An automatic filling device for lithium battery electrolyte and a control method thereof

Abstract

This invention relates to an automated lithium battery electrolyte filling device and its control method, comprising a six-axis robot. A gripper mechanism is mounted on the robotic arm of the six-axis robot, which can grasp or release a plug-in mechanism or a valve opening mechanism. The six-axis robot moves the plug-in mechanism to mate the integrated female tooth and connecting tube with the female tooth on the battery electrolyte tank. The six-axis robot moves the valve opening mechanism to open or close the ball valve on the battery electrolyte tank to detect or extinguish gas generated during the filling process. A vision detection mechanism acquires images of the female tooth to locate the female tooth and / or acquires the position information of the ball valve. A laser rangefinder sensor determines the direction and position information of the female tooth and female tooth joint and / or determines the direction and position information of the valve opening mechanism and the ball valve joint. The six-axis robot mates the female tooth and female tooth and / or combines the valve opening mechanism with the ball valve according to the direction and position information of the joint.

Description

Technical Field

[0001] This invention relates to the field of electrolyte filling in lithium battery production, and in particular to an automated filling device for lithium battery electrolyte and its control method. Background Technology

[0002] In the lithium battery production process, the electrolyte is typically transported in stainless steel drums. Traditional filling methods, which rely on manual filling, present several problems:

[0003] 1. Electrolyte produces an irritating odor upon contact with air or water, which can affect human health. 2. Manual filling is affected by personnel skills and filling methods, resulting in inconsistent filling effects. 3. Manual insertion and removal of connectors and operation of manual valves are inefficient, and costs are increasing year by year. 4. Manual electrolyte filling typically involves manually inserting and removing connectors. This method is inefficient, the electrolyte is harmful to the human body, it is inconvenient, and it can easily injure the hands.

[0004] In summary, automated filling equipment needs to be introduced to replace manual filling. Summary of the Invention

[0005] This invention designs an automated lithium battery electrolyte filling device and its control method. The technical problem it solves is that existing manual electrolyte filling methods typically involve manually inserting and removing the connector to complete the filling. Manual insertion and removal of the connector is inefficient, the electrolyte is harmful to the human body, and the operation is inconvenient and can easily damage the hands.

[0006] To solve the aforementioned technical problems, the present invention adopts the following solution:

[0007] An automated lithium battery electrolyte filling device includes a six-axis robot, characterized in that: a gripper mechanism is installed on the robotic arm of the six-axis robot, which can grasp or release a plug-in mechanism or a valve opening mechanism; the six-axis robot moves the plug-in mechanism to mate the integrated female tooth and connecting tube with the female tooth on the battery electrolyte tank; the six-axis robot moves the valve opening mechanism to open or close the ball valve on the battery electrolyte tank to extinguish gas generated during the filling process; a vision detection mechanism collects images of the female tooth to locate the female tooth and / or collects the position information of the ball valve; a laser rangefinder sensor determines the direction and position information of the female tooth and female tooth joint and / or determines the direction and position information of the valve opening mechanism and the ball valve joint; the six-axis robot mates the female tooth and female tooth and / or combines the valve opening mechanism with the ball valve according to the direction and position information of the joint.

[0008] Preferably, the insertion / removal mechanism includes a clamping buffer for the clamping mechanism, a cylinder fixing seat, and a female tooth connecting seat. The lower end of the connecting pipe is connected to and communicates with the upper part of the female tooth, and the upper end of the connecting pipe is connected to the clamping buffer. The female tooth includes a movable sleeve and a fixed sleeve. The movable sleeve is fitted on the outer wall of the fixed sleeve and can move. The cylinder rod of the cylinder is connected to the movable sleeve through the female tooth connecting seat. The cylinder is mounted on the cylinder fixing seat, and the fixed sleeve is fixed in the mounting hole of the cylinder fixing seat. When the cylinder moves the movable sleeve upward, the locking mechanism between the female tooth and the female tooth is unlocked, and the female tooth in the fixed sleeve can be separated from the female tooth. When the cylinder moves the movable sleeve downward, the locking mechanism between the female tooth and the female tooth is locked, and the female tooth in the fixed sleeve cannot be separated from the female tooth.

