The electrodes 1.10 of the battery units 1.1 are connected by electrode connecting pieces 1.11. The electrode connecting pieces 1.11 have two electrode mounting holes 1.10' corresponding to the electrodes 1.10. The electrode connecting pieces 1.11 are sleeved on the corresponding electrodes 1.10 through the electrode mounting holes 1.10 and fixedly connected (connecting components, such as screws; adhesives, welding, etc.). The base 1a has a base connecting edge 102 extending outward from the battery body 1'. 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. The shell connecting edge 101 and the base connecting edge 102 are usually connected by connecting components, such as threaded connectors. Figure 16 As shown, in some embodiments, connecting holes 103 are provided on the shell connecting edge 101 and the base connecting edge 102 for connection by screws (not shown). Figure 19 As shown, a terminal block structure 102 is provided on the battery pack housing 10. Since the terminal block structure 102 has a connection structure with the battery body 1', it is necessary to avoid cutting the battery pack housing 10. There is generally a partition between the battery pack housing 10 and the battery body 1' at this position, so the battery pack housing 10 can be cut directly from the periphery of the terminal block structure 102.

[0019] Commonly used materials for the battery pack casing 10 include resin and carbon fiber. This patent also applies to the disassembly of other existing materials used for the battery pack casing 10. The battery pack casing cutting in this patent refers to cutting and separating the connection between the battery pack casing 10 and the battery pack 1 (such as the connection to the base); the electrode connecting piece cutting refers to cutting and separating the connection between the electrode connecting piece 1.11 and the electrode 1.10.

[0020] See Figures 1 to 3 One embodiment of the battery pack disassembly line of this patent includes: a lifting material transfer machine a, a first power conveyor line b, a shell cutting station c, a second power conveyor line d, a connecting piece cutting station e, a connecting piece unloading 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 conveyor line b, the shell cutting station c is connected to the downstream end of the first power conveyor line b, the second power conveyor line d is connected to the downstream end of the shell cutting station c, the connecting piece cutting station e and the connecting piece unloading station f are sequentially connected to the downstream end of the second power conveyor line d, and the lifting material transfer machine g is connected to the downstream end of the connecting piece unloading station f.

[0021] See Figure 31 ,as well as Figures 1 to 30 The following describes the disassembly method for the battery pack in this patent: S100 loading steps: Material 100 is loaded onto the first power conveyor line b via the lifting material transfer machine a, and the first power conveyor line b transports the material to the shell cutting station c. S200 Cut-out Battery Pack Casing: S201 battery pack 1 enters the rotating material table c1 at the outer casing cutting station c.

[0022] The correction camera i0 located above the rotating table c1 in S202 collects 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 reference.

[0023] A preferred embodiment of the first reference reference in this patent is the coordinate system of the correction camera i0, such as the angle α between the imaging plane coordinate system and the first linear feature in the flow direction of the battery pack 1. Of course, it could also be the angle α between the coordinate system of the correction camera i0 and the first linear feature in other directions. Another embodiment of the first reference reference is a fixed reference position of the rotating platform, such as the side of the support bracket c111. By acquiring the angle α between the first linear feature and the first reference reference, if the angle α exceeds a preset expected range, the rotating platform c1 is rotated to adjust the corresponding angle; if the angle α is within the preset expected range, the rotating platform c1 is rotated to adjust the corresponding angle to 0 degrees, i.e., no adjustment is needed. If the first reference reference is parallel to the flow direction of the battery pack 1, adjusting the angle between the first linear feature w1 and the first reference reference to 0 degrees is the preferred option. If the first reference reference 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 reference is adjusted to the corresponding angle so that the angle between the battery pack 1 and the flow direction is adjusted to be parallel. Of course, the preset angle can have a certain deviation, such as a range of 0 degrees ± 0.5 degrees.

[0024] The correction camera i0 is an industrial planar camera, such as an industrial area scan camera from Hikvision, and is positioned above the rotating platform c1, preferably in the upper middle. The first linear feature is a linear feature identified by the correction camera i0 along the edge of the battery pack 1, such as the top edge or base edge of the battery pack 1, or other identifiable linear features on the battery pack 1. The first linear feature preferably extends along the flow direction of the battery pack 1. The selection of the first linear feature can be achieved by the correction camera i0 acquiring the top view features of the battery pack 1, which are then processed by the vision controller v1 to select the location where the linear feature is more prominent. The angle α is obtained by comparing the algorithm built into the control module of the correction camera i0 with the planar coordinate system. Specifically, in this invention, it is the angle between the first linear feature and the flow direction of the battery pack 1 (the reference direction, i.e., the preset angle between the first linear feature w1 and the planar coordinate system). The technique of acquiring the linear feature angle of the target object using the algorithm built into the control module of the correction camera i0 is existing, such as that implemented by the control module of Hikvision's industrial area array camera, specifically the Hikvision MV-CS050-10GM industrial camera equipped with a Hikvision MVL-HF0624M-10MP lens, which will not be described in detail in this patent. Of course, in other embodiments, the correction camera i0 can also use other existing industrial cameras capable of acquiring the angle of the battery pack 1.

[0025] Under normal circumstances, the angle of the battery pack 1 during loading and the positional changes during the transmission process cannot ensure that the angle of the battery pack 1 entering the outer shell cutting station c is consistent with the expected angle range. Therefore, the cutting of the battery pack outer shell 10 requires adjusting the angle of the battery pack 1 after entering the rotating material table c1 to the required angle range.

[0026] The purpose of acquiring the angle α is to obtain the angle between the battery pack 1 and the first reference datum, and to determine whether angle α needs adjustment. If angle α exceeds the preset expected range, the position of the battery pack 1 is rotated and adjusted to achieve the reference adjustment before the battery pack shell 10 is cut. This is because the position of the battery pack 1 after the rotating table c1 rotates needs to be determined based on the angle of the initial position of the battery pack 1, requiring adjustment of the position of the battery pack shell 1. Preferably, angle α is 0 or 180 degrees, or close to the above angles.

[0027] In one embodiment, such as Figure 14a and Figure 14b This is a top view of battery pack 1. After battery pack 1 enters the conveying and rotating device c11 of the rotating table c1, the correction camera i0 takes a picture of battery pack 1. The vision controller collects the top edge feature of battery pack 1 as the first linear feature w1, and obtains the angle α between the first linear feature w1 and the coordinate system X direction of the correction camera i0. The vision controller sends the angle α data to the rotation drive mechanism c12 of the rotating table c1. The rotation drive mechanism c12 rotates the conveying and rotating device c11 of the rotating table c1 by the adjustment direction by the angle α. Figure 14a As shown, rotating counterclockwise by an angle α, the first linear feature w1 edge is now parallel to the X direction of the coordinate system of the correction camera i0, as shown. Figure 14b As shown. Figure 14a and Figure 14b This is a top view of battery pack 1. The actual image acquired and processed by the correction camera i0 is not shown. This is only for the convenience of showing the positional relationship between the first linear feature w1 and the coordinate system of the correction camera i0.

[0028] In some embodiments, after adjusting the battery pack 1 to a preset angle, the method further 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 a preset value, the vision controller v1 issues a warning. Using this control, the battery pack 1 can be prevented from exceeding the working range of the first laser cutter L1 and the working range of the housing disassembly vision camera, and it can be adjusted to the middle position of the rotating table c1 through a warning.

