Battery core pulling device

Abstract

The invention belongs to the technical field of battery recycling equipment, and particularly relates to a battery core-pulling device, by arranging a clamping mechanism and a core-pulling mechanism, the fixing of a battery and the clamping of a battery cell are realized, compared with the prior art, the core-pulling device disclosed by the invention avoids the situation that the battery cell is directly pulled out from a shell by pulling a tab, so that the production efficiency is improved. According to the core pulling device, the battery core pulling success rate is improved, the battery recycling equipment applying the core pulling device does not need to cut the tabs after the battery core is pulled out, on the contrary, the tabs can be directly taken out before the battery core is pulled out, on one hand, the tab cutting efficiency is improved, and on the other hand, the tab can be prevented from hindering the pulling of the battery core.

Description

Technical Field

[0001] The invention belongs to the technical field of battery recycling equipment, and in particular relates to a battery core extraction device. Background Art

[0002] With the popularity of new energy vehicles, the number of waste batteries has increased sharply in recent years. These batteries contain rich recyclable resources such as lithium, cobalt, nickel, etc. At the same time, if they are not handled properly, they will cause serious pollution to the environment. The existing recycling technology generally disassembles and crushes the battery shell, and then separates the battery cell, so that the high-value materials in the waste battery can be efficiently extracted and re-invested in the battery production line to achieve resource recycling. However, the existing method of separating the battery cell is usually to first cut the two sides of the shell, then cut the end of the shell close to the pole ear, and pull the part of the battery cell connected to the end of the shell out of the shell together, and then separate the pole ear and the battery cell. Since this method of removing the battery cell is easy to break the pole ear during operation, resulting in core extraction failure, it is necessary to develop a core extraction device for separating the battery cell from the shell separately after cutting off the battery cell and the pole ear. Summary of the invention

[0003] The purpose of the present invention is to overcome the disadvantage that the existing core pulling process easily causes the pole ear to be pulled off, and to provide a core pulling device for separating the battery cell from the shell separately after cutting off the battery cell and the pole ear, thereby improving the success rate of battery cell separation.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: A battery core pulling device, wherein one end of the battery has an opening, and a battery core is installed inside the opening, comprising a core pulling conveyor line, a clamping mechanism and a core pulling mechanism, wherein the core pulling conveyor line comprises an adjustment table and a second transfer mechanism, wherein the second transfer mechanism is provided with a second gripper that can be opened and closed along the Y-axis direction, wherein the adjustment table can be raised and lowered along the Z-axis direction, wherein the clamping mechanism and the core pulling mechanism are arranged on opposite sides of the adjustment table in the Y-axis direction, wherein the clamping mechanism can be controlled to move along the Y-axis direction, wherein the first gripper and the second gripper are arranged vertically and staggered in the opening and closing direction, wherein the first gripper opens and closes along the X-axis direction, and the second gripper opens and closes along the Z-axis direction, wherein the core pulling mechanism is provided with a third gripper that can move along the Y-axis direction, and wherein the third gripper can open and close along the Z-axis direction; The second gripper is used to grab the battery from the Y-axis direction and transfer it to the adjustment platform. The adjustment platform rises or falls a compensation distance h according to the size of the battery in the Z-axis direction, so that the center of the battery in the Z-axis direction is aligned with the gripping reference of the third gripper. The gripping mechanism approaches the battery along the Y-axis, and controls the second gripper and the first gripper in turn to clamp the end of the battery relative to its opening from the Z-axis and X-axis directions respectively. The third gripper can be controlled to approach the battery along the Y-axis direction, and extend into the opening of the battery in an open state, then close to clamp the battery cell, and then move in the opposite direction along the Y-axis direction.

[0005] The core pulling device realizes the fixation of the battery and the clamping of the battery cell by setting a clamping mechanism and a core pulling mechanism. Specifically, before extracting a battery cell of a certain specification, the height of the battery can be determined. Therefore, the adjustment seat rises or falls a compensation distance h according to the height of the battery before each extraction of the battery cell, thereby adjusting the battery to correspond to the clamping reference of the third gripper. Since the position of the battery in the Z-axis direction has been determined at this time, the second gripper is first controlled to clamp the end of the battery relative to its opening from the Z-axis direction, thereby fixing the coordinates of the battery in the Z-axis direction, and then the first gripper is controlled to further fix the position of the battery from the X-axis direction, thereby limiting the freedom of the battery from four directions, so that one side of the battery opening is aligned with the clamping reference of the third gripper, thereby ensuring the accuracy of the battery cell clamping. Compared with the prior art, the core pulling device of the present invention avoids directly pulling the battery cell out of the casing by pulling the pole tab, thereby improving the success rate of battery cell extraction. In addition, the battery recycling equipment using this core pulling device does not need to cut the pole tab after extracting the battery cell. On the contrary, the pole tab can be directly removed before extracting the battery cell. On the one hand, it improves the efficiency of pole tab cutting, and on the other hand, it can avoid the pole tab hindering the extraction of the battery cell.

