Integrated echelon battery cutting and milling device

Abstract

The invention discloses an integrated echelon battery cutting and milling device which comprises an auxiliary system which comprises a bottom steel plate and is fixedly provided with a hydraulic lifting platform and a clamping assembly which are connected with a hydraulic system; the cutting and milling system comprises a mechanical arm fixedly connected with an infrared recognition system, the tail end of the mechanical arm is rotationally connected with a cutting and milling integrated mechanism, the cutting and milling integrated mechanism comprises a rack rotationally connected with the tail end of the mechanical arm, the rack is fixedly connected with three sets of hydraulic rods connected with a hydraulic system, and the hydraulic rods are correspondingly and fixedly connected with a milling assembly, a transverse cutting assembly and a vertical cutting assembly. A sliding block is fixedly arranged at the bottom of the mechanical arm; an electric sliding rail is fixedly arranged on the bottom steel plate; the safety system comprises a temperature sensor and a gas sensor; the hydraulic system, the infrared recognition system, the electric sliding rail, the temperature sensor, the gas sensor, the mechanical arm, the milling assembly, the transverse cutting assembly and the vertical cutting assembly are all connected with the control system. The battery pack can be efficiently disassembled, and the leakage risk of harmful substances and the labor cost are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of secondary recycling of waste batteries, and relates to an integrated secondary battery cutting and milling device. Background Art

[0002] The accelerating retirement wave of new energy vehicles has promoted the industrial upgrading of the secondary utilization of power batteries. The industrial recycling prospect of waste battery packs is broad. Compared with module batteries, the battery cells in the module-free battery pack are adhered by high-viscosity structural adhesives (i.e., gums), and it is more difficult to separate the battery cells. In particular, the traditional recycling process adopts a serial operation mode, using a cutting device and a crusher successively, and processing the battery cell units step by step. It is necessary to repeatedly position and clamp between the two devices, resulting in a long processing time for a single battery pack and a high demand for manpower.

[0003] Currently, although some devices have tried to integrate the cutting function in a single machine, they still adopt a serial operation mode and still need to adjust the pose of the battery cell multiple times to perform milling and cutting. They have insufficient adaptability to the glue layer of special-shaped battery cells, not only unable to effectively eliminate the efficiency loss in the process connection and the problem that it is difficult to remove the gum between battery cells, but also with a large investment in manpower, low efficiency, and a high risk of leakage of harmful substances, posing environmental pollution and safety risks.

[0004] Therefore, there is an urgent need to develop an integrated cutting and milling device that supports the processing of multi-form battery packs, and through precise peeling of the glue layer and automatic milling, realize the continuous processing of secondary batteries to meet the high-efficiency recycling requirements of large-scale retired batteries. Summary of the Invention

[0005] The purpose of the present invention is to provide an integrated secondary battery cutting and milling device, which can cut and mill the gum of the module-free battery pack efficiently and accurately, reduce the risk of leakage of harmful substances, and lower the labor cost.

[0006] The present invention is realized through the following technical solutions:

[0007] An integrated secondary battery cutting and milling device includes an auxiliary system, a cutting and milling system, a safety system, and a control system located inside a closed space;

[0008] The auxiliary system includes a bottom steel plate, on which a hydraulic lifting platform and a clamping assembly for clamping the module-free battery pack are fixedly installed. A universal ball platform is fixedly installed on the hydraulic lifting platform; the clamping assembly includes a pair of fixed baffles fixedly installed on the bottom steel plate. The universal ball platform is located between the pair of fixed baffles. A horizontal hydraulic push rod is fixedly installed on the inner side of the fixed baffle. Both the hydraulic push rod and the hydraulic lifting platform are connected to a hydraulic system arranged inside the bottom steel plate. The hydraulic push rod is fixedly connected with a moving baffle, and the moving baffle is located above the universal ball platform;

[0009] The cutting and milling system includes a movable robotic arm, on which an infrared recognition system for obtaining the position of the module-free battery pack is fixedly installed. The end of the robotic arm is rotatably connected to a cutting and milling integrated mechanism. The cutting and milling integrated mechanism includes a frame rotatably connected to the end of the robotic arm. Three hydraulic rods are fixedly connected to the bottom of the frame. The hydraulic rods are connected to a hydraulic system. The three hydraulic rods are correspondingly fixedly connected to a milling component, a horizontal cutting component, and a vertical cutting component;

[0010] A slider is fixedly installed at the bottom of the robotic arm. A long strip-shaped notch is formed on the side of the bottom steel plate, and an electric slide rail for driving the slider to move is fixedly installed inside the notch;

[0011] The safety system includes a temperature sensor fixedly installed at the bottom of the universal ball platform and a gas sensor fixedly installed on the fixed baffle;

[0012] The hydraulic system, the infrared recognition system, the electric slide rail, the temperature sensor, the gas sensor, the robotic arm, and the milling component, the horizontal cutting component, and the vertical cutting component are all connected to a control system.