[0029] like Figure 14aAs shown, the correction camera i0 uses the first linear feature w1 as a reference position to determine the distance h1 between the first linear feature w1 and the X-direction of the coordinate system of the correction camera i0. When h1 exceeds a preset range, the vision controller v1 issues a warning, requiring manual intervention to adjust the position of the battery pack 1 towards the center of the conveying and rotating device c11. Of course, in other embodiments, the first linear feature w1 can be other positions, such as the outermost edge of the battery pack 1. Alternatively, other methods can be used to detect the relative position of the battery pack 1 and the rotating platform c1.

[0030] S203 rotating platform c1 corrects the angle α based on the position data fed back by the correction camera i0, adjusting the battery pack 1 to the preset angle. Specifically, the vision controller sends the included angle α data to the rotation drive mechanism c12 of the rotating platform c1, and the rotation drive mechanism c12 rotates the conveying rotation device c11 of the rotating platform c1 by the adjustment direction by the angle α.

[0031] In this embodiment, the desired angle for the battery pack 1 to enter the outer casing cutting station c is 0 or 180 degrees. Of course, in other embodiments, the specific angle can be selected as needed.

[0032] The S204 casing disassembly vision camera i collects point cloud data of a section of the side of the battery pack casing 10 according to the acquisition scheme.

[0033] The acquisition scheme for the battery pack casing 10 is specifically based on the shape of the battery pack casing 10, such as the number of side faces, to divide it into segments. Additionally, the range and efficiency of the disassembly vision camera i and the first laser cutter L1 need to be considered when dividing each segment. Dividing by face facilitates cutting path planning and ensures that interference is avoided within the travel range of the disassembly vision camera i and the first laser cutter L1, while simultaneously improving acquisition and cutting efficiency. In subsequent embodiments, one side face is used as one segment. In other embodiments, two or more sides can be used as one segment, depending on the range of motion of the disassembly vision camera i and the first laser cutter L1, as well as the working conditions of the device driving the disassembly vision camera i and the first laser cutter L1, such as the robotic arm c2.

[0034] The preferred solution for the disassembly of the outer shell visual camera i is a structured light 3D camera. In this patent, the technical means for the disassembly of the outer shell visual camera i to collect point cloud data is the existing technology, such as using the Mech-Mind UHP-140 3D camera and its supporting system.

[0035] Appendix Figures 16 to 19As shown, in one embodiment, the battery pack casing 10 has four sides. According to the acquisition scheme, the side of the battery pack casing 10 is divided into four sections, ①-④, for each side. The rotating platform c1 rotates 90 degrees when switching to the next section according to the acquisition scheme. Specifically, when the control module of the rotating platform c1 receives a notification that one section has been acquired, the system needs to confirm whether the casing disassembly vision camera i avoids the rotation trajectory of the battery pack 1, and then rotates 90 degrees to the next section.

[0036] The S205 housing disassembly vision camera i and its matching vision controller v2 match the point cloud data with a preset battery pack housing segment data model to obtain the cutting trajectory point data of that segment.

[0037] The first laser cutter L1 of S206 cuts a segment of the battery pack casing 10 along a cutting trajectory constructed from cutting trajectory point data.

[0038] In one embodiment, such as Figure 16 As shown, the visual camera i uses point cloud data from the battery pack casing 10 on side ①. The visual controller v2 matches the point cloud data with a preset data model of the battery pack casing segment ①, as shown. 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.

[0039] 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.

[0040] 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. 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.

[0041] 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.

[0042] It should be noted that, for ease of understanding, Figures 15a to 15d The diagram of the corresponding data model is only for illustrating the distribution of cutting trajectory points and does not represent the actual data model. Figures 16 to 19 Images captured in real-world conditions. For example... Figure 15d The portion of the connector structure 102 has been enlarged to better illustrate the arrangement of trajectory points in that section; however, the display scale is not proportional to the actual dimensions. Figure 19 The proportions of the various parts are coordinated.

[0043] The first laser cutter L1 cuts section ② until the cutting is complete, leaving section ②-④.

[0044] like Figures 16 to 19 As shown, the start and end points of the cutting trajectory for each segment are located outside the shell connection edge 101, and the ends of the cutting trajectories of adjacent segments intersect, with the aim of forming a closed cutting trajectory to ensure that the battery pack shell 10 can be completely cut off.

[0045] like Figure 16 As shown, the cutting trajectory points 1-4 are constructed to avoid the connecting structure 103, and a similar scheme is used in other sections. Of course, in some embodiments, when the connecting structure 103 does not affect the cutting trajectory, cutting trajectory points 1-4 may not be necessary, and the same applies to other sections.

[0046] like Figure 16As shown, the step-like shape formed by cutting trajectory points 1-2 and 1-3 is due to the protrusion 104 formed on the surface of the battery pack casing 10①, and the cutting trajectory points need to be planned according to the shape of the surface of the battery pack casing 10①. Of course, in other embodiments, there is no protrusion 104, so there is no need to add cutting trajectory points 1-3.

[0047] like Figure 15d and Figure 19 As shown, the data model cutting trajectory points 2 to 7 and cutting trajectory points 4-2 to 4-7 are constructed to avoid the terminal block structure 102.

[0048] In one embodiment, the first laser cutter L1 cuts the battery pack casing 10 at an angle θ relative to the horizontal plane. Preferably, θ ∈ [30, 75], and more preferably 40-50 degrees, such as 40 degrees, 45 degrees, 50 degrees, etc. Since there is a certain gap between the inner wall of the battery pack casing 10 and the battery body 1', when cutting the side wall of the battery pack casing 10, such as the section where the terminal block structure 102 is provided, the above-mentioned angle can ensure that the cutting beam is within the gap, controlling the laser beam between the inner wall of the battery pack casing 10 and the outer wall of the battery body 1', avoiding cutting the battery body 1'. In addition, this angle range can effectively avoid interference between the battery pack casing 10 and the first laser cutter L1.

[0049] 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.

[0050] 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.

[0051] 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 shell 10; then, based on the shape of the side wall of the battery pack shell 10, the position of the connecting structure 103 on the shell connecting 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 cutting trajectory points 1 and 5 at the start and end points of the cutting, and the inflection points 2 and 3 (protrusion 104) on the shell connecting edge 101, and the inflection point 4 (avoiding the connecting structure 103), the data model of the first segment is obtained.

[0052] Similarly, see Figure 15cThe data model of 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 of section ② on the human-machine interface of vision controller v1.

[0053] Similarly, see Figure 15c The data model of section ③ is created by rotating the 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.

[0054] See Figure 15d The data model for section ④ 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 ④ of the battery pack shell. Data is collected for section ④. Since the side of section ④ has a terminal block structure 102, and since there is a partition between the battery pack shell 10 and the battery body 1' at this position, the periphery of the terminal block structure 102 can be directly cut. Therefore, the cutting trajectory points 2 to 7, which are marked with key points around the periphery of the terminal block structure 102, as well as the start and end points 1 and 8, are obtained, resulting in cutting trajectory points 1 to 8.

[0055] Preferably, the start and end cutting trajectory points need to be marked outside the shell connection edge 101, and the cutting trajectory points of adjacent sections should be connected to form an intersection. The purpose is to make the cutting trajectory closed, so as to ensure that the battery pack shell 10 can be completely cut off.

[0056] To facilitate data collection, the angle of battery pack 1 needs to be corrected before data collection.

[0057] During actual cutting, taking the cutting of section ① as an example, the outer shell disassembly vision camera i captures point cloud data of section ① of the battery pack outer shell 10 from three stereo angles: upper right, upper center, and upper left. The cloud data captured from each angle are merged to obtain the point cloud data of section ①. The vision controller v2 matches the point cloud data of section ① with the data model of section ①, such as... 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 outer shell segment ①. This data, i.e., the coordinate data of key points 1-1 to 1-5, is then sent to the robotic arm c2 that controls the movement of the first laser cutter L1. The controller of robotic arm c2 constructs a cutting trajectory P1 based on the data of cutting trajectory points 1-1 to 1-5 to cut segment ① of the battery pack outer shell 10. Figure 16 As shown.

