Full-automatic CTP battery pack three-dimensional disassembling system and method

Abstract

The invention discloses a full-automatic CTP battery pack three-dimensional disassembling system and method, the battery pack disassembling efficiency and precision are greatly improved, through cooperative work of multiple modules and multiple working procedures, the full-automatic process of connecting, overturning, heating, softening, cutting and polishing of a battery pack to taking down of an outer frame and a back plate is achieved, and the working efficiency is greatly improved. In addition, the full-automatic visual identification drilling and milling module can accurately identify the connecting piece of the battery pack, a servo motor with pressure feedback is arranged to control the composite drilling and milling cutter to control the rotating speed according to the pressure feedback, stable drilling and milling force is kept, and the disassembly efficiency is improved. The damage of the battery module caused by overlarge pressure is effectively avoided; and the thermal-mechanical coupling disassembling module adopts a double-temperature-zone hot air heater and an adjustable high-frequency vibration cutter, and can be flexibly adjusted according to materials and structures of different battery packs, so that the stability and the safety in the disassembling process are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of power battery recycling, and in particular to a fully automatic CTP battery pack three-dimensional disassembly system and method. Background Art

[0002] With the vigorous development of the new energy industry economy, technology is constantly iterating and innovating. Currently, there are many batteries that have been eliminated for several generations. These batteries have huge economic and environmental benefits. By dismantling these eliminated or scrapped batteries, many materials can be recycled. They contain many rare metals such as lithium, cobalt, nickel, etc., which are the core raw materials of battery positive electrodes. The global reserves of rare metals are limited and the mining costs are high. Many countries around the world have issued policies that require the cascade utilization and recycling of old new energy batteries to reduce pollution to the environment and waste of resources, avoid affecting the health of all mankind, and re-invest in the production of new batteries. By recycling old batteries, it can not only reduce the production cost of new batteries and play a role in energy conservation and environmental protection, but also reduce the risk of battery explosion and fire due to short circuit, aging, physical damage, etc. in the battery cells.

[0003] In the existing technology, relevant technicians generally manually operate large mechanical equipment such as hydraulic shears and drill bits to disassemble batteries. During disassembly, the battery voltage needs to be discharged to below 12V through equipment such as load boxes, and the aluminum alloy shell needs to be laser cut. Then, the high-voltage connector inside the battery is disconnected, the high-voltage copper busbars between the modules inside the battery are removed, and then the battery cells are disassembled layer by layer, and the connecting pieces between the battery cells are shortened. However, traditional equipment cannot adapt to the flexible disassembly requirements of battery packs of different models. Short circuits are easily caused when the connecting pieces are disassembled, and the outer frame bonding structure is difficult to separate. The discrete process leads to low material flow efficiency, and manual disassembly is inefficient, with the risk of accidents. Therefore, a more reasonable battery pack disassembly equipment is urgently needed. Summary of the Invention

[0004] In view of the shortcomings of the above-mentioned technology, such as the need for manual disassembly of batteries and the inability of traditional equipment to adapt to the disassembly requirements of battery packs of different models, the tendency to cause short circuits when the connecting pieces are disassembled, and the difficulty in disassembling the battery pack outer frame bonding structure, the present invention provides a fully automatic CTP battery pack three-dimensional disassembly system.

[0005] To achieve the above objectives, the present invention provides a fully automatic CTP battery pack three-dimensional disassembly system, comprising: The fully automatic visual recognition drilling and milling module is used to automatically identify and scan the location information of the battery pack, perform drilling and milling operations on the connecting pieces on the battery module with adjustable speed, and sense the drilling and milling pressure on the battery module to gradually separate the connecting pieces from the battery module; An intelligent transport module is used to flip, lift, and transport the battery pack, so as to adjust the posture and position of the battery pack and cooperate with the fully automatic visual recognition drilling and milling module to complete the initial disassembly of the battery pack; The thermal coupling disassembly module is used to heat the battery pack shell, soften the outer frame and back plate by heating the battery pack, and separate the softened outer frame and back plate by vibration cutting; The overhead crane module is used to lift and separate the outer frame and back plate of the cut and separated battery pack to complete the disassembly of the battery pack.