[0013] Further, the infrared recognition system includes an infrared signal transmitter, a photodiode, and a signal processing device fixedly installed on the robotic arm. The signal processing device is connected to the control system through a signal transmission circuit. Among them: the infrared signal transmitter is used to emit infrared light to the surface of the module-free battery pack; the photodiode is used to receive the infrared light reflected from the surface of the module-free battery pack and convert the optical signal into an electrical signal; the signal processing device is used to process the electrical signal sent by the photodiode, and the processed electrical signal is uploaded to the control system through the signal transmission circuit.

[0014] Further, the signal processing device includes a primary signal processing device and a secondary signal processing device;

[0015] The electrical signal sent by the diode is processed by the primary signal processing device and the secondary signal processing device in sequence, and then uploaded to the control system through the signal transmission circuit.

[0016] Further, the milling component includes a first connecting plate fixedly connected to the lower end of a group of hydraulic rods. A first box body is fixedly connected to the bottom of the first connecting plate. A first driving motor is fixedly installed on the first connecting plate. The output shaft of the first driving motor penetrates through the first connecting plate and extends into the first box body. A first vise is arranged inside the first box body and is fixedly connected to the output shaft of the first driving motor. The first vise fixedly clamps a vertical milling cutter head, and the lower end of the milling cutter head extends out of the first box body;

[0017] A first distance measuring radar is fixedly installed on the side of the first connecting plate, and both the first driving motor and the first distance measuring radar are connected to the control system.

[0018] Further, the transverse cutting assembly includes a second connecting plate fixedly connected to the lower ends of a set of hydraulic rods. A second box body is fixedly connected below the second connecting plate. A second driving motor is fixedly installed on the upper surface of the second connecting plate. The output shaft of the second driving motor penetrates through the second connecting plate and extends into the interior of the second box body. A second vise is provided inside the second box body and is fixedly connected to the output shaft of the second driving motor. The second vise fixedly clamps a vertical tool handle, and the tail end of the vertical tool handle extends out of the second box body and is fixedly connected to a horizontally arranged transverse cutting tool head.

[0019] A second distance measuring radar is fixedly installed on the side of the connecting plate, and both the second driving motor and the second distance measuring radar are connected to the control system.

[0020] Further, the vertical cutting assembly includes a third connecting plate fixedly connected to the lower ends of a set of hydraulic rods. A third box body is fixedly connected below the third connecting plate. A third driving motor is fixedly installed on the side of the third box body. The output shaft of the third driving motor penetrates through the third box body and is fixedly connected to a third vise. The third vise fixedly clamps a horizontal tool handle, and the tail end of the horizontal tool handle extends out of the third box body and is fixedly connected to a vertical cutting tool head.

[0021] A third distance measuring radar is fixedly installed on the side of the third connecting plate, and both the third driving motor and the third distance measuring radar are connected to the control system.

[0022] Further, the electric slide rail includes a slide rail fixedly arranged at the inner bottom of the long strip-shaped notch and a lead screw rotatably connected inside the long strip-shaped notch. One end of the lead screw is connected to a stepping motor, and the stepping motor is connected to the control system.

[0023] The slider is threadedly connected to the lead screw and is slidably connected to the slide rail.

[0024] Further, the universal ball platform includes a base plate. A number of hemispherical grooves are evenly formed on the surface of the base plate. A ball cover plate is fixedly connected above the grooves. The ball cover plate is provided with a through circular hole, and a large ball is rotatably connected inside the circular hole.

[0025] A layer of small balls is laid inside the grooves, and half of the large ball falls into the grooves and contacts the small balls.

[0026] Further, anti-slip rubber layers are pasted on the surfaces of the movable baffle and the fixed baffle, and a piezoelectric sensor is fixedly embedded on the inner side wall of the movable baffle. The piezoelectric sensor is connected to the control system.