[0058] In this patent, the technique of using the shell to disassemble the visual camera to collect point cloud data is an existing technology, such as using Hikvision's shell to disassemble the visual camera and the supporting system.

[0059] S300 Battery Pack Housing Removal: The battery pack 1 with its housing cut off moves downstream from the rotary table c1 into the battery pack housing 10 removal station on the second power conveyor line d. The battery pack housing 10 and related electrical accessories, such as wire connectors and circuit board 1, are removed. The battery pack housing 10 can be removed manually, which allows for the organization of electrical accessories; alternatively, it can be removed using automated mechanical equipment.

[0060] S400 cut electrode connector: S401 battery body 1' enters the connecting piece cutting station e. For example... Figure 24 The diagram shows the battery body 1' after removing the outer casing from the battery pack 1. The electrodes 1.10 between the battery cells 1.1 are connected by electrode connecting pieces 1.11. This station cuts the connection between the electrode connecting pieces 1.11 and the electrodes 1.10.

[0061] The S402 connector was disassembled, and the first vision camera II captured the first depth map of the battery body 1' from a top-down angle.

[0062] Specifically, it could be through... Figures 20 to 23 The first linear drive mechanism e2 shown drives the connecting piece to disassemble the first vision camera ii to scan the battery body 1'. The first linear drive mechanism e2 will be described later.

[0063] One approach for the first visual camera (ii) in connecting piece disassembly is a line scan camera, preferably a 3D line scan camera. Since the scanning range of the first visual camera (ii) in connecting piece disassembly 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 depth map from the first scan. Figure 25b This is the entire first depth map obtained by stitching together the images after three separate scans. This technique of segmented scanning and stitching is existing technology, and the specific implementation process will not be described in detail here.

[0064] The S403 vision controller v2 processes the first depth map to obtain a battery body contour feature map containing the electrode connection piece contour feature 1.11'.

[0065] As attached Figure 25c After the initial grayscale processing, multiple grayscale processing steps can be performed depending on the resulting display quality. Figure 25d The effect after a second grayscale processing, such as Figure 25e for Figure 25d In the partial view, the outline features of electrode connector 1.11 are already quite clear.

[0066] The S404 vision controller v2 matches the contour feature 1.11' with a preset first feature model to obtain the base point coordinates Q1 of the center of the corresponding electrode 1.10. For example, Figure 25d Contour features and Figures 26a to 26c The comparison of the first feature model shown will Figure 25d Each contour feature 1.11' is paired with the corresponding contour feature 1.11' in the three first feature models to obtain the base point coordinates Q1 of all electrode connection pieces 1.11, such as... Figure 27 As shown.

[0067] 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 goal is simply to ensure that the cutting trajectory effectively severs the connection between the electrode connecting piece 1.11 and the electrode 1.10. For example, the cutting trajectory 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.

[0068] 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.

[0069] S500 electrode connector blanking: The battery body 1' with the cut electrode connecting piece 1.11 in S501 enters the connecting piece unloading station f.

[0070] 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.

[0071] 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.

[0072] One solution for the second vision camera iii in the connector disassembly process is a line scan camera, preferably a 3D line scan camera. Since the scanning range of the second vision camera ii in the connector disassembly process is limited, the entire first depth map can be formed 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 25bThis is the entire first depth map obtained by stitching together the images after three separate 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.

[0073] 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 25d The effect after a second grayscale processing, such as Figure 25e for Figure 25d In the partial view, the outline features of electrode connector 1.11 are already quite clear.

[0074] S504 matches the aforementioned contour features with the second feature model preset by the 1.11' vision controller v2, obtains all the material picking coordinates Q2 of the electrode connection piece, and obtains the angle β between a second linear feature along the line scan direction of the top-view contour feature of the battery pack body and the second reference datum, 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, or other clearly distinguishable linear features can be selected.

[0075] The second reference datum can be a vector in the coordinate system of the second vision camera ii, such as parallel to the direction of the line scan. Alternatively, it can be a fixed reference position at the connecting piece unloading station f. The included angle β determines the offset angle of the electrode connecting piece 1.11.

[0076] S505 transfers the corresponding electrode connecting piece 1.11 to the unloading area f4 according to the material picking coordinate Q2 and the included angle β.

[0077] Specifically, it could be through... Figures 20 to 23 The second drive module f2 shown drives the material handling device f3 to transfer the corresponding electrode connecting piece 1.11 to the unloading area f4 according to the material handling coordinates Q2 and the included angle. The material handling device f3 will be described later.

[0078] The following explains how to create the first feature model: (1) At the connecting piece cutting station e, the first depth map of the battery body 1' from a top view angle is acquired. The vision controller v2 performs grayscale processing to obtain the contour feature map of the battery body, see Figures 25a to 25e As shown, the specific process is described in S402-S403 above.

[0079] (2) The user extracts the outline feature map of the battery body according to the number of electrode connecting pieces 1.11 of different shapes on the human-machine interface of the vision controller v2 (e.g. Figure 25e At least a portion of the first feature model base map is used as the first feature model base map, and each first feature model base map contains the electrode connection piece contour feature 1.11' of the target shape, i.e. the end segment contour feature 1.11a.

[0080] (3) The user marks the center point of the first end segment contour feature 1.11a and the electrode contour 1.10' in each first feature model base map on the human-machine interface of the vision controller v2, i.e., the base point coordinate Q1.

[0081] like Figures 26a to 26c As shown, the user captures three base maps of the first feature model on the human-computer interface of the vision controller v2. Figure 26a The center point of the first type of end segment contour feature 1.11a and electrode contour 1.10' is marked, i.e., the base point coordinates Q1; in the second feature model base... Figure 26b The center point of the second type of end segment contour feature 1.11a and electrode contour 1.10' is marked, i.e., the base point coordinates Q1; in the third feature model base Figure 26c The center point of the second type of end segment contour feature 1.11a and electrode contour 1.10' is marked, i.e., the base point coordinate Q1. The first contour feature marker includes an end segment contour feature 1.11a containing only one electrode contour 1.10' and an electrode contour 1.10' center point Q1.

[0082] During the actual cutting process, in step S404, the vision controller v2 will generate a feature map of the battery body contour (see...). Figure 25d and 25e The vision controller v2 matches the electrode sheet contour feature 1.11' of the battery body contour feature map with the corresponding first feature models 26a to 26c. It then matches each end segment contour feature 1.11a with the electrode connection piece contour feature 1.11' of the battery body contour feature map to obtain the base point coordinates Q1 of the center of all corresponding electrodes 1.10. Figure 27 As shown. The vision controller v2 sends the data of the base point coordinates Q1 to the first linear drive mechanism e2. The first linear drive mechanism e2 drives the second laser cutter L2 to cut around the electrode 1.10 and cut the electrode connecting piece 1.11 in a circle with an offset greater than the preset distance of the electrode 1.10, based on the base point coordinates Q1.

[0083] The following explains how to create the second feature model: (1) At the connecting piece cutting station e, a second depth map of the battery body 1' from a top view angle is acquired. The vision controller v2 performs grayscale processing to obtain the contour feature map of the battery body, see Figures 25a to 25e As shown, the specific process is described in S502-S503 above.

[0084] (2) The user extracts the outline feature map of the battery body according to the number of electrode connecting pieces 1.11 of different shapes on the human-machine interface of the vision controller v2 (e.g. Figure 25e At least a portion of the first feature model base map is used as the second feature model base map, and each second feature model base map contains the target shape electrode connection piece contour feature 1.11'.

