A transport correction system and method for battery recycling cascade disassembly

Abstract

The application discloses a battery recycling gradient disassembly transportation correction system and method, which comprises a conveying track, a transportation platform, a light source device and a deviation rectifying device. The transportation platform comprises a driving mechanism, a storage table body and a visual detection assembly. The storage table body is hollow inside and transparent on top. The driving mechanism is arranged at the bottom of the storage table body and is in sliding connection with the conveying track, and is used for driving the transportation platform to slide along the conveying track. The visual detection assembly is arranged in the storage table body and is used for capturing pictures upward. In the application, the transportation platform is transported along the conveying track in the transportation mode. The light source device forms the shadow profile of the battery. Instantaneous machine vision detection is carried out on the transportation platform. Image information is acquired. According to the coordinate position of the shadow profile on the storage table body, the corresponding deviation rectifying device is corrected to the positioning position. Positioning correction is carried out in the transportation. Real-time adjustment is carried out.

Description

Technical Field

[0001] This invention relates to the field of battery recycling and dismantling technology, specifically to a transportation and correction system and method for battery recycling and dismantling. Background Technology

[0002] In the tiered dismantling of batteries for recycling, the outer casing needs to be removed to recycle the internal battery cells. For example, Chinese Patent 201810118054.6 discloses a method for dismantling and recycling used power battery packs for tiered utilization, which uses an automated assembly line robot to decompose used power battery packs, including dismantling the used power battery packs step by step until the individual battery cells are removed. During the process of removing the battery cells, the outer casing is dismantled and the cells are transferred. For example, Chinese Patent 202220737907.6 discloses a tiered battery pack outer casing dismantling device, including a positioning module, a dismantling module, and a control module. The positioning module includes two rows of mutually perpendicular limit blocks set on a horizontal working surface and at least two pressure plates that cooperate with the limit blocks to clamp the battery pack. The dismantling module includes a sliding device set around the battery pack on the horizontal working surface and a cutter fixed on the sliding device. The various dismantling steps are transferred and connected by a transport mechanism.

[0003] In the transfer and connection between battery disassembly steps in a tiered disassembly process, a conveyor belt combined with a gripping mechanism such as a robotic arm is often used. The robotic arm needs to identify and locate the battery on the conveyor belt before gripping it to achieve a high success rate, but this process is time-consuming. Similarly, in the shell disassembly step, positioning and identification are also required before shell disassembly, and positioning also consumes time. Therefore, to avoid battery position shifts and skew during transportation between different disassembly steps, and to reduce the time spent on battery positioning at each step to achieve a high success rate in gripping and cutting, a key technical problem to be solved is how to perform real-time adjustments to the battery transport mechanism between disassembly steps to prevent battery position shifts and skew during transport. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a transportation correction system and method for battery recycling and dismantling. This solves the technical problem in the prior art of how to make real-time adjustments to the battery conveying mechanism between dismantling steps to avoid battery position shift and skew during transportation.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a transportation correction system for the cascade dismantling and recycling of batteries, comprising: Conveyor rail; A transport platform includes a drive mechanism, a platform body, and a vision detection component. The platform body is hollow inside and transparent at the top. The drive mechanism is located at the bottom of the platform body and is slidably connected to the conveyor rail for driving the transport platform to slide along the conveyor rail. The vision detection component is located inside the platform body for capturing images upwards. A light source device, positioned parallel above the transport platform, is used to illuminate the transport platform and provide a monochromatic background, highlighting the shadow outline formed by the battery blocking the light source and capturing it by the vision detection component; and A correction device, located on the outer periphery of the transport platform, is used to push the battery to correct its position.

[0006] In some embodiments, the light source device includes a white light-transmitting panel and an illumination source, the illumination source being disposed on the side of the white light-transmitting panel away from the transport platform.

[0007] In some embodiments, the visual detection component includes a camera disposed on the inner bottom wall of the platform and positioned to capture images of the inner top wall of the platform.

[0008] In some embodiments, the top surface of the shelf is square or rectangular.

[0009] In some embodiments, the correction device includes two correction components, which are disposed on the outer periphery of the platform, and the included angle between the two correction components is 90 degrees.

[0010] In some embodiments, the correction assembly includes a displacement mechanism, a flipping mechanism, and a correction rod. The flipping mechanism is disposed at the movable end of the displacement mechanism, and the correction rod is disposed at the movable end of the flipping mechanism. The displacement mechanism is used to drive the flipping mechanism to move linearly along the side or longitudinal direction of the platform. The correction rod is perpendicular to the linear displacement direction of the displacement mechanism and extends to the top of the platform. The correction rods on the two correction assemblies are staggered vertically.