[0027] The present invention has the following beneficial technical effects:

[0028] The present invention integrally integrates a milling component, a transverse cutting component, and a vertical cutting component at the end of a robotic arm to form an integrated cutting and milling mechanism. Only by using an infrared recognition system to perform single clamping and positioning on a battery module or a module-free battery pack, the milling component, the transverse cutting component, and the vertical cutting component can be replaced by the control system, and the milling component can be controlled to mill the electrodes or gels of the battery module or the module-free battery pack. The transverse cutting component and the vertical cutting component are controlled to cut the gels on the surface of the battery cells and between the battery cells, so as to separate the battery cells. This not only realizes the precise linkage of the cutting and milling actions, significantly shortens the processing time, but also can precisely process different models of battery modules or module-free battery packs, maximally retains the structural integrity of the reusable battery cells, reduces the leakage of harmful substances, improves the resource utilization rate and environmental protection in the decommissioned battery disassembly link, and meets the demand for large-scale cascade battery recycling; at the same time, the universal ball platform is used to move the battery module or module-free battery pack to be processed and the separated battery cells, saving labor costs, facilitating the continuous processing of cascade batteries, and further improving the processing efficiency; it can be seen that the present invention provides a cost-effective solution for the green recycling of power batteries.

[0029] By sequentially processing the electrical signals sent by the electrical diode through the signal primary processing device and the signal secondary processing device, the processing accuracy of the electrical signals is improved, facilitating the control system to obtain accurate position information and the shape trend of the gel, enabling the integrated cutting and milling mechanism to accurately cut and mill the gel or the electrode.

[0030] Through the signals fed back by the ranging radar, the control system controls the hydraulic system to drive the hydraulic rod to lift, thereby adjusting the distance between the integrated cutting and milling mechanism and the battery module or the module-free battery pack, facilitating the precise adjustment of the positions of the milling cutter head, the transverse cutting cutter head, and the vertical cutting cutter head, so as to quickly and accurately achieve milling and cutting.

[0031] Through the cooperation of the large balls and the small balls, the universal ball platform is smoother during the process of transporting the battery module or the module-free battery pack and the battery cells, further improving the feeding and material taking efficiency and reducing the labor intensity of workers; at the same time, the ball cover plate can not only meet the rotation of the large balls, but also block external particles from entering the inside of the groove, reducing the wear and rotational flexibility caused by the friction between the particles and the small balls and the large balls.

[0032] By pasting anti-slip rubber layers on the surfaces of the movable baffle and the fixed baffle, the friction between them and the battery pack can be increased, facilitating the stable clamping of the battery pack; in addition, the piezoelectric sensor is used to sense the clamping force acting on the battery pack, facilitating the precise control of the telescopic length of the hydraulic push rod through the control system to control the clamping force applied to the surface of the battery pack, and stably clamping the battery without damaging the battery cells. Description of the Drawings

[0033] Figure 1 Schematic diagram of the overall structure of the present invention Figure 1 ;

[0034] Figure 2 Schematic diagram of the overall structure of the present invention Figure 2 ;

[0035] Figure 3 Schematic diagram of the side view mechanism of the present invention;

[0036] Figure 4 Schematic diagram of the structure of the milling and cutting system of the present invention;

[0037] Figure 5 Schematic diagram of the structure of the milling component of the present invention Figure 1 ;

[0038] Figure 6 Schematic diagram of the structure of the milling component of the present invention Figure 2 ;

[0039] Figure 7 Schematic diagram of the structure of the horizontal cutting component of the present invention;

[0040] Figure 8 Schematic diagram of the structure of the vertical cutting component of the present invention Figure 1 ;

[0041] Figure 9 Schematic diagram of the structure of the vertical cutting component of the present invention Figure 2 ;

[0042] Figure 10 Schematic diagram of the structure of the universal ball platform of the present invention;

[0043] Figure 11 Schematic diagram of the structure of the infrared recognition system of the present invention;

[0044] Figure 12 Schematic diagram of the structure of the present invention in the state of placing the battery pack;

[0045] Figure 13 Schematic diagram of the top view structure of the present invention.

[0046] In the figure: 1. robotic arm; 2. integrated cutting and milling mechanism; 201. milling component; 202. horizontal cutting component; 203. vertical cutting component; 204. frame; 205. first driving motor; 206. milling cutter head; 207. first ranging radar; 208. hydraulic rod; 209. horizontal cutting cutter head; 210. second driving motor; 211. second ranging radar; 212. third driving motor; 213. third ranging radar; 214. vertical cutting cutter head; 3. hydraulic push rod; 4. movable baffle; 5. fixed baffle; 6. hydraulic lifting platform; 7. bottom steel plate; 8. slider; 9. infrared identification system; 901. infrared signal transmitter; 902. signal primary processing device; 903. signal transmission circuit; 904. signal secondary processing device; 905. photodiode; 10. clamping component; 11. universal ball platform; 1101. ball cover plate; 1102. large ball; 1103. groove; 1104. small ball; 12. control system; 13. electric slide rail; 14. hydraulic system; 15. battery cell; 16. gel between battery cells. Detailed implementation manners

[0047] The present invention will be further described in detail below in conjunction with specific embodiments, which are explanations of the present invention rather than limitations.