[0085] (3) The user marks the electrode connection piece contour feature 1.11' and the center point coordinate Q2 of the electrode connection piece contour feature in each second feature model base map in the human-machine interface of the vision controller v2.

[0086] like Figures 28a to 28b As shown, the user captures two base maps of the second feature model on the human-computer interface of the vision controller v2. (The second feature model base map is shown in the image.) Figure 28a The first type of electrode connector contour feature 1.11' and the center point coordinates Q2 of the electrode connector contour feature are marked in the second feature model base. Figure 28b The outline feature of the second type of electrode connector is marked as 1.11' and the coordinates of the center point of the outline feature of the electrode connector are Q2.

[0087] During the actual material cutting process, in step S504, the vision controller v2 will generate a feature map of the battery body contour (see...). Figure 25d and 25e The electrode sheet contour feature 1.11' and the corresponding second feature model base are matched. Figures 28a to 28b The vision controller v2 matches the electrode connection piece contour feature 1.11' of each second feature model with the electrode connection piece contour feature 1.11' of the battery body contour feature map, obtaining the center coordinates Q2 of all electrode connection piece contour features 1.11'. Additionally, it obtains the angle β between a second linear feature along the scan direction of the battery body contour feature map and the second reference datum, such as... Figures 28c to 29a As shown in Figure 29a, the arrow indicates the line scan direction (or a parallel direction). The vision controller v2 sends the center coordinates Q2 and the included angle data to the second drive module f2. The second drive module f2 drives the material handling device f3 to transfer the corresponding electrode connecting piece 1.11 to the unloading area f4 according to the material handling coordinates Q2 and the included angle. The material handling device f3 will be described later.

[0088] In this patent, the disassembly of the first visual camera ii and the disassembly of the second visual camera iii using the connecting piece are existing technologies, such as using a Hikvision MV-DP3580-01H 3D camera.

[0089] S600 unloading steps: The battery pack with electrode connecting pieces 1.11 already unloaded is unloaded at the connecting piece unloading station f using a lifting material transfer machine. This method automates the entire unloading process.

[0090] The following describes each station of the battery pack disassembly line of the present invention: Lifting material transfer machine a See also Figures 1 to 9 A lifting material transfer machine a is connected to the upstream end of the first power conveyor line b and is used to transport battery packs to be cut. The lifting material transfer machine a includes a frame A, a power conveying device a1', a baffle plate a1.1, a lifting device a2, and a base plate (a3). The frame A is provided with a material transfer channel a0 that runs through the front and rear sides. The power conveying device a1' has two power conveying parts a1 that are spaced apart. The baffle plate a1.1 is located on the outer side of the power conveying device a1. The lifting device a2 is used to synchronously lift the power conveying device a1'. The base plate a3 is used to guide and support forklifts entering or exiting the material transfer channel a0 and has a fork arm support part a31 that extends between the two power conveying parts a1' and is spaced apart. The upper side of the power conveying part a1' is higher than the upper surface of the base plate a3.

[0091] Because the two power conveying units a1' are spaced apart, they can be used with ordinary forklifts or AGV forklifts for loading or unloading. When used for loading, the forklift transports the material 100 via the base plate a3 onto the power conveying unit a1' in its initial (lowest) position. Then, the forklift's forks move down from the space between the forklifts, transferring the material to the upper side of the power conveying unit a1'. The forklift then retracts, and the lifting device a2 raises the power conveying unit a1' to a set height. The material 100 is then conveyed downstream via the power conveying unit a1' to achieve loading. When used for unloading, the material 100 enters from the upstream conveyor line and is loaded into position via the power conveying unit a1'. The lifting device a2 lowers the power conveying unit a1' to its lowest position, and the forklift removes the material 100 from the power conveying unit a1' via the base plate a3 to achieve unloading. The above structural design facilitates loading with existing forklifts. The forklift support part a31 is used for positioning and guiding the removal of the forklift. It features a simple structure, high efficiency, and does not require special permits for forklift loading and unloading operations. Furthermore, it can be connected to automated equipment or production lines.

[0092] It should be noted that the ordinary forklift described in this patent refers to a forklift that does not require special permits to operate.

[0093] The baffle plate a1.1 is used to block and limit the lateral position of the material 100, ensuring that it is fully supported on the power conveying device a1 during movement.

[0094] Each baffle plate a1.1 is equipped with a lateral guide roller mechanism a1.2 on the outer side of its end near the base plate a3. When the material 100 deviates from the center of the two baffle plates a1.1 and comes into contact with the lateral guide roller mechanism a1.2, it guides the material. When the lifting material transfer machine a is used for loading, it ensures that the material 100 is successfully loaded onto the power conveying device a1 and avoids collision with the baffle plate (a1.1). When the lifting material transfer machine g is used for unloading, it ensures that the material 100 is unloaded from the power conveying device a1 and that the material can enter the unloading conveying equipment.

[0095] The base plate a3 also includes a platform portion a32 that is flush with the fork arm support portion a31, and a slope portion a33 connected to the outer end of the platform portion a32. The slope portion a33 is used to guide the forklift into and out of the platform portion a32 to avoid the steps being too high and affecting the entry and exit of the forklift. The platform portion a32 is configured to be flush with the fork arm support portion a31 to avoid affecting the lifting and lowering of the forklift's fork arm.

[0096] Frame A has an upper component A.1, a lower component A.2, and a support component A.3 connecting the two sides of the upper component A.1 and the lower component A.2. Frame A has a material transfer channel a0 that runs through the front and rear sides. The lifting device a2 includes an electric chain drive device a2.1 and two sets of chains a2.2 arranged on both sides of frame A. The upper component A.1 is provided with a synchronous shaft a2.21 that couples the two sets of chains a2.2 through a sprocket. The synchronous shaft a2.21 is driven and connected to the electric chain drive device a2.1. The lower component A.2 is provided with a rotating seat a2.22 that connects the two sets of chains a2.2 respectively. One side of each set of chains a2.2 is fixedly connected to the power transmission part a1 on the corresponding side.

[0097] Specifically, each set of chains a2.2 has two chains spaced apart. The power transmission device a1 connects the two chains a2.2 of each set via a connecting beam a1.3. The connecting beam a1.3 is connected to the power transmission unit a1 via a side connector a1.4. By adopting the above scheme, the power transmission device a1 can be balanced under force and its lifting and lowering can be stabilized.

[0098] The baffle plate a1.1 and the power conveying device a1 are mounted on the side connector a1.4. This structure is simple and has good integration.

[0099] During operation, the electric chain drive device a2.1 rotates forward (or reverse), driving the synchronous shaft a2.21 to move the chain a2.2 forward, causing the power conveyor device a1 to rise to a preset position and stop, thus connecting the material with the subsequent production line. When loading materials, the electric chain drive device a2.1 rotates in reverse (or forward), driving the synchronous shaft a2.21 to move the chain a2.2 in reverse, causing the power conveyor device a1 (under the action of gravity) to move downward to the lowest position, and then the material can be loaded by a forklift or other material trolley.

[0100] To limit and guide the power transmission device a1, a guiding mechanism (not shown) is provided between the side connector a1.4 and the support member A.3. The guiding mechanism may be a guide wheel disposed on the side connector a1.4 and a guide groove disposed on the support member A.3. Alternatively, the guiding mechanism may be a guide rail device, a guide post and a guide sleeve device, or other suitable linear guiding mechanisms in the prior art. In other embodiments, the guiding mechanism may also be provided on the power transmission device a1'.