[0011] In some embodiments, the correction rod is a transparent rod.

[0012] In some embodiments, a rotating mechanism is further provided between the platform and the driving mechanism for driving the platform to rotate horizontally.

[0013] In some embodiments, the driving mechanism includes a U-shaped frame, a drive motor, and rollers. The U-shaped frame is sleeved on the conveyor rail, and a set of rollers is rotatably connected to both sides of the U-shaped frame. The drive motor is mounted on the U-shaped frame, and its output shaft is connected to one of the rollers.

[0014] Secondly, the present invention also provides a transportation correction method, which is implemented by a transportation correction system for battery recycling and cascade dismantling as described in any of the above claims, comprising the following steps: The battery is placed on the platform of the transport platform by a mechanical claw or other transfer mechanism, and the transport platform is moved along the conveyor rail by the drive mechanism to carry out the transfer of the battery in stages. Under the illumination of the light source, at an upward viewing angle from the platform, a monochrome background is formed within the platform area, highlighting the shadow outline formed by the battery blocking the light source; Using the top plane of the shelf as the XY plane and setting the XY coordinate system, the angle of its position relative to the X-axis on the XY plane is determined based on the shadow outline formed by the battery blocking the light source. Based on the skew angle, adjust it to be parallel to the X-axis using a correction device, and then move it along the Y-axis to correct its coordinate position on the Y-axis. Then, based on the outline of the black area of ​​the adjusted battery shadow, determine its offset distance on the X-axis, and use a correction device to move it along the X-axis direction to correct its coordinate position on the X-axis, thus completing the correction.

[0015] Compared with the prior art, the battery recycling and dismantling transportation correction system and method provided by the present invention uses a transportation platform along the conveyor rail during transportation to form the shadow outline of the battery with a light source device, and performs real-time machine vision detection on the transportation platform to obtain image information. Based on the coordinate position of the shadow outline on the platform, the system corrects the battery to the positioning position with a correction device, and performs positioning correction in real time during transportation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the transportation and correction system for the cascade dismantling of batteries provided in an embodiment of the present invention; Figure 2 This is a top view of the transportation platform and the correction device provided in the embodiment of the present invention; Figure 3 This is a three-dimensional view of the storage platform provided in an embodiment of the present invention; Figure 4 This is a three-dimensional view of the driving mechanism and the rotating mechanism provided in the embodiments of the present invention; Figure 5 This is a battery tilt capture image of the transportation correction method provided in this embodiment of the invention; Figure 6 This is the battery deviation correction to parallel X-axis capture image of the transportation correction method provided in the embodiment of the present invention; Figure 7 This is a captured image of the battery being pre-corrected to Y-axis positioning in the transportation correction method provided in this embodiment of the invention; Figure 8 This is a captured image of the battery being corrected to Y-axis positioning in the transportation correction method provided in this embodiment of the invention; Figure 9 This is a captured image of the battery being pre-corrected to X-axis positioning in the transportation correction method provided in this embodiment of the invention; Figure 10 This is a captured image of the battery being corrected to the correction position in the transportation correction method provided in this embodiment of the invention.

[0017] Explanation of reference numerals in the attached figures: 1. Conveyor rail; 2. Transport platform; 21. Drive mechanism; 22. Storage platform; 23. Vision inspection component; 24. Rotation mechanism; 211. U-shaped frame; 212. Drive motor; 213. Roller; 231. Camera; 3. Light source equipment; 31. White light-transmitting panel; 32. Light source; 4. Correction equipment; 41. Correction components; 411. Displacement mechanism; 412. Tilting mechanism; 413. Correction rod; 5. The battery being transported; 501. The upward angle view inside the storage platform; 502. The outline of the shadow. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] To address the technical problem of how to perform real-time adjustments on the battery transport mechanism between disassembly steps to avoid battery position shifts and skewness during transport, this invention provides a transport correction system for battery recycling and tiered disassembly. This system enables real-time adjustments on the battery transport mechanism between disassembly steps to prevent battery position shifts and skewness during transport.