[0048] The integrated cascade battery cutting and milling device proposed in this embodiment is applicable to the disassembly of both module - less battery packs and battery modules. For the convenience of description, this embodiment only takes the module - less battery pack as an example for detailed description.

[0049] Refer to Figures 1 to 13 , an integrated cascade battery cutting and milling device, including an auxiliary system, a cutting and milling system, a safety system and a control system 12 located inside a closed space;

[0050] The auxiliary system includes a bottom steel plate 7, on which a hydraulic lifting platform 6 and a clamping component 10 for clamping a module - less battery pack are fixedly installed. Among them: a universal ball platform 11 is fixedly installed on the hydraulic lifting platform 6. Refer to Figure 10, the universal ball platform 11 includes a base plate. A number of hemispherical grooves 1103 are evenly formed on the surface of the base plate. A ball cover plate 1101 is fixedly connected above the grooves 1103. The ball cover plate 1101 is provided with a through circular hole, and a large ball 1102 is rotatably connected inside the circular hole; a layer of small balls 1104 is laid inside the grooves 1103. The large ball 1102 extends into the grooves 1103 and contacts the small balls 1104. Compared with directly rotatably connecting the large ball 1002 inside the grooves 1103, the friction between the large ball 1102 and the grooves 1103 can be reduced, making the rotation of the large ball 1102 smoother and more flexible, and extending the service life of the large ball 1102. When no module battery pack is placed on the universal ball platform 11, by rolling the large ball 1102, a relatively small force can be applied to move the module-free battery pack to be cut and the cut and separated battery cells 15, reducing the labor intensity of workers and improving the feeding and material taking efficiency;

[0051] Preferably, the base plate is a steel plate, and the small balls 1104 are steel balls for bearings, which have excellent wear resistance, relatively high elastic limit, high hardness and strength. The large balls 1102 are high-carbon steel galvanized balls, which have relatively high strength and hardness. The zinc layer on the surface can also protect the carbon steel matrix from wear, improving wear resistance and service life; at the same time, the ball cover plate 1101 can not only satisfy the rotation of the large ball 1102, but also block external particles from entering the grooves 1103, thereby preventing wear and rotation flexibility caused by the friction between the particles and the small balls 1104 and the large balls 1102;

[0052] See Figure 1 , Figure 2 and Figure 13 , the clamping assembly 10 includes a pair of fixed baffles 5 fixedly installed on the bottom steel plate 7. The universal ball platform 11 is located between the pair of fixed baffles 5. A horizontal hydraulic push rod 3 is fixedly installed on the inner side of one of the fixed baffles 5. The hydraulic push rod 3 is fixedly connected with a moving baffle 4. The moving baffle 4 is located above the universal ball platform 11. The hydraulic push rod 3 can push the moving baffle 4 to move towards the other fixed baffle 5, thereby clamping the module-free battery pack;

[0053] Preferably, anti-slip rubber layers are pasted on the surfaces of the moving baffle 4 and the fixed baffle 5 to increase the friction with the module-free battery pack. A piezoelectric sensor is fixedly embedded on the inner side wall of the moving baffle 4. The piezoelectric sensor is connected to the control system 12. The piezoelectric sensor senses the clamping force acting on the module-free battery pack and uploads it to the control system 12;

[0054] The hydraulic push rod 3 and the hydraulic lifting table 6 are both connected to a hydraulic system 14 disposed inside the bottom steel plate 7. The hydraulic system 14 is connected to a control system 12. The control system 12 controls the hydraulic system 14, and further controls the extension or contraction of the hydraulic push rod 3 and the hydraulic lifting table 6. The pressing push rod 3 drives the movable baffle 4 to clamp the module-free battery pack with an appropriate clamping force. The hydraulic lifting table 6 drives the universal ball platform 11 to lift to a predetermined position;