[0101] The power transmission device a1 includes a base, which includes two spaced-apart main supports a101. Power rollers a11 are mounted on the main supports a101 and are driven by roller drive motors a10. The base is fixed to a side connector a1.4. The drive mechanism between the roller drive motors a10 and each power roller a11 is existing technology.

[0102] In one improvement, a first auxiliary support a102 is provided between the two main supports a101, and a roller is mounted on the first auxiliary support a102. The ends of the two main supports a101 and the first auxiliary support away from the base plate a3 are connected by a second auxiliary support a103, and a roller is mounted on the second auxiliary support a103. The two main supports a101, the first auxiliary support a102, and the second auxiliary support a103 form a "mountain"-shaped structure. This design improves the overall structural strength of the power conveying device a1, and the first and second auxiliary supports a102 and a103 provide auxiliary support for the material. Preferably, the rollers on the first and second auxiliary supports a102 and a103 are designed as powered rollers.

[0103] See Figure 4 A limit switch a4 is provided on the support member A.3 to limit the vertical position of the power transmission device a1. When the triggering part linked with the power transmission device a1 triggers the limit switch a4, the lifting device a2 stops working.

[0104] See Figure 8Material 100 is transferred via turnover seat 1', specifically, turnover seat 1' comes into contact with power conveying device a1. Material sensors S6 are installed at both ends of power conveying device a1' to sense whether material enters or leaves power conveying device a1.

[0105] In some embodiments, the lifting material transfer machine is used for unloading. When the material enters the power conveying device a1 from the upstream and is in place, the electric chain drive device a2.1 rotates in the reverse direction (or can be defined as forward), driving the synchronous shaft a2.21 to drive the chain a2.2 to move in the reverse direction, causing the power conveying device a1 (under the action of gravity) to move downward to the lowest position. Then, the material can be unloaded by a material trolley such as a forklift.

[0106] Shell cutting station c See also Figures 1 to 3 , Figures 11 to 13 The equipment includes a shell cutting device, comprising: a rotating table c1, a correction camera i0, a robotic arm c2, a shell disassembly vision camera i, and a first laser cutter L1.

[0107] The rotating platform c1 has: a conveying rotating device c11 for supporting materials and connecting to the downstream end of the first power conveying 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.

[0108] A correction camera i0, positioned above the conveying and rotating device c11, is used to acquire 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 relative to a first reference reference. The first reference reference is described in the relevant section on the battery pack disassembly method.

[0109] The robotic arm c2 employs a robotic arm with at least 6 axes, which has the advantage of high flexibility.

[0110] The outer casing is disassembled, and the vision camera i is configured at the end of the robotic arm c2. It is used to collect point cloud data of a section of the side of the battery pack outer casing 10 according to the acquisition scheme.

[0111] 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 that segment.

[0112] 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. 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 segment. The robotic arm C2 controls the first laser cutter L1 to cut the segment until all segments are cut.

[0113] See Figure 3 and Figure 32 The laser cutting controller 2.2 controls the operation of the first laser cutter L1, and the robot controller 2.3 controls the operation of the robot c2. The robot controller 2.3 controls the robot c2 to drive the first laser cutter L1 to cut a section of the battery pack shell 10 based on the cutting trajectory data constructed by the robot controller 2.3.

[0114] See Figures 11 to 13 The conveying rotation device c11 includes a support bracket c111 and a first power conveying roller mechanism c112 mounted on the support bracket c111. The first power conveying roller mechanism c112 is driven by a drive motor c110, such as through chain drive. The upper end of the rotation drive mechanism c12 is connected to the middle of the support bracket c111, and the lower end is mounted on a rotating support base c13. Auxiliary roller mechanisms c113 are provided at both ends of the first power conveying roller mechanism c112, connecting the downstream end of the first power conveying line b and the upstream end of the second power conveying line d. The width of the auxiliary roller mechanism c113 is designed to increase gradually from its end to the middle of the first power conveying roller mechanism c112. This arrangement of the auxiliary roller mechanism c113 avoids contact interference between the conveying rotation 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 also supports and guides materials into and out of the conveying rotation device c11.

[0115] Material detection elements S are respectively provided at both ends of the first power conveying roller mechanism c112 to sense the entry and exit of materials into the first power conveying roller mechanism c112. One option for the material detection element S is a photoelectric sensor.

[0116] The support bracket c111 is provided with several support guide wheels c114 arranged at intervals along its rotation center, and the rotating support base c13 is provided with an annular support rail c131 configured with the guide wheels. The configuration of the support guide wheels c114 and the annular support rail c131 can optimize the structure of the support bracket c111 and improve its stability.

[0117] The following describes the battery pack casing cutting process: S100 feeding steps: Material 100 is fed to the first power conveyor line b via the lifting material transfer machine a, and the first power conveyor line b conveys the material to the shell cutting station c.

[0118] S201 battery pack 1 enters the rotating material table c1 at the outer casing cutting station c.

[0119] S202 correction camera i0 acquires the angle α of the first linear feature of battery pack 1 relative to the first reference benchmark; S203 rotating table c1 performs angle α correction based on the position data fed back by the correction camera i0, adjusting the battery pack 1 to the preset angle.

[0120] The S204 casing disassembly vision camera i collects point cloud data of a section of the side of the battery pack casing 10 according to the acquisition scheme.

[0121] The S205 housing disassembly vision camera i and its matching vision controller v2 match the point cloud data with a preset battery pack housing segment data model to obtain the cutting trajectory point data of that segment.

[0122] The first laser cutter L1 of S206 cuts a segment of the battery pack casing 10 along a cutting trajectory constructed from cutting trajectory point data.

[0123] The position of the battery pack housing 10 relative to the housing disassembly vision camera i is switched by rotating the rotating table c1 to the next battery pack housing segment, and the above S204 to S206 are repeated until all segments are cut.

[0124] Figure 13 The battery pack casing 10 shown is generally square, divided into four sections for point cloud data acquisition and cutting. The rotary drive mechanism c12 uses a servo motor, which can precisely control the rotation angle. Dividing the point cloud data acquisition and cutting into four sections avoids the problems of insufficient maximum range of motion of the robotic arm c2 due to its multi-axis, large-scale linkage, which affects work efficiency.

[0125] The first laser cutter L1 cuts the lower side wall of the battery pack casing 10 at an angle θ relative to the horizontal plane, where θ ∈ [30, 75], such as 40 degrees, 45 degrees, 50 degrees, etc. As mentioned above, since there is a certain gap between the inner wall of the battery pack casing 10 and the battery body 1', when cutting the side wall of the battery pack casing 10, such as the section with the terminal block structure 102, the above angle can ensure that the cutting beam is within the gap, controlling the laser beam between the inner wall of the battery pack casing 10 and the outer wall of the battery body 1', avoiding cutting the battery body 1'. In addition, this angle range can effectively avoid interference between the battery pack casing 10 and the first laser cutter L1.

[0126] For the implementation process and related technical effects of the following: the correction camera i0 collects position data and performs correction; the outer casing disassembly vision camera i collects point cloud data; point cloud data matching and matching of battery pack outer casing segment data models; and the generation of cutting trajectories, please refer to the relevant description of the battery pack disassembly method.