[0009] Preferably, the locking mechanism includes a ball bearing with a corresponding ball bearing hole in the fixed sleeve. The ball bearing can move left and right within the ball bearing hole. The movable sleeve moves downward, pushing the ball bearing towards the fixed sleeve, so that part of the ball bearing is located in the ball bearing hole and the other part is located in the limiting groove outside the tooth, thereby achieving locking. The movable sleeve moves upward, creating a gap between the ball bearing hole and the movable sleeve. When there is relative movement between the fixed sleeve and the tooth, the tooth can push the ball bearing towards the movable sleeve, so that part of the ball bearing is located in the ball bearing hole and the other part is located in the gap, thereby achieving unlocking.

[0010] Preferably, the clamping buffer is a sleeve structure with a conical cavity that is wider at the top and narrower at the bottom. The connecting tube passes through the clamping buffer and is also provided with a conical tube that matches the conical cavity. A buffer spring is provided at the top of the conical tube, with one end of the buffer spring abutting against the top of the conical tube and the other end of the buffer spring abutting against the sleeve ring.

[0011] Preferably, a connecting block is fixed on the connecting pipe, and the clamping buffer is connected to the connecting block by an anti-rotation pin to prevent the connecting pipe and the clamping buffer from rotating relative to each other.

[0012] Preferably, the valve opening mechanism includes a clamping handle for the clamping mechanism to hold, a rotary cylinder is installed on the clamping handle, the transmission output end of the rotary cylinder is connected to the valve opening wrench so that the valve opening wrench can rotate, and the valve opening wrench is provided with a U-shaped groove to cooperate with the valve handle of the ball valve.

[0013] Preferably, the clamping mechanism includes a first clamping arm and a second clamping arm, which form a clamping opening. The first clamping arm is connected to a fixed base via a first hinge pin, and the second clamping arm is connected to the fixed base via a second hinge pin. The first clamping arm is connected to a first transmission component via a third hinge pin, and the second clamping arm is connected to a second transmission component via a fourth hinge pin. The first transmission component, the second transmission component, and the cylinder rod of the clamping cylinder are connected via a fifth hinge pin. When the cylinder rod of the clamping cylinder extends or retracts, the clamping opening formed by the first clamping arm and the second clamping arm opens or closes.

[0014] Preferably, the clamp cylinder is fixed to the bottom surface of the fixed base, and the top surface of the fixed base is connected to a connecting plate via a connecting column. The connecting plate has a mechanical arm connection hole.

[0015] A control method for an automated lithium battery electrolyte filling device includes the following steps:

[0016] Step 1: The host computer issues a command, and the six-axis robot moves to the positioning worktable with the insertion and removal mechanism. The positioning of the clamping mechanism and the insertion and removal mechanism is performed by the vision inspection mechanism and the laser range sensor.

[0017] Step 2: The six-axis robot moves, causing the gripper mechanism to open and grip the insertion / removal mechanism;

[0018] Step 3: The six-axis robot moves to the position on the battery tank where the female tooth is installed, and first uses a vision inspection mechanism and a laser rangefinder to locate the female tooth and the male tooth;

[0019] Step 4: The six-axis robot controls the insertion and removal mechanism to descend and engage the female and female teeth, and then lock the female and female teeth together.

[0020] Step 5: The six-axis robot lowers the insertion / removal mechanism via the gripper mechanism;

[0021] Step 6: The six-axis robot moves to the positioning worktable with the valve opening mechanism and clamps the valve opening mechanism.

[0022] Step 7: The valve opening mechanism uses a visual inspection mechanism to take a picture and a laser rangefinder to align the slot of the valve opening wrench with the valve handle.