[0055] See Figures 1 to 3 , Figures 12 to 13 , the cutting and milling system includes a movable robotic arm 1. The control system 12 is fixedly connected to the lower end of the robotic arm 1. An infrared recognition system 9 for obtaining the position and shape of the gum 16 between adjacent two battery cells 15 in the module-free battery pack is fixedly installed on the robotic arm 1. See Figure 11 , the infrared recognition system 9 includes an infrared signal transmitter 901, a photodiode 905 and a signal processing device fixedly installed on the robotic arm 1. The signal processing device includes a primary signal processing device 902 and a secondary signal processing device 904. The primary signal processing device 902 and the secondary signal processing device 904 are connected. The secondary signal processing device 904 is connected to the control system 12 through a signal transmission circuit 903. Wherein: the infrared signal transmitter 901 is used to emit infrared light to the surface of the module-free battery pack; the photodiode 905 is used to receive the infrared light reflected by the surface of the module-free battery pack and convert the optical signal into an electrical signal; the primary signal processing device 902 and the secondary signal processing device 904 are used to process the electrical signal sent by the photodiode 905 in sequence, and the processed electrical signal is uploaded to the control system 12 through the signal transmission circuit 903 to provide accurate position information for milling and cutting;

[0056] See Figure 3 and Figure 4 , the end of the robotic arm 1 is rotatably connected with a cutting and milling integrated mechanism 2. The cutting and milling integrated mechanism 2 includes a frame 204 rotatably connected to the end of the robotic arm 1. Three hydraulic rods 208 are fixedly connected to the lower surface of the frame 204. The hydraulic rods 208 are connected to the hydraulic system 14. The three hydraulic rods 208 are correspondingly fixedly connected with a milling component 201, a horizontal cutting component 202 and a vertical cutting component 203. By rotating the frame 204, the positions of the milling component 201, the horizontal cutting component 202 and the vertical cutting component 203 can be switched, and module-free battery packs with different models and gum orientations can be cut and milled, solving the problem of repeated positioning and clamping between two devices in the prior art, without prior soaking of the gum, reducing pollution and saving processing time;

[0057] The control system 12 obtains the position of the module-free battery pack, as well as the position and properties of the colloid, according to the electrical signals uploaded by the infrared recognition system 9. Then, it switches the milling component 201, the horizontal cutting component 202, and the vertical cutting component 203 to cut and mill the colloid, making the cutting and milling more accurate, facilitating the full removal of module-free battery packs with different models and various colloid orientations. Without repeatedly adjusting the pose of the battery cell 15, the disassembly of the module-free battery pack can be accurately completed, effectively eliminating the efficiency loss in the process connection and the leakage problem of harmful substances.

[0058] See Figure 5 and Figure 6 As shown in FIGS. and, the milling component 201 includes a first connecting plate fixedly connected to the lower ends of a set of hydraulic rods 208. A first box body is fixedly connected below the first connecting plate. A first driving motor 205 is fixedly installed above the first connecting plate. The output shaft of the first driving motor 205 penetrates the first connecting plate and extends into the interior of the first box body. A first vise is provided inside the first box body and is fixedly connected to the output shaft of the first driving motor 205. The first vise fixedly holds a vertical milling cutter head 206, and the lower end of the milling cutter head 206 extends outside the first box body.

[0059] A first ranging radar 207 is fixedly installed on the side of the first connecting plate. Both the first driving motor 205 and the first ranging radar 207 are connected to the control system 12. The distance between the module-free battery pack and the milling component 201 is measured by the first ranging radar 207. The first connecting plate is driven to rise and fall by a set of hydraulic rods 208 to control the rise and fall of the milling cutter head 206. The first vise is rotated by the first driving motor 205 to drive the milling cutter head 206 to rotate, which is used to mill the electrodes of the module battery and cut off the connecting pieces between the battery cells 15. During the milling process, the control system 12 judges the shape, orientation, and solder joints of the connecting pieces according to the electrical signals uploaded by the infrared recognition system 9, and adjusts the orientation of the milling cutter head 206 in real time to fully cut off the milling cutter head 206.

[0060] See Figure 7 As shown in FIGS. and, the horizontal cutting component 202 includes a second connecting plate fixedly connected to the lower ends of a set of hydraulic rods 208. A second box body is fixedly connected below the second connecting plate. A second driving motor 210 is fixedly installed above the second connecting plate. The output shaft of the second driving motor 210 penetrates the second connecting plate and extends into the interior of the second box body. A second vise is provided inside the second box body and is fixedly connected to the output shaft of the second driving motor 210. The second vise fixedly holds a vertical tool handle, and the tail end of the vertical tool handle extends outside the box body and is fixedly connected to a horizontally arranged horizontal cutting cutter head 209.