[0020] It should be noted that the battery recycling and dismantling transportation correction system described in this invention is used for, but not limited to, lithium battery recycling. For ease of explanation, this invention will only use the application of the battery recycling and dismantling transportation correction system to the dismantling of lithium batteries as an example. The principle of the battery recycling and dismantling transportation correction system applied to other types of equipment is essentially the same as that applied to the dismantling of lithium batteries, and will not be elaborated here.

[0021] Please see Figure 1 , Figure 1This is a schematic diagram of the structure of a battery recycling and dismantling transportation and correction system according to an embodiment of the present invention. The battery recycling and dismantling transportation and correction system includes a conveyor rail 1, a transportation platform 2, a light source device 3, and a correction device 4. The transportation platform transports the batteries along the conveyor rail 1. The batteries transported can be battery packs with the casings disassembled, or battery cell groups after the casings have been removed.

[0022] In this embodiment, in order to detect the position coordinates of the battery in real time during transportation and determine whether it is offset or tilted, the transportation platform 2 includes a drive mechanism 21, a platform body 22, and a vision detection component 23. The platform body 22 is hollow inside and transparent at the top, with its top surface serving as the placement plane and forming a reference plane for image capture. The drive mechanism 21 is located at the bottom of the platform body 22 and is slidably connected to the conveyor rail 1 to drive the transportation platform 2 to slide along the conveyor rail 1. The vision detection component 23 is located inside the platform body 22 and is used to capture images upwards. Based on the captured images, the offset and tilt of the battery are determined using the top plane of the platform body 22 as a plane coordinate system and the coordinates of the battery within the area covered by the plane coordinate system.

[0023] In this embodiment, in order to provide a clean background for the image captured by the visual detection component 23 and to highlight the area covered by the battery, the light source device 3 is arranged parallel above the transport platform 2 to illuminate the transport platform 2 and provide a monochrome background located directly above the platform 22, highlighting the shadow outline formed by the battery blocking the light source and being captured by the visual detection component 23. The orientation, positional offset and tilt of the battery can be determined based on the shadow outline to form the image capture, which serves as the reference for subsequent correction.

[0024] In this embodiment, the correction device 4 is set on the outer periphery of the transport platform 2 to push the battery cell to correct its position. According to the image captured by the vision detection component 23, the battery position is adjusted by the correction device 4 during transport to correct it to the corresponding position, thereby saving the positioning time in the disassembly step and improving the efficiency of gripping and cutting.

[0025] Understandably, the transport platform 2 can serve as a working platform during the shell cutting process, allowing for direct cutting. The coordinate feedback for cutting positioning is directly fed back from the coordinate system corresponding to the image captured by the vision detection component 23. With the bottom surface of the battery in contact with the platform 22, and with the illumination from the light source device 3, it is easy to control the area outside the battery bottom surface coverage area to be a monochrome background, while the bottom surface coverage area is in shadow. The cutting coordinates can be determined based on the shadow outline, resulting in a relatively good cutting positioning. This can further reduce the connection time between different dismantling stages and improve the efficiency of the entire recycling production line.

[0026] In one embodiment, please refer to Figure 1 In order to provide a light source for forming shadow outlines on a monochrome background, the light source device 3 includes a white light-transmitting plate 31 and an illumination source 32. The illumination source 32 is located on the side of the white light-transmitting plate 31 away from the transport platform 2. The white light-transmitting plate 31 serves as a monochrome background, and the illumination source 32 illuminates the battery located on the platform 22 to form a clear shadow outline.

[0027] Understandably, in addition to the white light-transmitting panel 31, other monochrome light-transmitting panels of different colors can also be used for the monochrome background, as long as they can form a monochrome background.

[0028] In one embodiment, please refer to Figure 1 and Figure 3 The visual detection component 23 includes a camera 231, which is installed on the inner bottom wall of the shelf body 22 and faces the inner top wall of the shelf body 22 to capture images. The camera 231 can clearly capture the outlines of the four walls of the shelf body 22 and the shadow outlines formed by the battery blocking the light source on the shelf body 22. For specific captured images, please refer to [reference needed]. Figure 5-10 .

[0029] Furthermore, the top surface of the platform 22 is square or rectangular to facilitate the formation of an XY coordinate system, which is convenient for subsequent position positioning and correction.

[0030] In one embodiment, please refer to Figure 1 and Figure 2 The correction device 4 includes two correction components 41, which are located on the outer periphery of the platform 22. The included angle between the two correction components 41 is 90 degrees. The two correction components 41 are used to correct the deviation along the X-axis and along the Y-axis, respectively, so as to correct the position of the battery on the platform 22 to the set position.