[0127] See Figures 1 to 3 ,as well as Figures 32 to 33The outer casing cutting station c is equipped with an outer casing cutting station cover c3. At both ends of the cover c3 are a first inlet c31 connecting to the downstream end of the first power conveyor line b and a first outlet c32 connecting to the upstream end of the second power conveyor line d. The first inlet c31 is equipped with a first lifting baffle assembly c33, and the first outlet c32 is equipped with a second lifting baffle assembly c34. The first lifting baffle assembly c33 rises according to a first open signal and descends according to a first close signal, and the second lifting baffle assembly c34 rises according to a second open signal and descends according to a second close signal. The upper part of the outer casing cutting station cover c3 is provided with a first extraction interface c0 for connecting a negative pressure source. The outer casing cutting station cover c3 is configured to extract the exhaust gas from cutting the battery pack outer casing 10, while simultaneously preventing personnel from directly seeing the cutting beam, thus ensuring environmental protection and safety.

[0128] Specifically, one configuration for the first lifting baffle assembly c33 is that its two sides are slidably connected to the guide posts c36 on both sides of the first inlet c31 via guide seats c35. The outer casing c3 of the cutting station is equipped with a driver c37, which can be a cylinder. Of course, besides the aforementioned method of guide posts c36 and guide seats c35, the installation of the first lifting baffle assembly c33 and the first inlet c31 can also utilize other guiding 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.

[0129] The following example illustrates the working process of the first lifting baffle assembly c33: In the working state, when the conveying rotation device c11 is in the reset state and the material detection element S of the material platform does not sense any material, the first main controller 2.1 sends a first opening signal to raise the first lifting baffle assembly c33, and the first power conveying line b starts to convey the battery pack 1 to the conveying rotation device c11; when the material detection element S of the material platform senses that the battery pack 1 is in place, the first main controller 2.1 sends a first closing signal to lower the first lifting baffle assembly c33 and close the first inlet c31.

[0130] In some embodiments, the first power conveyor line b is equipped with a pre-processing station for processing some accessories that need to be removed from the battery pack 1, such as wires; the pre-processing station is equipped with a material detection element (not shown) and a first working switch (not shown). The material detection element stops working when it senses that the material is in place. After processing the accessories that need to be removed, the start switch is pressed. At this time, the first main controller 2.1 determines whether there is material on the conveying rotation device c11. If there is, the first lifting baffle assembly c33 is not opened; otherwise, the first lifting baffle assembly c33 is opened.

[0131] The following example illustrates the working process of the second lifting baffle assembly c34: After the battery pack housing 10 is cut, the conveying rotating device c11 rotates and resets. The first main controller 2.1 determines whether there is material at the battery pack housing 10 removal station. If there is no material, it issues a second opening signal, and the second lifting baffle assembly c34 rises to open the first outlet c32. If there is material at the battery pack housing 10 removal station, it waits for the material to leave the battery pack housing removal station c before issuing the second opening signal.

[0132] See Figures 1 to 3 The second power conveyor line d connects to the conveying and rotating device c11 of the outer casing cutting station c, and is equipped with a battery pack outer casing 10 removal station. This station allows for manual removal of the battery pack outer casing 10 and related wiring harnesses and connectors, or, depending on user needs, can be equipped with mechanized removal equipment, such as a robotic arm. The second power conveyor line d is equipped with a material detection element S5, used to sense the arrival of material at the outer casing removal station and to pause the battery pack outer casing removal operation on the second power conveyor line d.

[0133] In some embodiments, the second power conveyor line d is configured with two sections, namely the second power conveyor line d1 section and the second power conveyor line d2 section. Both d1 and d2 sections are equipped with a casing removal station, or d1 and d2 sections are respectively equipped with a casing removal station and an accessory removal station. Both d1 and d2 sections are equipped with a material detection element S5 for the second power conveyor line. In one embodiment, d1 and d2 sections use powered rollers, each driven by a different mechanism. The drive mechanism of d1 section only starts conveying material 10 when there is no material 100 in d2 section, and d2 section only starts conveying material 100 when the first lifting baffle assembly c33 is raised.

[0134] Connecting piece cutting station e : See Figures 1 to 2 , Figures 20 to 23 The device includes a connecting piece cutting device, which includes: a third power conveyor line e1, a first drive mechanism e2, a first vision camera ii for connecting piece disassembly, and a second laser cutter L2.

[0135] The third power conveyor line e1 connects to the downstream end of the second power conveyor line d and is equipped with a material detection element S2 to sense the arrival of materials. The material detection element S2 uses a material sensor, such as a photoelectric sensor. The third power conveyor line e1 is a powered roller conveyor line, driven by a driver e10 and a transmission chain structure.

[0136] The first drive mechanism e2 has at least three degrees of freedom in the XYZ axes. The first vision camera ii, which is connected to the disassembly plate, is driven by the first drive module e2, and the second laser cutter L2 is driven by the first drive module e2.

[0137] Among them, the first drive module e2 drive connector is disassembled, and the first vision camera ii acquires the first depth map of the battery body 1' from a top-down angle, such as Figure 25b As shown; the line scan camera vision controller v2 processes the first depth map to obtain a battery body contour feature map including the electrode connection piece contour feature 1.11', as shown. Figure 25d As shown; the line scan camera vision controller v2 matches the electrode connection piece contour feature 1.11' with a preset first feature model to obtain the base point coordinates Q1 of the center of the corresponding electrode 1.10, as shown. Figures 26a to 26c As shown, the first drive module e2 drives the second laser cutter L2 to cut a circle around the electrode connecting piece 1.11 using the base point coordinates Q1 as a reference, thus separating the connection between the electrode connecting piece 1.11 and the electrode 1.10. For the specific selection of the cutting position, please refer to the relevant description of the battery pack disassembly method.

[0138] The first drive mechanism e2 includes a first X-axis drive module e2x disposed above the third power transmission line e1 and driven relative to its transmission direction, a first Y-axis drive module e2y vertically coupled to the first X-axis drive module e2x, and a first Z-axis drive module e2z vertically coupled to the first Y-axis drive module e2y. A connecting piece is installed at the end of the first Z-axis drive module e2z, wherein the connecting piece is spaced apart from the first vision camera ii and the second laser cutter L2 and are arranged to not interfere with each other.

[0139] See Figures 20 to 23 The connecting piece cutting device also includes a connecting piece cutting frame E. The top of the connecting piece cutting frame E includes two opposing connecting piece cutting frame top beams E1. The two ends of the first Y-axis drive module e2y are mounted on the connecting piece cutting frame top beams E1 via the first X-axis drive module e2x. The first X-axis drive module e2x, the first Y-axis drive module e2y, and the first Z-axis drive module e2z can be driven using existing linear drive modules.

[0140] See Figure 2 and Figure 3 The line scan camera vision controller v2 is configured on the upper part of the connecting piece cutting frame E; see also Figure 34 The second laser controller 2.4 of the second laser cutter L2 is configured at the lower part of the splicing and cutting frame E. Of course, the two controllers can be arranged in other positions according to actual needs.

[0141] See Figures 1 to 3 20 to Figure 27 The following describes the cutting process of electrode connector 1.11: S401 battery pack 1 flows with turnover seat 100' to the third power conveyor line e1, and the material detection element S2 of the third power conveyor line senses that battery pack 1 has arrived; S402 First drive mechanism e2 drive connecting piece disassembly first vision camera ii acquires first depth map of battery body 1' from top view angle.

[0142] As mentioned earlier, since the scanning range of the first vision camera ii is limited when disassembling the connecting piece, the entire first depth map can be stitched together by scanning multiple times. Figure 25a The image shown is a portion of the depth map from the first scan. Figure 25b This is the first depth map obtained by stitching together the images after three scans.

[0143] The S403 vision controller v2 processes the first depth map to obtain a battery body contour feature map containing the electrode connection piece contour feature 1.11'.

[0144] As attached Figure 25c After the initial grayscale processing, multiple grayscale processing steps can be performed depending on the resulting display quality. Figure 25d The effect after a second grayscale processing, such as Figure 25e for Figure 25d A partial view.