[0061] A second ranging radar 211 is fixedly installed on the side of the connecting plate. Both the second driving motor 210 and the second ranging radar 211 are connected to the control system 12. The distance between the module-free battery pack and the horizontal cutting assembly 202 is measured by the second ranging radar 211. A set of hydraulic rods 208 drives the second connecting plate to lift, thereby controlling the lifting of the horizontal cutting tool head 209. The second driving motor 210 controls the rotation of the second vise, thereby driving the horizontal cutting tool head 209 to rotate, and cutting the glue on the upper and lower surfaces (i.e., the horizontal plane) of the battery cell 15. During the cutting process, the control system 12 can adjust the direction of the horizontal cutting tool head 209 in real time to fully cut off the glue on the surface of the battery cell;

[0062] See Figure 8 and Figure 9 , the vertical cutting assembly 203 includes a third connecting plate fixedly connected to the lower ends of a set of hydraulic rods 208. A third box body is fixedly connected below the third connecting plate. A third driving motor 212 is fixedly installed on the side of the third box body. The output shaft of the third driving motor 212 penetrates the third box body and is fixedly connected to a third vise. The third vise fixedly holds a horizontal tool shank. The tail end of the horizontal tool shank extends outside the third box body and is fixedly connected to a vertical cutting tool head 214;

[0063] A third ranging radar 213 is fixedly installed on the side of the third connecting plate. Both the third driving motor 212 and the third ranging radar 213 are connected to the control system 12. A set of hydraulic rods 208 drives the third connecting plate to lift, thereby controlling the lifting of the vertical cutting tool head 214. The third driving motor 212 controls the rotation of the third vise, thereby driving the vertical cutting tool head 214 to rotate, and cutting the glue between the vertical battery cells 16 to separate the battery cells 15. During the cutting process, the control system 12 can adjust the direction of the vertical cutting tool head 214 in real time to fully cut off the glue between the battery cells 16;

[0064] Preferably, buttons are provided on the surfaces of the first box body, the second box body, and the third box body. The opening and closing of the vise are controlled through the buttons, and then the milling cutter head 206, the horizontal cutting tool head 209, and the vertical cutting tool head 214 are replaced;

[0065] See Figure 2 and Figure 3 , a slider 8 is fixedly installed at the bottom of the robotic arm 1. A long strip-shaped notch is formed on the side of the bottom steel plate 7. An electric slide rail 13 for driving the slider 8 to move is fixedly installed inside the notch. The electric slide rail 13 includes a slide rail fixedly arranged at the inner bottom of the long strip-shaped notch and a lead screw rotatably connected inside the long strip-shaped notch. One end of the lead screw is connected to a stepping motor. The stepping motor is connected to the control system 12. The slider 8 is threadedly connected to the lead screw and is slidably connected to the slide rail. The stepping motor drives the lead screw to rotate, thereby driving the slider 8 to move along the slide rail, and then driving the robotic arm 1 to move;

[0066] The control system 12 controls the rotation of the stepper motor according to the position of the module-free battery pack uploaded by the infrared recognition system 9, so as to adjust the position of the robotic arm 1, and further adjust the lateral displacement of the cutting and milling integrated mechanism 2, thereby further improving the accuracy of milling and cutting.

[0067] Preferably, the robotic arm 1 is a telescopic robotic arm. The driving mechanism of the robotic arm 1 can adjust the bending degree and telescopic length of the robotic arm 1 according to the instructions issued by the control system 12, so as to place the cutting and milling integrated mechanism 2 above the module-free battery pack, and control the movement trajectories of the milling cutter head 206, the lateral cutting cutter head 209 and the vertical cutting cutter head 214;

[0068] The safety system includes a temperature sensor fixedly installed at the bottom of the universal ball platform 11 and a gas sensor fixedly installed on the fixed baffle 5. Both the temperature sensor and the gas sensor are connected to the control system 12. By real-time monitoring of the temperature of the module-free battery pack and the gas content inside the enclosed space, it is possible to judge whether the temperature rises abnormally and whether the electrolyte volatilizes, and transmit the electrical signal to the control system 12, and the control system 12 shuts down the auxiliary system and the cutting and milling system.