[0006] Furthermore, the first gripper includes an upper rack and a lower rack extending in the X-axis direction, a first clamping claw fixedly connected to the upper rack, a second clamping claw fixedly connected to the lower rack, an opening and closing gear meshed between the upper rack and the lower rack, and an opening and closing motor driving the opening and closing gear to rotate, and the second gripper includes a fixed bracket arranged between the first clamping claw and the second clamping claw, and a finger cylinder arranged on the fixed bracket, the finger cylinder having an output end that can be opened and closed in the Z-axis direction, and each output end is connected to a clamping block. The arrangement of the first gripper and the second gripper is compact in structure, and the first gripper is quick and accurate in opening and closing by means of the rack.

[0007] Furthermore, the core pulling mechanism includes a transverse moving mechanism, a rotating mechanism, and a longitudinal moving mechanism. The transverse moving mechanism includes a transverse moving motor, a transverse moving screw driven to rotate by the transverse moving motor, and a transverse moving nut seat threadedly connected to the transverse moving screw. The rotating mechanism includes core pulling brackets connected to opposite sides of the transverse moving nut seat and extending longitudinally, a core pulling shaft rotatably connected between the core pulling brackets on both sides, and a rotating motor that drives the core pulling shaft to rotate through a transmission assembly. The third gripper is installed on the core pulling shaft, and the core pulling shaft can drive the third gripper to rotate, thereby transferring the clamped battery core.

[0008] Furthermore, the core-pulling shaft is connected with relatively spaced mounting side plates, the longitudinal moving mechanism includes a moving motor fixed between the mounting side plates on both sides, a core-pulling slide rail arranged on the outside of the mounting plates on both sides, an upper fixed frame and a lower fixed frame slidably connected to the core-pulling slide rails on both sides, a first rack connected to the inner side of the upper fixed frame, a second rack arranged on the opposite side of the first rack and connected to the lower fixed frame, a driving gear driven to rotate by the moving motor and meshed between the first rack and the second rack, and the third gripper includes an upper clamping assembly fixedly connected to the upper fixed frame, and a lower clamping assembly fixedly connected to the lower fixed frame. The above-mentioned third gripper is arranged in a manner that allows for rapid opening and closing, and precise movement of the upper and lower clamping assemblies, and the transmission of the gear rack has a good self-locking effect, making it more stable when clamping the battery cell.

[0009] Furthermore, the upper clamping assembly and the lower clamping assembly both include a mounting seat, the mounting seat having an adjustment slot transversely extending therein, a first adjustment screw and a second adjustment screw arranged on opposite sides of the adjustment slot, the adjustment slot being open on the side, the upper clamping assembly also including two first outer claws threadedly connected to the first adjustment screw and the second adjustment screw, respectively, a first inner claw clamped in the adjustment slot and located between the two first outer claws, the lower clamping assembly also including two second outer claws threadedly connected to the first adjustment screw and the second adjustment screw, respectively, a second inner claw clamped in the adjustment slot and located between the two second outer claws, compared with an integrated structure, the upper and lower clamping assemblies are respectively composed of two separate outer claws and an inner claw, and each claw can be adaptively deformed and fine-tuned according to the corresponding position of the battery cell, which is more flexible when clamping the battery cell and is less likely to get stuck.

[0010] Furthermore, the first outer claw, the first inner claw, the second outer claw, and the second inner claw all include a connecting portion arranged in the adjusting groove, the connecting portion is provided with limiting ridges relatively arranged on both sides of the screw rod, and the side opening of the adjusting groove is fixedly connected with a pressure strip that presses against the limiting ridges on both sides, and the pressure strip is provided with a plurality of pressure holes along the extension direction of the adjusting groove, and the plurality of pressure holes can be selectively equipped with bolts for pressing against the corresponding limiting ridges, and the first outer claw and the second outer claw are threadedly connected with a limiting nut abutting against the pressure strip, and the above-mentioned arrangement method is convenient for clamping battery cells of different specifications.