[0023] Step 8: The rotary cylinder rotates pneumatically, which drives the valve opening wrench to rotate, thereby opening the ball valve;

[0024] Step 9: Battery fluid enters the battery fluid tank through the connecting pipe, and the gas in the battery fluid tank is released from the ball valve;

[0025] Step 10: The six-axis robot uses a clamping mechanism to pick up the valve opening mechanism and close the ball valve;

[0026] Step 11: The six-axis robot sends the valve opening mechanism back to the valve opening mechanism positioning table, then picks up the insertion and removal mechanism. The insertion and removal mechanism unlocks the female tooth and the female tooth, and the six-axis robot sends the insertion and removal mechanism back to the insertion and removal mechanism positioning table.

[0027] Preferably, the locking of the female tooth and the female tooth in the step is achieved by the following method: the movable sleeve moves downward and pushes the ball towards the fixed sleeve, so that part of the ball is located in the ball hole and the other part is located in the limiting groove outside the female tooth, thereby achieving locking;

[0028] Preferably, the unlocking of the female tooth and the female tooth in the step is achieved in the following way: the movable sleeve moves upward so that there is a gap between the ball hole and the movable sleeve. When there is relative movement between the fixed sleeve and the female tooth, the female tooth can push the ball towards the movable sleeve so that part of the ball is in the ball hole and the other part is in the gap, thereby achieving unlocking.

[0029] The automated lithium battery electrolyte filling device and its control method have the following beneficial effects:

[0030] (1) The present invention automatically inserts and removes the female tooth and automatically switches the valve. With the help of the visual inspection mechanism and the laser range sensor, the automatic insertion and removal of the female tooth and the opening and closing of the ball valve are completed accurately and efficiently.

[0031] (2) The female tooth, the female tooth, and the insertion and removal mechanism of the present invention can automatically lock and unlock the female tooth and the female tooth by working together. Attached Figure Description

[0032] Figure 1 : Schematic diagram of the connection between the automated lithium battery electrolyte filling device and the robot of the present invention;

[0033] Figure 2 : Schematic diagram I of the clamping mechanism in this invention;

[0034] Figure 3 : Schematic diagram II of the clamping mechanism in this invention;

[0035] Figure 4 : A schematic diagram of the insertion and removal mechanism in this invention;

[0036] Figure 5 : A cross-sectional view of the insertion and removal mechanism in this invention;

[0037] Figure 6 : A schematic diagram of the combination of the male tooth and the female tooth in this invention;

[0038] Figure 7 : A schematic diagram of the valve opening mechanism in this invention.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1—Six-axis robot; 2—Vision inspection mechanism; 21—Connecting plate; 22—Connecting column; 23—Mechanical arm connection hole; 24—Fixed seat; 3—Gripper mechanism; 30—Gripper cylinder; 31—First gripper arm; 32—Second gripper arm; 33—First hinge pin; 34—Second hinge pin; 35—Third hinge pin; 36—Fourth hinge pin; 37—First transmission component; 38—Second transmission component; 39—Fifth hinge pin; 4—Plug-in / pull-out mechanism; 41—Clamping 42—Buffer component; 43—Connecting pipe; 44—Connecting block; 45—Anti-rotation pin; 46—Cylinder; 47—Cylinder fixing seat; 48—Female thread connecting seat; 49—Conical tube; 50—Buffer spring; 51—Female thread; 52—Modible sleeve; 53—Fixed sleeve; 54—Ball; 6—Gap; 71—Valve opening mechanism; 62—Rotating cylinder; 63—Valve opening wrench; 64—Clamping handle seat; 75—Slot; 76—Female thread; 77—Inlet pipe; 78—Limiting groove. Detailed Implementation

[0041] The following is combined Figures 1 to 7 The present invention will be further described as follows:

[0042] like Figure 1 As shown, an automated lithium battery electrolyte filling device includes a six-axis robot 1. The device is characterized by: a gripper mechanism 3 mounted on the robotic arm of the six-axis robot 1, capable of gripping or releasing a plug-in mechanism 4 or a valve opening mechanism 6; the six-axis robot 1 moves the plug-in mechanism 4 to mate the female tooth 5 and the connecting pipe 42 integrally with the female tooth 7 on the battery electrolyte tank; the six-axis robot 1 moves the valve opening mechanism 6 to open or close the ball valve on the battery electrolyte tank to detect gas generated during the filling process; a vision detection mechanism 2 acquires images of the female tooth 7 to locate the female tooth 7 and / or acquires the position information of the ball valve; a laser rangefinder sensor determines the direction and position information of the joint between the female tooth 5 and the female tooth 7 and / or determines the direction and position information of the joint between the valve opening mechanism 6 and the ball valve; the six-axis robot 1 mates the female tooth 5 and the female tooth 7 and / or combines the valve opening mechanism 6 with the ball valve according to the direction and position information of the joint.