[0006] As an improvement of the present invention, the fully automatic visual recognition drilling and milling module includes a multi-axis robotic arm, a servo motor, a compound drilling and milling head and a positioning camera. The multi-axis robotic arm can control the position and angle of the compound drilling and milling head; the servo motor can adjust the speed of the compound drilling and milling head within the range of 30,000 revolutions per second, and the servo motor is equipped with pressure feedback for detecting the pressure applied by the compound drilling and milling head, so as to adjust the speed of the compound drilling and milling head to a size matching the pressure value according to the pressure applied by the compound drilling and milling head; the positioning camera is used to horizontally scan the position of the battery pack connecting plate, and to movably scan above the battery pack, automatically identifying the connecting plate position information, so as to control the compound drilling and milling head to be positioned to the connecting plate through the multi-axis robotic arm.

[0007] As an improved solution of the present invention, the intelligent transfer module includes a flipping clamp, a conveyor belt, and an automatic lifting platform. The flipping clamp is used to clamp the battery pack and perform a 180° horizontal flip of the battery pack. The automatic lifting platform is used to automatically rise to a suitable flipping height before the battery pack is flipped; after the battery pack completes the horizontal flip, the conveyor belt transfers the battery pack to the position of the thermal coupling disassembly module.

[0008] As an improvement to the present invention, the thermal coupling disassembly module includes a dual-temperature zone hot air heater and a high-frequency vibration cutting knife. The dual-temperature zone hot air heater heats and softens the battery pack frame and back plate through an adjustable temperature in the range of 60-160 degrees Celsius. The high-frequency vibration cutting knife can be adjusted within the range of amplitude 0.1-2mm and frequency 20-100Hz, and is used to cut, grind and polish the softened frame and back plate.

[0009] As an improved solution of the present invention, the overhead lifting module consists of a hook, a clamp, and a lifting device. The hook is fixedly connected to the clamp, and the clamp is used to clamp the outer frame and back plate of the battery pack to cooperate with the lifting device and the hook to remove the outer frame and back plate.

[0010] The present invention also provides a fully automatic CTP battery pack three-dimensional disassembly method, comprising the following steps: a. Place the CTP battery pack to be disassembled on the fully automatic visual recognition drilling and milling module, and use automatic visual recognition to identify the position of the battery pack's connecting piece; b. The servo motor controls the rotation of the composite drilling and milling head. The robotic arm adjusts the position and angle of the composite drilling and milling head to remove the connecting piece by drilling and milling, thereby separating the connecting piece of the battery pack from the battery module. c. The intelligent transport module flips the separated battery pack horizontally, keeping the battery pack in a horizontal position with the back side facing up, and transports the battery pack to the thermal coupling disassembly module; d. The thermal coupling disassembly module preheats the battery pack to reduce the hardness of the battery pack frame and back plate. The frame and back plate are then cut with adjustable amplitude and frequency to separate them. e. After cutting is completed, the battery pack frame and back panel are removed by the overhead crane module and transported to a designated location for collection and processing.

[0011] As an improvement to the present invention, in step a, the battery pack is horizontally scanned by an automatic visual recognition and positioning camera to automatically identify the position of the connecting plate, the position and angle of the composite drilling and milling head are controlled by a robotic arm, the rotational speed of the composite drilling and milling head is controlled by a servo motor equipped with pressure feedback, and the pressure exerted on the composite drilling and milling head is detected to adjust the rotational speed of the composite drilling and milling head to a size that matches the pressure value.

[0012] As an improved solution of the present invention, in step c, the intelligent transfer module is automatically raised to a suitable flipping height by an automatic lifting platform before the battery pack is flipped, and then the flipping fixture flips the battery pack 180° horizontally, and then the battery pack is placed on the conveyor belt, and the conveyor belt transfers the battery pack to the position of the thermal coupling disassembly module.