[0011] Furthermore, the first outer claw and the second outer claw are provided with a first wedge-shaped gripping portion that is mirror-imaged, and the first inner claw and the second inner claw are provided with a second wedge-shaped gripping portion that is mirror-imaged, and the wedge-shaped surfaces of the first wedge-shaped gripping portion and the second wedge-shaped gripping portion face outward, and the wedge-shaped gripping portion can effectively open the outer shell and smoothly insert it into the battery.

[0012] Furthermore, a notch is provided on the side of the adjustment table close to the core pulling mechanism, and the adjustment table is equipped with a lower positioning table which can be raised and lowered to pass through the notch. A liftable upper positioning seat is provided above the adjustment table, and the upper positioning seat and the lower positioning table are close to each other to clamp the battery on the side close to the core pulling mechanism. The above-mentioned arrangement cooperates with the clamping mechanism to fix the battery from the front and rear ends when extracting the battery cell, thereby preventing the battery from shaking and shifting and causing the core pulling failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional diagram of the core pulling device; Figure 2 It is a schematic diagram of the structure of the clamping mechanism, the pressing mechanism, the shell recovery conveyor line, and the claws; Figure 3 and Figure 4 It is a structural schematic diagram of the clamping mechanism; Figure 5 and Figure 6 It is a three-dimensional diagram of the core pulling mechanism; Figure 7 It is a structural schematic diagram of the longitudinal moving mechanism; Figure 8 It is a structural schematic diagram of the upper clamping assembly and the mounting seat; Fig. 9 This is a schematic diagram of the structure of the adjustment platform. DETAILED DESCRIPTION

[0014] The specific implementation of the present invention is described below with reference to the accompanying drawings.

[0015] See also Figures 1 to 3, this embodiment provides a battery core pulling device, including a core pulling conveyor line e1, a clamping mechanism e4 and a core pulling mechanism e5, the core pulling conveyor line e1 includes an adjustment platform e2, and a second transfer mechanism e3, the second transfer mechanism e3 is equipped with a second gripper e31 that can be opened and closed along the Y-axis direction, the adjustment platform e2 can be raised and lowered along the Z-axis direction, the clamping mechanism e4 and the core pulling mechanism e5 are arranged on opposite sides of the adjustment platform e2 in the Y-axis direction, the clamping mechanism e4 can be controlled to move along the Y-axis direction, and is equipped with a first gripper e41 and a second gripper e42 that are vertically staggered in the opening and closing direction, the first gripper e41 opens and closes along the X-axis direction, the second gripper e42 opens and closes along the Z-axis direction, the core pulling mechanism e5 is equipped with a third gripper e6 that can move along the Y-axis direction, and the third gripper e6 can open and close along the Z-axis direction; The second gripper e31 is used to grab the battery 100 from the Y-axis direction and transfer it to the adjustment platform e2. The adjustment platform e2 rises or falls by a compensation distance h according to the size of the battery 100 in the Z-axis direction, so that the center of the battery 100 in the Z-axis direction is aligned with the gripping reference of the third gripper e6. The gripping mechanism e4 approaches the battery 100 along the Y-axis, and controls the second gripper e42 and the first gripper e41 in turn to clamp the end of the battery 100 relative to its opening from the Z-axis and X-axis directions respectively. The third gripper e6 can be controlled to approach the battery 100 along the Y-axis direction, and extend into the opening of the battery 100 in an open state, then close to clamp the battery cell 104, and then move in the opposite direction along the Y-axis.