[0043] like Figure 2 As shown, the clamp cylinder 30 is fixed on the bottom surface of the fixed base 24, and the top surface of the fixed base 24 is connected to the connecting plate 21 through the connecting column 22. The connecting plate 21 has a mechanical arm connection hole 23.

[0044] like Figure 3As shown, the clamping mechanism 3 includes a first clamping arm 31 and a second clamping arm 32, which form a clamping opening. The first clamping arm 31 is connected to the fixed base 24 via a first hinge pin 33, and the second clamping arm 32 is connected to the fixed base 24 via a second hinge pin 34. The first clamping arm 31 is connected to the first transmission member 37 via a third hinge pin 35, and the second clamping arm 32 is connected to the second transmission member 38 via a fourth hinge pin 36. The first transmission member 37, the second transmission member 38, and the cylinder rod of the clamping cylinder 30 are connected via a fifth hinge pin 39. When the cylinder rod of the clamping cylinder 30 extends or retracts, the clamping opening formed by the first clamping arm 31 and the second clamping arm 32 opens or closes.

[0045] The operating principle and sequence of clamping mechanism 3:

[0046] 1. Clamping the workpiece: The cylinder rod extends, and the third hinge pin 35 and the fourth hinge pin 36 drive the first clamping arm 31 and the second clamping arm 32 to rotate under the push of the cylinder rod. The first clamping arm 31 and the second clamping arm 32 rotate around the first hinge pin 33 and the second hinge pin 34 respectively to close in the middle, clamping the workpiece.

[0047] 2. Release the workpiece: The cylinder rod retracts, and the third hinge pin 35 and the fourth hinge pin 36 drive the first clamping arm 31 and the second clamping arm 32 to rotate under the pull of the cylinder rod. The first clamping arm 31 and the second clamping arm 32 rotate outward around the first hinge pin 33 and the second hinge pin 34 respectively to open up and release the workpiece.

[0048] like Figure 4 As shown, the insertion / removal mechanism 4 includes a clamping buffer 41 for clamping by the clamping mechanism 3, a cylinder fixing seat 46, and a female tooth connecting seat 47. The lower end of the connecting pipe 42 is connected to and communicates with the upper part of the female tooth 5, and the upper end of the connecting pipe 42 is connected to the clamping buffer 41. The female tooth 5 includes a movable sleeve 51 and a fixed sleeve 52. The movable sleeve 51 is fitted on the outer wall of the fixed sleeve 52 and can move. The cylinder rod of the cylinder 45 is connected to the movable sleeve 51 through the female tooth connecting seat 47. The cylinder 45 is installed on the cylinder fixing seat 46, and the fixed sleeve 52 is fixed in the mounting hole of the cylinder fixing seat 46. When the cylinder 45 causes the movable sleeve 51 to move upward, the locking mechanism between the female tooth 5 and the female tooth 7 is unlocked, and the female tooth 7 in the fixed sleeve 52 can be separated from the female tooth 5. When the cylinder 45 causes the movable sleeve 51 to move downward, the locking mechanism between the female tooth 5 and the female tooth 7 is locked, and the female tooth 7 in the fixed sleeve 52 cannot be separated from the female tooth 5.

[0049] A connecting block 43 is fixed on the connecting pipe 42. The clamping buffer 41 is connected to the connecting block 43 through an anti-rotation pin 44 to prevent the connecting pipe 42 and the clamping buffer 41 from rotating relative to each other.