[0145] The S404 vision controller v2 matches the contour feature 1.11' with a preset first feature model to obtain the base point coordinates Q1 of the center of the corresponding electrode 1.10. For example, Figure 25d Contour features and Figures 26a to 26c The comparison of the first feature model shown will Figure 25d Each contour feature 1.11' is paired with the corresponding contour feature 1.11' in the three first feature models to obtain the base point coordinates Q1 of all electrode connection pieces 1.11, such as... Figure 27 As shown.

[0146] S405 first linear drive mechanism e2 drives second laser cutter L2 with base point coordinates Q1 as reference. The second laser cutter L2 cuts around electrode 1.10 at a position offset greater than a preset distance from the diameter of electrode 1.10, making a circular cut on electrode connecting piece 1.11, thus separating the connection between electrode connecting piece 1.11 and electrode 1.10. For example... Figure 30 As shown, R represents the cutting trajectory.

[0147] For a detailed description of the implementation process and related technical effects of acquiring the first depth map, processing the first depth map by the vision controller v2, and creating the first feature model, please refer to the relevant description of the battery pack disassembly method.

[0148] See Figures 1 to 3 , Figures 20 to 25e and Figures 28 to Figure 29b The connecting piece unloading station f includes a connecting piece unloading device, which includes: a fourth power conveyor line f1, a second drive module f2, a connecting piece disassembly second vision camera iii, and a connecting piece picker f3.

[0149] The fourth power conveyor line f1, connected downstream of the third power conveyor line e1, is equipped with a material detection element S3 to sense material arrival. The material detection element S3 uses a material sensor, such as a photoelectric sensor. The fourth power conveyor line f1 is a powered roller conveyor line, driven by a driver f10 and a transmission chain structure.

[0150] The second drive module f2 has at least three degrees of freedom in the XYZ axes.

[0151] The second drive module f2 drives the second drive module f2 connecting piece disassembly. The second vision camera iii acquires a second depth map of the battery body 1' from a top-down angle, such as... Figure 25a and Figure 25b As shown.

[0152] The line scan camera vision controller v2 is used to process the second depth map to obtain a battery body contour feature map containing the electrode connection piece contour feature 1.11', such as... Figure 25d and 25e As shown.

[0153] The line scan camera vision controller v2 matches the electrode connection piece contour feature 1.11' with a preset second feature model to obtain the electrode connection piece picking coordinates Q2 and the angle β between a second linear feature w2 along the line scan direction and the line scan direction of the battery body contour feature map. The second drive module f2 drives the connecting piece feeder f3 to transfer the corresponding electrode connecting piece 1.11 to the unloading area f4 according to the material picking coordinates Q2 and the included angle β.

[0154] The second drive module f2 includes a second X-axis drive module f2x configured above the fourth power conveyor line f1 and driven relative to its transmission direction, a second Y-axis drive module f2y vertically coupled to the second X-axis drive module f2x, and a second Z-axis drive module f2z vertically coupled to the second Y-axis drive module f2y. A connecting piece disassembly second vision camera iii and a connecting piece picker f3 are installed at the end of the second Z-axis drive module f2z, and are spaced apart from each other to avoid interference.

[0155] See Figures 20 to 23The connecting piece unloading device also includes a connecting piece unloading frame F. The top of the connecting piece unloading frame F includes two opposing connecting piece unloading frame top beams F1. The two ends of the second Y-axis drive module f2y are mounted on the connecting piece unloading frame top beams F1 via a second X-axis drive module f2x. The second X-axis drive module f2x, the second Y-axis drive module f2y, and the second Z-axis drive module f2z can be driven using existing linear drive modules.

[0156] See Figure 2 and Figure 3 The connecting piece feeder f3 can be an electric clamp or a pneumatic clamp, and the principle of the electric clamp or pneumatic clamp is existing technology.

[0157] Figure 20 The feeding area f4 shown is the feeding guide hopper.

[0158] See Figures 26a-26c as well as Figure 34 The following describes the cutting method for electrode connector 1.11: The battery body 1' with the cut electrode connecting piece 1.11 in S501 enters the connecting piece unloading station f.

[0159] The S502 second drive module f2 drive connector is disassembled, and the second vision camera iii acquires a second depth map of the battery body 1' from a top-down angle.

[0160] As mentioned earlier, since the scanning range of the first vision camera ii is limited when disassembling the connecting piece, the entire first depth map can be stitched together by scanning multiple times. Figure 25a The image shown is a portion of the first depth map from the first scan. Figure 25b This is the first depth map obtained by stitching together the images after three scans. Figure 25a and 25b The cutting trajectory R is not displayed.

[0161] S503 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 25d The effect after a second grayscale processing, such as Figure 25e for Figure 25d In the partial view, the outline features of electrode connector 1.11 are already quite clear.

[0162] S504 matches the aforementioned contour features with the second feature model preset by the 1.11' vision controller v2, obtains all the material picking coordinates Q2 of the electrode connection piece, and obtains the angle between a second linear feature along the line scan direction of the top-view contour feature of the battery pack body and the second reference datum, such as... Figures 26a to 26c As shown in 29a, the second linear feature can be an edge feature of the battery pack body 1, or other clearly distinguishable linear features can be selected. For the second reference datum, please refer to the relevant description of the battery pack disassembly method.

[0163] S505 transfers the corresponding electrode connecting piece 1.11 to the unloading area f4 according to the material picking coordinate Q2 and the included angle.

[0164] For a detailed description of the implementation process and related technical effects of the acquisition of the second depth map, the processing of the second depth map by the vision controller v2, and the creation of the second feature model, please refer to the relevant description of the battery pack disassembly method.

[0165] This material cutting method is not limited by the specifications and layout of the electrode connecting piece 1.11, and has good flexibility.

[0166] See Figures 20 to 23 The connecting piece cutting frame E and the connecting piece unloading frame F are integrated structures. The upstream end of the connecting piece cutting frame F has a first end frame E2, and the downstream end of the connecting piece unloading frame F has a second end frame F2. The top beam E1 of the connecting piece cutting frame and the top beam F1 of the connecting piece unloading frame are also integrated structures. A central column EF and a connecting top beam EF1 are located in the middle of both, forming a middle frame e32. Designing the connecting piece cutting frame E and the connecting piece unloading frame F as an integrated structure results in good structural stability, cost savings, and a compact size.

[0167] See Figures 20 to 23 , Figure 34 It also includes a connecting piece cutting main cover ef, which is installed outside the connecting piece cutting station e and the connecting piece unloading station f. Its upstream end is provided with a second inlet e31 that connects to the downstream end of the second power conveyor line d, and its downstream end is provided with a second outlet f33. The second inlet e31 is equipped with a third lifting baffle assembly e33, the middle frame e32 is equipped with a fourth lifting baffle assembly e34, and the second outlet f33 is equipped with a fifth lifting baffle assembly (not shown).

[0168] The third lifting baffle assembly e33 rises according to the third opening signal and falls according to the third closing signal; the fourth lifting baffle assembly e34 rises according to the fourth opening signal and falls according to the fourth closing signal; and the fifth lifting baffle assembly rises according to the fifth opening signal and falls according to the fifth closing signal.

[0169] The upper part of the connecting piece cutting main cover ef is equipped with a second extraction interface c0 and f0 for connecting a negative pressure source. The connecting piece cutting main cover ef can simultaneously cover the connecting piece cutting station e and the connecting piece unloading station f, extracting the exhaust gas from the cutting electrode connecting piece 1.11, while preventing personnel from directly seeing the cutting beam, thus ensuring environmental protection and safety.