[0016] Its working principle is that the staff enters the size data of the battery to be pulled into the core pulling device in advance, including the length, width and height data of the battery. The second transfer mechanism e3 controls the second gripper e31 to grab the battery 100 and transfer it to the adjustment table e2. The initial coordinate of the adjustment table e2 on the Z axis is set to 0. The compensation distance h is calculated according to the height dimension of the battery and the clamping reference of the third gripper, and the corresponding rise or fall compensation distance h. For example, the Z-axis coordinate of the above-mentioned clamping reference is 20cm, and the height dimension of the battery is 10cm. In order to ensure that the center of the battery in the Z-axis direction is aligned with the clamping reference, the adjustment table e2 needs to rise by a compensation distance of 15cm. Then the clamping mechanism e4 approaches the battery 100 along the Y-axis, first controls the second clamp e42 to clamp the end of the battery 100 relative to its opening from the direction of the Z-axis, thereby fixing the current height position of the battery 100, and then controls the first clamp e41 to clamp both sides of the battery 100 from the direction of the X-axis, thereby further fixing the current position of the battery 100, and then the third clamp e6 opens and inserts into the opening of the battery 100. As the third clamp e6 continues to move forward, the battery 100 shell 101 will be stretched open along the Z-axis direction by the opened third clamp e6, and then the third clamp e6 closes to clamp the battery cell 104. After clamping the battery cell 104, the third clamp e6 moves in the opposite direction along the Y-axis to pull the battery cell 104 out of the shell 101.

[0017] See also Figure 1 , Figure 3 and Figure 4 The first gripper e41 includes an upper rack e411 and a lower rack e412 extending along the X-axis, a first clamping claw e413 fixedly connected to the upper rack, a second clamping claw e414 fixedly connected to the lower rack, an opening and closing gear e415 meshed between the upper rack e411 and the lower rack e412, and an opening and closing motor e416 driving the opening and closing gear e415 to rotate, and the second gripper e42 includes a fixed bracket e421 arranged between the first clamping claw e413 and the second clamping claw e414, and a finger cylinder e422 arranged on the fixed bracket e421, and the finger cylinder e422 has an output end that can be opened and closed along the Z-axis direction, and each output end is connected to a clamping block e423.

[0018] See also Figure 5 and Figure 6The core pulling mechanism e5 includes a transverse moving mechanism e51, a rotating mechanism e52, and a longitudinal moving mechanism e53. The transverse moving mechanism e51 includes a transverse motor e511, a transverse screw rod e512 driven to rotate by the transverse motor e511, and a transverse nut seat e513 threadedly connected to the transverse screw rod e512. The rotating mechanism e52 includes a core pulling bracket e521 connected to the opposite sides of the transverse nut seat e513 and extending longitudinally, a core pulling shaft e522 rotatably connected between the core pulling brackets e521 on both sides, and a rotating motor e523 that drives the core pulling shaft e522 to rotate through a transmission assembly.

[0019] See also Figure 5 and Figure 7 The core-pulling shaft e522 is connected with mounting side plates e524 arranged at a relatively interval, and the longitudinal moving mechanism e53 includes a moving motor e531 fixed between the mounting side plates e524 on both sides, a core-pulling slide rail e532 arranged on the outside of the mounting plates e524 on both sides, an upper fixed frame e533 and a lower fixed frame e534 slidably connected to the core-pulling slide rails e532 on both sides, a first rack e535 connected to the inner side of the upper fixed frame e533, and a second rack arranged on the opposite side of the first rack e535 and connected to the lower fixed frame e534. e536, a driving gear e537 driven to rotate by the mobile motor e531 and meshed between the first rack e535 and the second rack e536, the third gripper e6 includes an upper clamping assembly e61 fixedly connected to the upper fixed frame e533, and a lower clamping assembly e62 fixedly connected to the lower fixed frame e534, the mobile motor e531 drives the driving gear e537 to rotate, thereby driving the first rack e535 and the second rack e536 to move in a synchronous direction along the Z-axis direction, thereby realizing the opening and closing of the third gripper e6.

[0020] See also Figure 7 and Figure 8The upper clamping assembly e61 and the lower clamping assembly e62 both include a mounting seat e63, an adjustment slot e64 is transversely penetrated in the mounting seat e63, a first adjustment screw e651 and a second adjustment screw e652 are arranged on opposite sides of the adjustment slot e64, and the adjustment slot e64 is open at the side. The upper clamping assembly e61 also includes two first external claws e611 respectively threadedly connected to the first adjustment screw e651 and the second adjustment screw e652, and two first external claws e611 are clamped in the adjustment slot e64 and located at the two first external claws. The first inner claw e612 is between the claws e611, and the lower clamping assembly e62 also includes two second outer claws e621 threadedly connected to the first adjusting screw e651 and the second adjusting screw e652 respectively, and a second inner claw e622 clamped in the adjusting groove e64 and located between the two second outer claws e621. By rotating the first adjusting screw e651 and the second adjusting screw e652, the distance between the first outer claw e611 or the second outer claw e621 can be adjusted to adapt to batteries 100 of different specifications.