[0069] The working principle of the present invention is as follows:

[0070] Turn on the main distribution box and the power cabinet to supply power to the auxiliary system, the cutting and milling system, the safety system and the control system 12;

[0071] When the auxiliary system works, the hydraulic system 14 drives the hydraulic lift table 6 to lift, driving the universal ball platform 11 to lift to a preset height. The worker places the module-free battery pack to be processed on the universal ball platform 11. With the cooperation of the large balls 1102 and the small balls 1104, the module-free battery pack to be processed is pushed to a suitable position. The control system 12 sends an instruction to the hydraulic system 14, and the hydraulic system 14 drives the hydraulic push rod 3 to extend and push the moving baffle 4 towards the fixed baffle 5 on one side, thereby clamping the module-free battery pack;

[0072] When the cutting and milling system is working, the infrared recognition system 9 recognizes the position of the module-free battery pack. The stepping motor drives the lead screw to rotate, and the slider moves along the lead screw, thereby driving the robotic arm 1 to slide to the side of the position where the module-free battery pack is located. The control system controls the robotic arm 1 to rotate the frame 204, switches the milling component 201, the horizontal cutting component 202 or the vertical cutting component 203, and then controls the hydraulic rod 208 to descend according to the signals uploaded by the first ranging radar 207, the second ranging radar 211 or the third ranging radar 213. Then, the first drive motor 205, the second drive motor 210 or the third drive motor 212 is started, and then the milling cutter head 206, the horizontal cutting cutter head 209 or the vertical cutting cutter head 214 is driven. The connecting piece between the battery cores 15 is cut off by the milling cutter head 206, the glue on the upper and lower surfaces of the module-free battery pack is cut by the horizontal cutting cutter head 209, and the glue 16 between the battery cores is cut by the vertical cutting cutter head 214, so as to separate the battery cores 15. The battery cores 15 are moved away through the universal ball platform 11;

[0073] During the operation of the cutting and milling system, the safety system is also in operation. The real-time temperature is monitored by the temperature sensor, and the gas inside the enclosed space is monitored by the gas sensor. The control system 12 is used to judge whether the temperature rises abnormally and whether the electrolyte volatilizes. If so, the auxiliary system and the cutting and milling system are shut down until the risk is eliminated manually, and then the next round of cutting and milling is continued.

Claims

1. An integrated cascade battery cutting and milling device, characterized in that: including auxiliary systems, cutting and milling systems, safety systems and control systems (12) located inside the confined space; The auxiliary system comprises a bottom steel plate (7), on which a hydraulic lifting platform (6) and a clamping assembly (10) for clamping a module-free battery pack are fixedly mounted, and on which a universal ball platform (11) is fixedly mounted; the clamping assembly (10) comprises a pair of fixed baffles (5) fixedly mounted on the bottom steel plate (7), the universal ball platform (11) being located between the pair of fixed baffles (5), a horizontal hydraulic push rod (3) being fixedly mounted on the inner side of the fixed baffle (5), the hydraulic push rod (3) and the hydraulic lifting platform (6) being connected to a hydraulic system (14) arranged inside the bottom steel plate (7), the hydraulic push rod (3) being fixedly connected to a movable baffle (4), and the movable baffle (4) being located above the universal ball platform (11); The cutting and milling system comprises a movable mechanical arm (1), an infrared recognition system (9) for obtaining the position of a module-free battery pack is fixedly installed on the mechanical arm (1), the end of the mechanical arm (1) is rotatably connected to a cutting and milling integrated mechanism (2), the cutting and milling integrated mechanism (2) comprises a frame (204) rotatably connected to the end of the mechanical arm (1), three groups of hydraulic rods (208) are fixedly connected below the frame (204), the hydraulic rods (208) are connected to a hydraulic system (14), and the three groups of hydraulic rods (208) are correspondingly fixedly connected to a milling assembly (201), a horizontal cutting assembly (202) and a vertical cutting assembly (203); A slider (8) is fixedly installed at the bottom of the mechanical arm (1), a long strip-shaped slot is opened on the side of the bottom steel plate (7), and an electric slide rail (13) for driving the slider (8) to move is fixedly installed inside the slot; The safety system comprises a temperature sensor fixedly mounted on the bottom of the universal ball platform (11) and a gas sensor fixedly mounted on the fixed baffle (5); The hydraulic system (14), infrared recognition system (9), electric slide rail (13), temperature sensor, gas sensor, mechanical arm (1), milling assembly (201), transverse cutting assembly (202) and vertical cutting assembly (203) are all connected to the control system (12).