[0050] like Figure 5As shown, the clamping buffer 41 is a sleeve structure with a conical cavity that is wider at the top and narrower at the bottom. The connecting tube 42 passes through the clamping buffer 41 and is also provided with a conical tube 48 that matches the conical cavity. A buffer spring 49 is provided at the top of the conical tube 48. One end of the buffer spring 49 abuts against the top of the conical tube 48, and the other end of the buffer spring 49 abuts against the sleeve ring.

[0051] The tapered tube 48 and the tapered cavity can rotate slightly relative to each other. The positioning pin prevents the tapered tube 48 and the tapered cavity from rotating too far apart. When the female tooth and the female tooth are engaged, the buffer spring 49 is compressed, and the insertion and extraction mechanism activates the buffering effect.

[0052] like Figure 6 As shown, the locking mechanism includes a ball bearing 53, with a corresponding ball bearing hole in the fixed sleeve 52. The ball bearing 53 can move left and right within the ball bearing hole. The movable sleeve 51 moves downward, pushing the ball bearing 53 towards the fixed sleeve 52, so that part of the ball bearing 53 is located in the ball bearing hole and the other part is located in the limiting groove 72 outside the tooth 7, thereby achieving locking. The movable sleeve 51 moves upward, creating a gap 54 between the ball bearing hole and the movable sleeve 51. When there is relative movement between the fixed sleeve 52 and the tooth 7, the tooth 7 can push the ball bearing 53 towards the movable sleeve 51, so that part of the ball bearing 53 is located in the ball bearing hole and the other part is located in the gap 54, thereby achieving unlocking.

[0053] The operating principle and sequence of the insertion / removal mechanism 4:

[0054] Docking of female tooth 5 and female tooth 7: The female tooth's insertion / removal mechanism 4 is positioned directly above the female tooth 7 on the battery fluid tank by the robot, taking a picture for positioning. Then, the insertion / removal mechanism 4 slowly approaches the female tooth 7. The cylinder rod of cylinder 45 retracts pneumatically, causing the movable sleeve 51 of the female tooth to move upward, thus unlocking and opening the female tooth 5. The robot then pushes the female tooth 5 into the female tooth 7. Simultaneously, the buffer spring 49 is compressed, activating its buffering function to prevent the mechanism from impacting each other due to inertia, which could damage the female tooth, female tooth, or the mechanism itself. The docking of the female tooth and female tooth is completed. The cylinder rod causes the movable sleeve 51 of the female tooth to move downward, locking the female tooth 5 and female tooth 7. The robot's gripper mechanism 3 releases the insertion / removal mechanism 4, returning to the initial origin to proceed to the next action. Vertical or horizontal docking is possible.

[0055] The female tooth 5 separates from the female tooth 7: The robot moves the gripper mechanism 3 directly above the female tooth 7 of the battery fluid tank, takes a picture for positioning, and then the gripper mechanism 3 slowly approaches the insertion and removal mechanism 4 of the female tooth. The gripper mechanism 3 clamps the insertion and removal mechanism 4, and the buffer spring plays a buffering role to prevent the mechanism from impacting each other due to inertia and damaging the mechanism. The cylinder rod of the cylinder 45 drives the movable sleeve 51 to move upward, thereby opening the female tooth. Then the robot makes the female tooth separate from the female tooth, thus completing the separation of the female tooth and the female tooth. Separation can be vertical or horizontal.

[0056] like Figure 7 As shown, the valve opening mechanism 6 includes a clamping handle seat 63 for clamping by the clamping mechanism 3. A rotary cylinder 61 is installed on the clamping handle seat 63. The transmission output end of the rotary cylinder 61 is connected to the valve opening wrench 62 so that the valve opening wrench 62 can rotate. The valve opening wrench 62 is provided with a U-shaped groove 64 that cooperates with the valve handle of the ball valve.

[0057] The control method of the automated lithium battery electrolyte filling device of the present invention is as follows:

[0058] Step 1: The host computer issues a command, and the six-axis robot 1 moves to the positioning worktable with the insertion and removal mechanism 4. The positioning of the clamping mechanism 3 and the insertion and removal mechanism 4 is performed by the vision inspection mechanism 2 and the laser range sensor.