[0021] See also Figure 8 The first outer claw e611, the first inner claw e612, the second outer claw e621, and the second inner claw e622 all include a connecting portion e601 arranged in the adjusting groove e64, and the connecting portion e601 is provided with limiting ridges e600 arranged relatively on both sides of the screw rod, and the side opening of the adjusting groove e64 is fixedly connected with a pressure strip e66 pressed against the limiting ridges e600 on the opposite sides, and the pressure strip e66 is provided with a plurality of pressing holes e661 along the extension direction of the adjusting groove e64, and the plurality of pressing holes e661 can be selectively equipped with bolts for pressing against the corresponding limiting ridges e600, and the first outer claw e611 and the second outer claw e621 are threadedly connected with a limiting nut e662 abutting against the pressure strip e66, and the bolts and the limiting nuts e662 are provided to facilitate fixing the first outer claw e611 and the second outer claw e621.

[0022] See also Figure 7 The first outer claw e611 and the second outer claw e621 are provided with a first wedge-shaped grasping portion e602 which is set in a mirror image, the wedge-shaped surfaces of the first wedge-shaped grasping portion e602 and the second wedge-shaped grasping portion e603 face outward, and the first inner claw e612 and the second inner claw e622 are provided with a second wedge-shaped grasping portion e603 which is set in a mirror image.

[0023] See also Fig. 9The adjusting platform e2 is located on a side close to the core pulling mechanism e5 and is provided with a notch e21. The adjusting platform e2 is provided with a lower positioning platform e22 which can be raised and lowered to pass through the notch e21. A liftable upper positioning seat e23 is provided above the adjusting platform e2. The upper positioning seat e23 and the lower positioning platform e22 are close to each other to clamp the battery 100 on the side close to the core pulling mechanism e5, thereby preventing the battery 100 from shaking and shifting during the core pulling process and improving the success rate of the core pulling.

[0024] See also Figure 2 As an improved solution, the present invention also includes a recovery device f, which includes a shell recovery conveyor line f1 arranged below the clamping mechanism e4 and extending along the conveying direction of the core-pulling conveyor line e1, a pressing mechanism f2 arranged at the end of the shell recovery conveyor line f1, and a finger f3 that can reciprocate linearly relative to the shell recovery conveyor line f1 toward the pressing mechanism f2. The shell recovery conveyor line f1 includes a lifting receiving platform f4 and a conveying platform f5 connecting the receiving platform f4 and the pressing mechanism f2. The receiving platform f4 can be controlled to rise to the lower side of the clamping mechanism e4 for receiving the battery shell 101 and descending, and the finger f3 is used to push the battery shell 101 from the conveying platform f5 to the pressing mechanism f2. The receiving platform f4 can be driven to rise and fall by an existing lifting cylinder.

[0025] See also Figure 1 and Figure 2 The pressing mechanism f2 includes a pressing platform f21 connected to the conveying platform f5, a punching head f22 which is liftably arranged above the pressing platform f21, and a recovery container f23 connected to the pressing platform f21. When the shell 101 located on the pressing platform f21 is flattened, another shell 101 pushed by the pusher claw f3 will push the flattened shell 101 to the recovery container f23 for recycling.

[0026] The core pulling device achieves the fixation of the battery 100 and the clamping of the battery cell 104 by setting a clamping mechanism e4 and a core pulling mechanism e5. Specifically, before extracting a battery cell of a certain specification, the height of the battery can be determined. Therefore, the adjustment seat e2 rises or falls a compensation distance h according to the height of the battery before each extraction of the battery cell, thereby adjusting the battery 100 to correspond to the clamping reference of the third gripper e6. Since the position of the battery 100 in the Z-axis direction has been determined at this time, the second gripper e42 is first controlled to clamp the end of the battery 100 opposite to its opening from the Z-axis direction, thereby fixing the coordinates of the battery in the Z-axis direction, and then the first gripper e41 is controlled to further fix the position of the battery 100 from the X-axis direction, thereby limiting the freedom of the battery 100 from four directions, so that one side of the opening of the battery 100 is aligned with the clamping reference of the third gripper e6, thereby ensuring the accuracy of clamping the battery cell 104. Compared with the prior art, the core pulling device of the present invention avoids directly pulling the battery cell out of the casing by pulling the pole tab, thereby improving the success rate of battery cell extraction. In addition, the battery recycling equipment using this core pulling device does not need to cut the pole tab after extracting the battery cell. On the contrary, the pole tab can be directly removed before extracting the battery cell. On the one hand, it improves the efficiency of pole tab cutting, and on the other hand, it can avoid the pole tab hindering the extraction of the battery cell.