[0170] The following example illustrates the working process of the third lifting baffle assembly e33: In the working state, when the material detection element S2 of the third power conveyor line does not sense any material, the second main controller 2.6 (or the first main controller 2.1 in other embodiments) issues a third start signal, raising the third lifting baffle assembly e33. The second power conveyor line d2 section and the third power conveyor line e1 start to convey the battery pack 1 to the third power conveyor line e1. When the material detection element S2 of the third power conveyor line senses that the battery pack 1 is in place, the second main controller 2.6 issues a third stop signal, and the third lifting baffle assembly e33 descends to close the second inlet e31.

[0171] The following example illustrates the operation of the fourth lifting baffle assembly e34: After the electrode connecting piece 1.1 is cut, the second main controller 2.6 (or the first main controller 2.1 in other embodiments) first determines whether there is material in the fourth power conveyor line f1. If not, it issues a fourth start signal, the fourth lifting baffle assembly e34 rises, the material detection element S2 of the third power conveyor line and the fourth power conveyor line f1 start, and the battery pack 1 flows from the material detection element S2 of the third power conveyor line to the fourth power conveyor line f1. When the material detection element S3 of the fourth power conveyor line senses that the battery pack is in place, the second main controller 2.6 issues a fourth stop signal, the fourth lifting baffle assembly e34 falls, and the middle frame e32 is closed. If the material detection element S3 of the fourth power conveyor line senses material, it waits for the material to leave the electrode connecting piece unloading station f before issuing a third start signal.

[0172] The following example illustrates the working process of the fifth lifting baffle assembly: When the power conveying device a1' of the lifting material transfer machine g is in the position of connecting with the fourth power conveying line f1, specifically, the electric chain drive device a2.1 can send a feedback signal to the second main controller 2.6 (or the first main controller 2.1 in other embodiments), and the material sensor S6 of the power conveying device a1 does not detect any material, the second main controller 2.6 issues a fifth start signal, the fifth lifting baffle assembly rises, the fourth power conveying line f1 and the power conveying section a1 start, and the battery pack 1 flows from the fourth power conveying line f1 to the power conveying section a1. When the material sensor S6 senses that the battery pack is in place, the second main controller 2.6 issues a fifth stop signal, the fifth lifting baffle assembly descends, and the second outlet f33 is closed.

[0173] 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 implemented with reference to the scheme of the first lifting baffle assembly c33.

[0174] The fourth lifting baffle assembly e34 is slidably connected on both sides by guide seats e341 and guide posts e342 on the central columns EF on both sides. A driver e343 is mounted on the central column EF, and the driver e343 can be a cylinder. Of course, besides the aforementioned method of guide posts e342 and guide seats e341, the fourth lifting baffle assembly e34 and the central column EF can also be installed using other guiding connection structures, such as guide rails.

[0175] A lifting material transfer machine g is connected to the downstream end of the fourth power conveyor line f1. Its structure is the same as that of the lifting material transfer machine a. Material sensors S7 are installed at both ends of the power conveyor section a1 to sense whether materials are entering or leaving the power conveyor section a1. When material 100, which has had its electrode connecting piece 1.11 removed from the upstream material conveyor line, enters the power conveyor a1' and is sensed by material sensor S6, the lifting device a2 drives the power conveyor section a1 to descend, causing material 100 to descend to the lowest position. At this time, material 100 can be removed from the power conveyor section a1 by a forklift to achieve unloading.

[0176] In some implementation applications, depending on the customer's needs, the battery pack disassembly line does not have lifting material transfer machines a and g installed, but instead connects to the customer's existing material transfer equipment, such as the customer's production line.

[0177] Regarding the control section, see [link / reference]. Figure 2 , Figure 3 , Figure 32 and Figure 34 The 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 control the correction camera i0 and 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 line scan camera 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 line scan camera 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.

[0178] 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 a line scan camera 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 second vision camera iii in conjunction with a line scan camera 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 recycling or reuse of individual cells (such as for energy storage or other applicable situations). The transfer of materials between stations is carried out by a power conveyor line, realizing fully online processing, with high efficiency and high flexibility.

[0179] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A battery pack housing cutting apparatus, characterized by, include: A rotating platform (c1) includes: a conveying rotating device (c11) for supporting materials and connecting to the downstream end of a first power conveying line (b), and equipped with a platform material detection element (S1) for sensing the arrival of materials; a rotating drive mechanism (c12) for driving and controlling the rotation and angle of the conveying rotating device (c11); the conveying rotating device (c11) includes a support bracket (c111) and a first power conveying roller mechanism (c112) mounted on the support bracket (c111), the rotating drive mechanism (c12) is connected to the middle of the support bracket (c111), and auxiliary roller mechanisms (c113) for connecting upstream and downstream conveying lines are provided at both ends of the first power conveying roller mechanism (c112), the width of the auxiliary roller mechanism (c113) is designed to increase from the end to the middle of the first power conveying roller mechanism (c112); A correction camera (i0) is positioned above the conveying rotation device (c11) to acquire the angle α of the battery pack (1) relative to the first reference reference. The rotating table (c1) corrects the angle α based on the position data fed back by the correction camera (i0), and adjusts the battery pack (1) to the preset angle; 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 by 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 segment. The robotic arm (c2) controls the first laser cutter (L1) to cut the segment until all segments are cut.

2. The battery pack casing cutting equipment according to claim 1, characterized in that, The conveying and rotating device (c11) also includes a rotating support base (c13), a rotating drive mechanism (c12) is mounted on the rotating support base (c13), a support bracket (c111) is provided with a number of support guide wheels arranged at intervals along its rotation center, and the rotating support base (c13) is provided with an annular support rail (c131) configured with the guide wheels.

3. A battery pack disassembly line, characterized in that, include: The outer casing cutting station (c) includes the battery pack outer casing cutting equipment as described in claim 1 or 2; The second power delivery line (d) is connected to the downstream end of the housing cutting station (c) and is equipped with a battery pack housing (10) removal station; The connecting piece cutting station (e) is connected to the downstream end of the second power conveyor line (d) and is used to cut the electrode connecting piece (1.11) and the electrode (1.10) of the battery cell (1.1). The connecting piece unloading station (f) is connected to the downstream end of the connecting piece cutting station (e) and is used to pick up and place the cut electrode connecting pieces (1.11) into the unloading area (f4).

4. The battery pack disassembly line according to claim 3, 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 connecting piece unloading station (f).

5. A method for cutting the battery pack casing using the battery pack casing cutting equipment of claim 1, characterized in that, include: The battery pack (1) enters the rotating table (c1) of the outer casing cutting station (c). 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 data model is created by a shell disassembly vision camera (i) collecting point cloud data of the side section 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 the point cloud data of each section. The key points include the start point and end point of the cutting route, as well as the position point of the inflection point. 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.

6. The battery pack casing cutting method according to claim 5, characterized in that, The battery pack (1) enters the rotating table (c1) of the outer casing cutting station (c). Before the outer casing disassembly vision camera (i) collects data, the following steps are also included: The correction camera (i0) acquires the angle α of the battery pack (1) relative to the first reference reference; The rotating table (c1) corrects the angle α based on the position data fed back by the correction camera (i0), and adjusts the battery pack (1) to the preset angle.

7. The battery pack casing cutting method according to claim 6, characterized in that, After adjusting the battery pack (1) to a preset angle, the process also includes detecting the distance (h1) between the battery pack 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.

8. The battery pack casing cutting method according to claim 5, characterized in that, The first laser cutter (L1) cuts the battery pack casing (10) at an angle θ relative to the horizontal plane along the first cutting path, θ∈[30,75].

Images