[0059] Step 2: The six-axis robot 1 moves, causing the gripper mechanism 3 to open and grip the insertion and removal mechanism 4;

[0060] Step 3: The six-axis robot 1 moves to the position where the female tooth 7 is installed on the battery liquid tank. First, the female tooth and the female tooth are located by the vision inspection mechanism 2 and the laser range sensor.

[0061] Step 4: The six-axis robot 1 controls the insertion and extraction mechanism 4 to descend and dock the female tooth 5 and the female tooth 7, and lock the female tooth 5 and the female tooth 7.

[0062] Step 5: The six-axis robot 1 lowers the insertion and removal mechanism 4 through the clamping mechanism 3;

[0063] Step 6: The six-axis robot 1 moves to the positioning worktable with the valve opening mechanism 6 and clamps the valve opening mechanism 6.

[0064] Step 7: The valve opening mechanism takes pictures through the vision inspection mechanism 2 and the laser range sensor, so that the slot 64 of the valve opening wrench 62 is aligned with the valve handle;

[0065] Step 8: Rotary cylinder 61 rotates pneumatically, driving valve opening wrench 62 to rotate, thereby opening the ball valve;

[0066] Step 9: Battery fluid enters the battery fluid tank through connecting pipe 42, and gas in the battery fluid tank is released from the ball valve.

[0067] Step 10: The six-axis robot 1 uses the clamping mechanism 3 to grip the valve opening mechanism 6 and close the ball valve;

[0068] Step 11: The six-axis robot 1 sends the valve opening mechanism 6 back to the valve opening mechanism positioning table, then picks up the insertion and removal mechanism 4. The insertion and removal mechanism 4 unlocks the female tooth 5 and the female tooth 7. The six-axis robot 1 sends the insertion and removal mechanism 4 back to the insertion and removal mechanism 4 positioning table.

[0069] In step 4, locking the female tooth 5 and the female tooth 7 is achieved as follows: the movable sleeve 51 moves downward, pushing the ball 53 towards the fixed sleeve 52, so that part of the ball 53 is located in the ball hole and the other part is located in the limiting groove 72 outside the female tooth 7, thus achieving locking. In step 11, unlocking the female tooth 5 and the female tooth 7 is achieved as follows: the movable sleeve 51 moves upward, creating a gap 54 between the ball hole and the movable sleeve 51. When there is relative movement between the fixed sleeve 52 and the female tooth 7, the female tooth 7 can push the ball 53 towards the movable sleeve 51, so that part of the ball 53 is located in the ball hole and the other part is located in the gap 54, thus achieving unlocking.

[0070] The aforementioned insertion / removal mechanism and valve opening mechanism can be completed within an angle of 0-2.8 degrees when the bucket is tilted.

[0071] Efficiency testing of the insertion / removal mechanism and valve opening mechanism in this invention:

[0072] From the start of the insertion / removal mechanism to its return to the insertion / removal mechanism, the time is 112 seconds. Furthermore, one robot can simultaneously complete the insertion / removal of female teeth and the valve opening mechanism actions at two stations, greatly improving production efficiency.

[0073] The clamping and plugging mechanism takes approximately 6 seconds to engage and disengage.

[0074] Visual inspection takes approximately 12 seconds to capture the image;

[0075] The insertion / removal mechanism operates for approximately 8 seconds.

[0076] Return to clamp and open the valve for approximately 10 seconds;

[0077] The valve opening mechanism is returned in approximately 6 seconds.

[0078] The robot's gripping and insertion / removal mechanism takes approximately 8 seconds.

[0079] The insertion / removal mechanism is returned in approximately 6 seconds.

[0080] The total duration is approximately 112 seconds.