[0027] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also 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 scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. A battery core extraction device, wherein one end of the battery (100) has an opening, and a battery core (104) is installed inside the opening, characterized in that: It comprises a core-pulling conveyor line (e1), a clamping mechanism (e4) and a core-pulling mechanism (e5), wherein the core-pulling conveyor line (e1) comprises an adjusting table (e2) and a second transfer mechanism (e3), wherein the second transfer mechanism (e3) is provided with a second gripper (e31) which can be opened and closed along the Y-axis direction, the adjusting table (e2) can be raised and lowered along the Z-axis direction, the clamping mechanism (e4) and the core-pulling mechanism (e5) are arranged on opposite sides of the adjusting table (e2) in the Y-axis direction, the clamping mechanism (e4) can be controlled to move in the Y-axis direction, and is provided with a first gripper (e41) and a second gripper (e42) which are arranged vertically and staggered in the opening and closing direction, the first gripper (e41) opens and closes along the X-axis direction, and the second gripper (e42) opens and closes along the Z-axis direction, and the core-pulling mechanism (e5) is provided with a third gripper (e6) which can be moved in the Y-axis direction, and the third gripper (e6) can be opened and closed in the Z-axis direction; The second gripper (e31) is used to grip the battery (100) in the Y-axis direction and transfer it to the adjustment platform (e2); the adjustment platform (e2) rises or falls a compensation distance h according to the size of the battery (100) in the Z-axis direction, so that the center of the battery (100) in the Z-axis direction is aligned with the gripping reference of the third gripper (e6); the gripping mechanism (e4) approaches the battery (100) along the Y-axis, and sequentially controls the second gripper (e42) and the first gripper (e41) to clamp the end of the battery (100) relative to its opening in the Z-axis and X-axis directions respectively; the third gripper (e6) can be controlled to approach the battery (100) in the Y-axis direction, and extend into the opening of the battery (100) in an open state, and then close to clamp the battery cell (104), and then move in the opposite direction along the Y-axis direction.

2. The core pulling device according to claim 1, characterized in that: The first gripper (e41) includes an upper rack (e411) and a lower rack (e412) extending along the X-axis direction, a first clamping claw (e413) fixedly connected to the upper rack, a second clamping claw (e414) fixedly connected to the lower rack (e412), an opening and closing gear (e415) meshed between the upper rack (e411) and the lower rack (e412), and an opening and closing motor (e416) driving the opening and closing gear (e415) to rotate; the second gripper (e42) includes a fixed bracket (e421) arranged between the first clamping claw (e413) and the second clamping claw (e414), and a finger cylinder (e422) arranged on the fixed bracket (e421); the finger cylinder (e422) has an output end that can be opened and closed along the Z-axis direction, and each output end is connected to a clamping block (e423).

3. The core pulling device according to claim 1, characterized in that: The core pulling mechanism (e5) includes a transverse moving mechanism (e51), a rotating mechanism (e52), and a longitudinal moving mechanism (e53). The transverse moving mechanism (e51) includes a transverse moving motor (e511), a transverse moving screw (e512) driven to rotate by the transverse moving motor (e511), and a transverse moving nut seat (e513) threadedly connected to the transverse moving screw (e512). The rotating mechanism (e52) includes a core pulling bracket (e521) connected to opposite sides of the transverse moving nut seat (e513) and extending longitudinally, a core pulling shaft (e522) rotatably connected between the core pulling brackets (e521) on both sides, and a rotating motor (e523) that drives the core pulling shaft (e522) to rotate through a transmission assembly. The third clamp (e6) is mounted on the core pulling shaft (e522).