[0013] As an improvement to the present invention, the thermal coupling disassembly module heats and softens the battery pack frame and back panel through a dual-temperature zone hot air heater within an adjustable temperature range of 60-160 degrees Celsius, and then uses a high-frequency vibration cutting knife that can be adjusted within the amplitude range of 0.1-2mm and the frequency range of 20-100Hz to cut, grind and polish the softened frame and back panel.

[0014] As an improved solution of the present invention, the overhead lifting module consists of a hook, a clamp, and a lifting device. The hook is fixedly connected to the clamp, and the clamp is used to clamp the outer frame and back plate of the battery pack to cooperate with the lifting device and the hook to remove the outer frame and back plate.

[0015] The beneficial effects of the present invention are: compared with the prior art, the present invention provides a fully automatic CTP battery pack three-dimensional disassembly system and disassembly method, which greatly improves the efficiency and accuracy of battery pack disassembly. Through the collaborative work of multiple modules and multiple processes, a fully automated process of battery pack from connection flipping, heating and softening, cutting and polishing to removal of the outer frame and back plate is realized, reducing the tediousness and errors of manual operation, and at the same time improving the disassembly speed. In addition, the fully automatic visual recognition drilling and milling module in the present invention can accurately identify the connecting piece of the battery pack and is equipped with a pressure feedback servo motor to control the composite drilling and milling cutter according to pressure feedback to control the speed, maintain a stable drilling and milling force, and effectively avoid damage to the battery module caused by excessive pressure; the thermal coupling disassembly module adopts a dual-temperature zone hot air heater and an adjustable high-frequency vibration cutting knife, which can be flexibly adjusted according to the material and structure of different battery packs to ensure the stability and safety of the disassembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a system module control diagram of the present invention; Figure 2 This is a first stereoscopic view of the fully automatic visual recognition drilling and milling module of the present invention; Figure 3 This is a second stereoscopic view of the fully automatic visual recognition drilling and milling module of the present invention; Figure 4 This is a first stereoscopic view of the thermal coupling disassembly module of the present invention; Figure 5 This is a second stereoscopic view of the thermal coupling disassembly module of the present invention; Figure 6 It is a three-dimensional diagram of the intelligent transfer module and the overhead crane module of the present invention.

[0017] The main component symbols are described as follows: 1. Fully automatic visual recognition drilling and milling module; 11. Multi-axis robotic arm; 12. Servo motor; 13. Composite drilling and milling head; 14. Positioning camera; 2. Intelligent transfer module; 21. Flip fixture; 22. Automatic lifting platform; 23. Conveyor belt; 4. Thermal coupling disassembly module; 41. Dual-temperature zone hot air heater; 42. High-frequency vibration cutting knife; 5. Overhead crane module; 51. Lifting device; 52. Hook; 53. Fixture. DETAILED DESCRIPTION

[0018] In the following description, example details are provided to provide a deeper understanding of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. It should be understood that the specific embodiments are only used to explain the present invention and are not intended to limit the present invention.

[0019] It should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the existence of features, integers, steps, operations, elements or components, but do not exclude the existence or addition of one or more other features, integers, steps, operations, elements, components or their combinations.

[0020] In order to more clearly illustrate the present invention, the present invention will be further described below with reference to the accompanying drawings.

[0021] See also Figures 1-6 The present invention provides a fully automatic CTP battery pack three-dimensional disassembly system, comprising: The fully automatic visual recognition drilling and milling module 1 is used to automatically identify and scan the location information of the battery pack, perform drilling and milling operations on the connecting pieces on the battery module with adjustable speed, and sense the drilling and milling pressure on the battery module to gradually separate the connecting pieces from the battery module; The intelligent transport module 2 is used to flip, lift, and transport the battery pack to adjust the posture and position of the battery pack and cooperate with the fully automatic visual recognition drilling and milling module 1 to complete the initial disassembly of the battery pack; Thermomechanical coupling disassembly module 4 is used to heat the battery pack shell, reduce the hardness of the outer frame and back plate by heating the outer frame and back plate of the battery pack, and separate the heated outer frame and back plate by vibration cutting; The overhead crane module 5 is used to lift and disassemble the outer frame and back plate of the battery pack after cutting and separation.