2. The integrated cascade battery cutting and milling device according to claim 1 is characterized in that: The infrared recognition system (9) comprises an infrared signal transmitter (901), a photodiode (905) and a signal processing device fixedly mounted on the mechanical arm (1); the signal processing device is connected to the control system (12) via a signal transmission circuit (903), wherein: the infrared signal transmitter (901) is used to emit infrared light to the surface of the module-free battery pack; the photodiode (905) is used to receive infrared light reflected by the surface of the module-free battery pack and convert the optical signal into an electrical signal; the signal processing device is used to process the electrical signal sent by the photodiode (905), and the processed electrical signal is uploaded to the control system (12) via the signal transmission circuit (903).

3. The integrated cascade battery cutting and milling device according to claim 2 is characterized in that: The signal processing device comprises a signal primary processing device (902) and a signal secondary processing device (904); The electrical signal sent by the diode (905) is processed by the primary signal processing device (902) and the secondary signal processing device (904) in sequence, and then uploaded to the control system (12) through the signal transmission circuit (903).

4. The integrated cascade battery cutting and milling device according to any one of claims 1 to 3, characterized in that: The milling assembly (201) comprises a first connecting plate fixedly connected to the lower end of a group of hydraulic rods (208), a first box body fixedly connected to the lower side of the first connecting plate, a first driving motor (205) fixedly mounted on the upper side of the first connecting plate, an output shaft of the first driving motor (205) passing through the first connecting plate and extending into the first box body, a first vise fixedly connected to the output shaft of the first driving motor (205) is provided inside the first box body, the first vise fixedly clamps a vertical milling cutter head (206), and the lower end of the milling cutter head (206) extends out of the first box body; A first distance measuring radar (207) is fixedly mounted on the side of the first connecting plate, and the first driving motor (205) and the first distance measuring radar (207) are both connected to the control system (12).

5. The integrated cascade battery cutting and milling device according to any one of claims 1 to 3, characterized in that: The transverse cutting assembly (202) comprises a second connecting plate fixedly connected to the lower end of a group of hydraulic rods (208), a second box body fixedly connected to the lower side of the second connecting plate, a second driving motor (210) fixedly mounted on the upper side of the second connecting plate, an output shaft of the second driving motor (210) passing through the second connecting plate and extending into the interior of the second box body, a second vise fixedly connected to the output shaft of the second driving motor (210) is provided inside the second box body, the second vise fixedly clamps a vertical tool handle, a rear end of the vertical tool handle extends out of the second box body and is fixedly connected to a horizontally arranged transverse cutting tool head (209); A second ranging radar (211) is fixedly mounted on the side of the connection plate, and the second drive motor (210) and the second ranging radar (211) are both connected to the control system (12).

6. The integrated cascade battery cutting and milling device according to any one of claims 1 to 3, characterized in that: The vertical cutting assembly (203) comprises a third connecting plate fixedly connected to the lower end of a group of hydraulic rods (208); a third box is fixedly connected below the third connecting plate; a third driving motor (212) is fixedly installed on the side of the third box; an output shaft of the third driving motor (212) passes through the third box and is fixedly connected to a third vise; the third vise is fixedly clamped with a transverse tool handle, the rear end of which extends out of the third box and is fixedly connected to a vertical cutting tool head (214); A third distance measuring radar (213) is fixedly mounted on the side of the third connecting plate, and the third driving motor (212) and the third distance measuring radar (213) are both connected to the control system (12).

7. The integrated cascade battery cutting and milling device according to any one of claims 1 to 3, characterized in that: The electric slide rail (13) comprises a slide rail fixedly arranged at the bottom of the long strip slot and a lead screw rotatably connected to the inside of the long strip slot, one end of the lead screw is connected to a stepper motor, and the stepper motor is connected to a control system (12); The slider (8) is threadedly connected to the screw rod, and the slider (8) is slidably connected to the slide rail.

8. The integrated cascade battery cutting and milling device according to any one of claims 1 to 3, characterized in that: The universal ball platform (11) comprises a base plate, a surface of which is evenly provided with a plurality of hemispherical grooves (1103), a ball cover plate (1101) being fixedly connected to the grooves (1103), a through circular hole being provided in the ball cover plate (1101), and a large ball (1102) being rotatably connected inside the circular hole; A layer of small balls (1104) is laid inside the groove (1103), and half of the large ball (1102) falls into the groove (1103) and contacts the small balls (1104).

9. The integrated cascade battery cutting and milling device according to any one of claims 1 to 3, characterized in that: The surfaces of the movable baffle (4) and the fixed baffle (5) are both adhered with an anti-slip rubber layer, and a piezoelectric sensor is fixedly embedded in the inner wall of the movable baffle (4), and the piezoelectric sensor is connected to the control system (12).

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