[0081] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the implementation of the present invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. An automated filling device for lithium battery electrolyte, comprising a six-axis robot (1), characterized in that: A gripper mechanism (3) is installed on the robotic arm of a six-axis robot (1). The gripper mechanism (3) can grab or put down the insertion mechanism (4) or the valve opening mechanism (6). The six-axis robot (1) moves the insertion mechanism (4) to connect the female tooth (5) and the connecting tube (42) to the female tooth (7) on the battery liquid tank. The six-axis robot (1) moves the valve opening mechanism (6) to open or close the ball valve on the battery liquid tank to control the gas generated during the filling process. The visual inspection mechanism (2) collects images of the sub-tooth (7) to locate the sub-tooth (7) or / and collects the position information of the ball valve. The laser range sensor determines the direction and position information of the joint between the mother tooth (5) and the sub-tooth (7) or / and determines the direction and position information of the joint between the valve opening mechanism (6) and the ball valve. The six-axis robot (1) docks the mother tooth (5) and the sub-tooth (7) according to the direction and position information of the joint or / and combines the valve opening mechanism (6) with the ball valve. The insertion and removal mechanism (4) includes a clamping buffer (41) for clamping by the clamping mechanism (3), a cylinder fixing seat (46), and a female connector (47). The lower end of the connecting pipe (42) is connected to and communicates with the upper part of the female (5), and the upper end of the connecting pipe (42) is connected to the clamping buffer (41). The female (5) includes a movable sleeve (51) and a fixed sleeve (52). The movable sleeve (51) is fitted on the outer wall of the fixed sleeve (52) and can move. The cylinder rod of the cylinder (45) is connected to the movable sleeve (51) through the female connector (47). The cylinder (45) is mounted on the cylinder mounting base (46), and the fixed sleeve (52) is fixed in the mounting hole of the cylinder mounting base (46). When the cylinder (45) causes the movable sleeve (51) to move upward, the locking mechanism between the female tooth (5) and the female tooth (7) is unlocked, and the female tooth (7) in the fixed sleeve (52) can be separated from the female tooth (5). When the cylinder (45) causes the movable sleeve (51) to move downward, the locking mechanism between the female tooth (5) and the female tooth (7) is locked, and the female tooth (7) in the fixed sleeve (52) cannot be separated from the female tooth (5).

2. The automated lithium battery electrolyte filling device according to claim 1, characterized in that: The locking mechanism includes a ball bearing (53), which has a ball bearing hole in the fixed sleeve (52). The ball bearing (53) can move left and right in the ball bearing hole. The movable sleeve (51) moves downward and pushes the ball bearing (53) towards the fixed sleeve (52), so that part of the ball bearing (53) is located in the ball bearing hole and the other part is located in the limiting groove (72) outside the tooth (7), thereby achieving locking. The movable sleeve (51) moves upward so that there is a gap (54) between the ball bearing hole and the movable sleeve (51). When there is relative movement between the fixed sleeve (52) and the tooth (7), the tooth (7) can push the ball bearing (53) towards the movable sleeve (51), so that part of the ball bearing (53) is located in the ball bearing hole and the other part is located in the gap (54), thereby achieving unlocking.

3. The automated lithium battery electrolyte filling device according to claim 1 or 2, characterized in that: The clamping buffer (41) is a sleeve structure with a conical cavity that is thicker at the top and thinner at the bottom inside. The connecting tube (42) passes through the clamping buffer (41) and is also provided with a conical tube (48) that matches the conical cavity. A buffer spring (49) is provided at the top of the conical tube (48). One end of the buffer spring (49) abuts against the top of the conical tube (48), and the other end of the buffer spring (49) abuts against the sleeve ring.

4. The automated lithium battery electrolyte filling device according to claim 3, characterized in that: A connecting block (43) is fixed on the connecting pipe (42), and the clamping buffer (41) is connected to the connecting block (43) through an anti-rotation pin (44) to prevent the connecting pipe (42) and the clamping buffer (41) from rotating relative to each other.

5. The automated lithium battery electrolyte filling device according to claim 4, characterized in that: The valve opening mechanism (6) includes a clamping handle (63) for clamping by the clamping mechanism (3). A rotary cylinder (61) is installed on the clamping handle (63). The transmission output end of the rotary cylinder (61) is connected to the valve opening wrench (62) so that the valve opening wrench (62) can rotate. The valve opening wrench (62) is provided with a U-shaped groove (64) that cooperates with the valve handle of the ball valve.