[0031] Furthermore, to achieve a specific correction effect, the correction assembly 41 includes a displacement mechanism 411, a flipping mechanism 412, and a correction rod 413. The flipping mechanism 412 is disposed at the movable end of the displacement mechanism 411, and the correction rod 413 is disposed at the movable end of the flipping mechanism 412. The displacement mechanism 411 is used to drive the flipping mechanism 412 and the correction rod 413 thereon to move linearly along the side or in the longitudinal direction of the platform 22. The correction rod 413 is perpendicular to the linear displacement direction of the displacement mechanism 411 and extends to the top of the platform 22. The correction rods 413 on the two correction assemblies 41 are staggered vertically. The flipping mechanism 412 is used to drive the correction rod 413 to rotate to a vertical position and to a horizontal position.

[0032] Specifically, during the correction process, please refer to... Figure 6-10The displacement mechanism 411 drives the flipping mechanism 412 and the correction rod 413 to move along the Y-axis or X-axis to push the battery. It can make the battery parallel to the X-axis or Y-axis and adjust its coordinate position on the X-axis and Y-axis. The upward and downward flipping of the flipping mechanism 412 can adjust the correction rod 413 to the other side of the battery for pushing. For example, it can rotate upward from the front side and move backward, pass the battery, and then rotate downward to the horizontal, so as to fit against the rear side of the battery and push the battery forward.

[0033] Understandably, the displacement mechanism 411 can be a lead screw and guide pair driven by a stepper motor, and the flipping mechanism 412 can be driven by a stepper battery to rotate directly. The above mechanisms can be, but are not limited to, the above-mentioned devices.

[0034] Furthermore, to avoid interference with image capture caused by the correction rod 413, the correction rod 413 is a transparent rod to avoid forming shadow areas in the image.

[0035] In one embodiment, please refer to Figure 1 and Figure 4 A rotating mechanism 24 is also provided between the storage platform 22 and the driving mechanism 21 to drive the storage platform 22 to rotate horizontally. The orientation of the raised part on it, such as a copper plate, can be determined according to the shadow outline. If the orientation needs to be adjusted after correction, the entire storage platform 22 can be rotated and adjusted by the rotating mechanism 24.

[0036] Understandably, the rotating mechanism 24 can be operated by a rotating motor.

[0037] In one embodiment, please refer to Figure 4 In order to perform transportation operations on the conveyor rail 1, the drive mechanism 21 includes a U-shaped frame 211, a drive motor 212, and rollers 213. The U-shaped frame 211 is sleeved on the conveyor rail 1, and a set of rollers 213 are rotatably connected to both sides of the U-shaped frame 211. The drive motor 212 is mounted on the U-shaped frame 211, and its output shaft is connected to one of the rollers 213. The drive motor 212 drives the rollers 213 to rotate, so that they can slide along the conveyor rail 1.

[0038] It is understandable that the drive mechanism 21 includes, but is not limited to, the above embodiments, as long as it can move along the track to perform the transportation action.

[0039] To better understand this invention, the following is combined with... Figures 1 to 4The technical solution of the present invention is described in detail as follows: In the transportation of batteries in each stage of disassembly, the traditional method uses a conveyor belt, which requires secondary positioning. However, the present invention uses a transportation platform 2 for transportation. The transportation platform 2 is equipped with a correction device 4. During transportation, the device compares the image captured by the vision detection component 23 with the corrected position of the coordinate system on the platform 22, and can make correction adjustments in real time. When the battery is transported to the next stage, it is already in a corrected position, which can quickly connect the positioning of the next stage. In addition, the platform 22 can also be directly used for disassembly, cutting and other operations, and can be moved to the corresponding workstation.

[0040] This invention also provides a transportation correction method, which is implemented through the transportation correction system of any of the above-mentioned battery recycling and dismantling processes, and includes the following steps: The battery is placed on the platform 22 of the transport platform 2 by a mechanical claw or other transfer mechanism, and the transport platform 2 is moved along the conveyor rail 1 by the drive mechanism 21 for tiered disassembly and transfer. Under the illumination of the light source device 3, a monochromatic background is formed within the area of ​​the shelf 22 when viewed from an upward angle, highlighting the shadow outline formed by the battery blocking the light source. (See reference...) Figure 5-10 ; Using the top plane of the platform 22 as the XY plane and setting the XY coordinate system, the angle of its position offset from the X-axis on the XY plane is determined based on the shadow outline formed by the battery blocking the light source. Based on the skew angle, adjust it to be parallel to the X-axis using the correction device 4, and then move it along the Y-axis to correct its coordinate position on the Y-axis. (See [reference needed]). Figure 5-8 ; Next, based on the outline of the black area of ​​the adjusted battery shadow, determine its offset distance on the X-axis. Then, using the correction device 4, move it along the X-axis to correct its coordinate position on the X-axis, completing the correction. (See reference...) Figure 9-10 .