4. The core pulling device according to claim 3, characterized in that: The core-pulling shaft (e522) is connected to mounting side plates (e524) arranged at a relatively interval, and the longitudinal moving mechanism (e53) includes a moving motor (e531) fixed between the mounting side plates (e524) on both sides, a core-pulling slide rail (e532) arranged on the outside of the mounting plates (e524) on both sides, an upper fixed frame (e533) and a lower fixed frame (e534) slidably connected to the core-pulling slide rails (e532) on both sides, a first rack (e535) connected to the inner side of the upper fixed frame (e533), and a first gear (e536) arranged on the inner side of the upper fixed frame (e533). A second rack (e536) is provided on the opposite side of the first rack (e535) and connected to the lower fixed frame (e534); a driving gear (e537) is driven to rotate by the moving motor (e531) and is meshed between the first rack (e535) and the second rack (e536); and the third gripper (e6) includes an upper clamping assembly (e61) fixedly connected to the upper fixed frame (e533), and a lower clamping assembly (e62) fixedly connected to the lower fixed frame (e534).

5. The core pulling device according to claim 4, characterized in that: The upper clamping assembly (e61) and the lower clamping assembly (e62) both include a mounting seat (e63), an adjustment slot (e64) extending transversely through the mounting seat (e63), a first adjustment screw (e651) and a second adjustment screw (e652) arranged on opposite sides of the adjustment slot (e64), the adjustment slot (e64) being open at the side, and the upper clamping assembly (e61) further including screw threads respectively connected to the first adjustment screw (e651) and the second adjustment screw (e652). Two first external claws (e611) connected to each other, and a first internal claw (e612) clamped in the adjustment groove (e64) and located between the two first external claws (e611); the lower clamping assembly (e62) also includes two second external claws (e621) threadedly connected to the first adjustment screw (e651) and the second adjustment screw (e652), and a second internal claw (e622) clamped in the adjustment groove (e64) and located between the two second external claws (e621).

6. The core pulling device according to claim 5, characterized in that: The first outer claw (e611), the first inner claw (e612), the second outer claw (e621), and the second inner claw (e622) all include a connecting portion (e601) arranged in the adjusting groove (e64); the connecting portion (e601) is provided with limiting ridges (e600) arranged relatively on both sides of the screw rod; a pressure strip (e66) is fixedly connected to the side opening of the adjusting groove (e64) and is pressed against the limiting ridges (e600) on the opposite sides; the pressure strip (e66) is provided with a plurality of pressing holes (e661) along the extension direction of the adjusting groove (e64); the plurality of pressing holes (e661) can be selectively equipped with bolts for pressing against the corresponding limiting ridges (e600); the first outer claw (e611) and the second outer claw (e621) are threadedly connected with limiting nuts (e662) that are pressed against the pressure strip (e66).

7. The core pulling device according to claim 6, characterized in that: The first outer claw (e611) and the second outer claw (e621) are provided with a first wedge-shaped grasping portion (e602) in a mirror-image arrangement, and the first inner claw (e612) and the second inner claw (e622) are provided with a second wedge-shaped grasping portion (e603) in a mirror-image arrangement, wherein the wedge-shaped surfaces of the first wedge-shaped grasping portion (e602) and the second wedge-shaped grasping portion (e603) face outwards.

8. The core pulling device according to claim 1, characterized in that: The adjusting platform (e2) is provided with a notch (e21) on a side close to the core-pulling mechanism (e5), and the adjusting platform (e2) is provided with a lower positioning platform (e22) which can be raised and lowered to pass through the notch (e21). A liftable upper positioning seat (e23) is provided above the adjusting platform (e2), and the upper positioning seat (e23) and the lower positioning platform (e22) are close to each other to clamp the battery 100 on a side close to the core-pulling mechanism (e5).

9. The core pulling device according to claim 1, characterized in that: The invention also includes a shell recovery conveyor line (f1) arranged below the clamping mechanism (e4) and extending along the conveying direction of the core pulling conveyor line (e1), a pressing mechanism (f2) arranged at the end of the shell recovery conveyor line (f1), and a claw (f3) that can move linearly back and forth relative to the shell recovery conveyor line (f1) toward the pressing mechanism (f2). The shell recovery conveyor line (f1) includes a liftable receiving platform (f4) and a conveying platform (f5) connecting the receiving platform (f4) and the pressing mechanism (f2). The receiving platform (f4) can be controlled to rise to the lower side of the clamping mechanism (e4) for receiving the battery shell 101 and then descend. The claw (f3) is used to push the battery shell 101 from the conveying platform (f5) to the pressing mechanism (f2).

10. The core pulling device according to claim 9, characterized in that: The pressing mechanism (f2) comprises a pressing platform (f21) connected to the conveying platform (f5), a punching head (f22) arranged above the pressing platform (f21) in a liftable manner, and a recovery container (f23) connected to the pressing platform (f21).

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