6. The automated lithium battery electrolyte filling device according to claim 5, characterized in that: The clamping mechanism (3) includes a first clamping arm (31) and a second clamping arm (32). The first clamping arm (31) and the second clamping arm (32) form a clamping opening. The first clamping arm (31) is connected to the fixed seat (24) through a first hinge pin (33), and the second clamping arm (32) is connected to the fixed seat (24) through a second hinge pin (34). The first clamping arm (31) is connected to the first transmission member (37) through a third hinge pin (35), and the second clamping arm (32) is connected to the second transmission member (38) through a fourth hinge pin (36). The first transmission member (37) and the second transmission member (38) are connected to the cylinder rod of the clamping cylinder (30) through a fifth hinge pin (39). When the cylinder rod of the clamping cylinder (30) extends or retracts, the clamping opening formed by the first clamping arm (31) and the second clamping arm (32) opens or closes.

7. The automated lithium battery electrolyte filling device according to claim 6, characterized in that: The clamp cylinder (30) is fixed on the bottom surface of the fixed base (24), and the top surface of the fixed base (24) is connected to the connecting plate (21) through the connecting column (22). The connecting plate (21) has a mechanical arm connection hole (23).

8. A control method for an automated lithium battery electrolyte filling device according to any one of claims 5-7, comprising the following steps: Step 1: The host computer issues a command, and the six-axis robot (1) moves to the positioning worktable with the plug-in mechanism (4). The positioning of the clamping mechanism (3) and the plug-in mechanism (4) is performed by the vision inspection mechanism (2) and the laser range sensor. Step 2: The six-axis robot (1) moves, causing the gripper mechanism (3) to open and grip the insertion and removal mechanism (4). Step 3: The six-axis robot (1) moves to the position where the female tooth (7) is installed on the battery liquid tank. First, the female tooth and the female tooth are located by the vision inspection mechanism (2) and the laser range sensor. Step 4: The six-axis robot (1) controls the insertion and removal mechanism (4) to descend and dock the female tooth (5) and the female tooth (7), and lock the female tooth (5) and the female tooth (7); Step 5: The six-axis robot (1) lowers the insertion and removal mechanism (4) through the clamping mechanism (3); Step 6: The six-axis robot (1) moves to the positioning worktable with the valve opening mechanism (6) and clamps the valve opening mechanism (6); Step 7: The valve opening mechanism takes pictures through the visual inspection mechanism (2) and the laser range sensor, so that the slot (64) of the valve opening wrench (62) is aligned with the valve handle; Step 8: The rotary cylinder (61) rotates pneumatically, driving the valve opening wrench (62) to rotate, thereby opening the ball valve; Step 9: Battery fluid enters the battery fluid tank through the connecting pipe (42), and the gas in the battery fluid tank is released from the ball valve; Step 10: The six-axis robot (1) uses the clamping mechanism (3) to clamp the valve opening mechanism (6) and close the ball valve; Step 11: The six-axis robot (1) sends the valve opening mechanism (6) back to the valve opening mechanism positioning table, then picks up the insertion and removal mechanism (4), the insertion and removal mechanism (4) unlocks the female tooth (5) and the female tooth (7), and the six-axis robot (1) sends the insertion and removal mechanism (4) back to the insertion and removal mechanism (4) positioning table.

9. The control method for the automated lithium battery electrolyte filling device according to claim 8, characterized in that: In step 4, the locking of the female tooth (5) and the female tooth (7) is achieved in the following way: the movable sleeve (51) moves downward and pushes the ball (53) towards the fixed sleeve (52), so that part of the ball (53) is located in the ball hole and the other part is located in the limiting groove (72) outside the female tooth (7), thereby achieving locking; In step 11, the female tooth (5) and the female tooth (7) are unlocked in the following way: the movable sleeve (51) moves upward so that there is a gap (54) between the ball hole and the movable sleeve (51). When the fixed sleeve (52) and the female tooth (7) move relative to each other, the female tooth (7) can push the ball (53) towards the movable sleeve (51) so that part of the ball (53) is located in the ball hole and the other part is located in the gap (54), thereby unlocking.

Images