[0041] Furthermore, if further orientation adjustments are required, a rotation mechanism 24 can be added to determine the orientation based on the protruding position of the shadow outline, and the platform body 22 can be rotated via the rotation mechanism 24 for adjustment.

[0042] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A transportation and correction system for the tiered dismantling and recycling of batteries, characterized in that, include: Conveyor rail; A transport platform includes a drive mechanism, a platform body, and a vision detection component. The platform body is hollow inside and transparent at the top. The drive mechanism is located at the bottom of the platform body and is slidably connected to the conveyor rail for driving the transport platform to slide along the conveyor rail. The vision detection component is located inside the platform body for capturing images upwards. A light source device, which is arranged parallel above the transport platform, is used to illuminate the transport platform and provide a monochrome background, highlighting the shadow outline formed by the battery blocking the light source and being captured by the vision detection component. as well as A correction device, which is located on the outer periphery of the transport platform, is used to push the battery to correct its position; The correction device includes two correction components, which are disposed on the outer periphery of the platform, and the included angle between the two correction components is ninety degrees. The correction assembly includes a displacement mechanism, a flipping mechanism, and a correction rod. The flipping mechanism is located at the movable end of the displacement mechanism, and the correction rod is located at the movable end of the flipping mechanism. The displacement mechanism is used to drive the flipping mechanism to move linearly along the horizontal or vertical direction of the platform. The correction rod is perpendicular to the linear displacement direction of the displacement mechanism and extends to the top of the platform. The correction rods on the two correction assemblies are staggered vertically.

2. The battery recycling and cascade dismantling transportation and correction system according to claim 1, characterized in that, The light source device includes a white light-transmitting panel and an illumination source, wherein the illumination source is disposed on the side of the white light-transmitting panel away from the transport platform.

3. The battery recycling and cascade dismantling transportation and correction system according to claim 1, characterized in that, The visual detection component includes a camera, which is disposed on the inner bottom wall of the platform and is taking pictures of the inner top wall of the platform.

4. The transportation and correction system for battery recycling and cascade dismantling according to claim 1, characterized in that, The top surface of the shelf is square or rectangular.

5. The transportation and correction system for battery recycling and cascade dismantling according to claim 1, characterized in that, The correction rod is a transparent rod.

6. The transportation and correction system for battery recycling and cascade dismantling according to claim 1, characterized in that, A rotating mechanism is also provided between the platform and the driving mechanism for driving the platform to rotate horizontally.

7. The transportation and correction system for battery recycling and cascade dismantling according to claim 1, characterized in that, The driving mechanism includes a U-shaped frame, a drive motor, and rollers. The U-shaped frame is sleeved on the conveyor rail, and a set of rollers is rotatably connected to both sides of the U-shaped frame. The drive motor is mounted on the U-shaped frame, and its output shaft is connected to one of the rollers.

8. A transportation correction method, characterized in that, It is achieved through the transportation and correction system for the cascade dismantling of batteries as described in any one of claims 1-7, comprising the following steps: The battery is placed on the platform of the transport platform by a mechanical claw or other transfer mechanism, and the transport platform is moved along the conveyor rail by the drive mechanism to carry out the transfer of the battery in stages. Under the illumination of the light source, at an upward viewing angle from the platform, a monochrome background is formed within the platform area, highlighting the shadow outline formed by the battery blocking the light source; Using the top plane of the shelf as the XY plane and setting the XY coordinate system, the angle of its position relative to the X-axis on the XY plane is determined based on the shadow outline formed by the battery blocking the light source. Based on the skew angle, adjust it to be parallel to the X-axis using a correction device, and then move it along the Y-axis to correct its coordinate position on the Y-axis. Then, based on the outline of the black area of ​​the adjusted battery shadow, determine its offset distance on the X-axis, and use a correction device to move it along the X-axis direction to correct its coordinate position on the X-axis, thus completing the correction.

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