[0022] In this embodiment, the present invention automatically scans the CTP battery pack position information through the fully automatic visual recognition drilling and milling module 1, and after determining the position information of the connecting piece of the battery pack, accurately drills and mills the connecting piece to remove all the connecting pieces on the battery pack, so as to separate the connecting pieces from the battery module; the intelligent transfer module 2 is responsible for flipping, lifting and transporting the processed battery pack. After all the connecting pieces of the battery pack are disassembled, the intelligent transfer module 2 can flip the battery pack horizontally to further disassemble its back plate and outer frame. The thermal coupling disassembly module 4 further heats and cuts the battery pack shell. By controlling the heating temperature and time, the hardness of the outer frame and the back plate is moderately reduced, which facilitates the subsequent easy and safe separation of the outer frame and the back plate by vibration cutting. The overhead crane module 5 lifts and disassembles the cut and separated battery pack outer frame and back plate. During the entire disassembly process, the various devices work together to form an efficient and intelligent fully automatic CTP battery pack three-dimensional disassembly system.

[0023] In this embodiment, the fully automatic visual recognition drilling and milling module 1 includes a multi-axis robotic arm 11, a servo motor 12, a compound drilling and milling head 13 and a positioning camera 14. The multi-axis robotic arm 11 can control the position and angle of the compound drilling and milling head 13; the servo motor 12 can adjust the speed of the compound drilling and milling head 13 within the range of 30,000 revolutions per second, and the servo motor 12 is equipped with pressure feedback for detecting the pressure applied by the compound drilling and milling head 13, so as to adjust the speed of the compound drilling and milling head 13 to a size matching the pressure value according to the pressure applied by the compound drilling and milling head 13; the positioning camera 14 is used to perform horizontal scanning on the position of the battery pack connecting piece, automatically identify the connecting piece position information, and control the compound drilling and milling head 13 to be positioned to the connecting piece through the multi-axis robotic arm 11.

[0024] Among them, the positioning camera 14 can capture and identify each connecting piece on the battery pack, and accurately locate its three-dimensional coordinates, and accurately control the compound drilling and milling head 13 to move to the connecting piece through the robotic arm, and the servo motor 12 serves as the power source of the compound drilling and milling head 13. The servo motor 12 has excellent stability and response speed to ensure the accuracy and efficiency of battery pack drilling and milling. The servo motor 12 can adjust the speed and torque of the compound drilling and milling head 13 with extremely high precision to ensure that the connection piece is removed quickly and does not cause unnecessary damage to the battery module. The design of the compound drilling and milling head 13 integrates the two processes of drilling and milling, and can complete the drilling and edge milling of the connecting piece in one operation process, which greatly improves the working efficiency and reduces the time wasted due to changing tools. In addition, the pressure feedback of the servo motor 12 is used to realize intelligent pressure control during the drilling and milling process. When the compound drilling and milling head 13 contacts the battery pack connecting piece and applies pressure, the servo motor 12 The pressure sensor captures this information instantly and feeds back the pressure value to the servo motor 12. According to the preset pressure range and speed correspondence, the speed of the servo motor 12 is dynamically adjusted to maintain a stable drilling and milling force, effectively avoiding damage to the battery module due to excessive pressure or incomplete drilling and milling due to insufficient pressure, thereby ensuring the safety and efficiency of the disassembly operation; the robotic arm can accurately move the compound drilling and milling head 13 to the specified position, and can also adjust the angle and depth of the drilling and milling head according to the shape and position information of the battery pack to adapt to the disassembly requirements of different battery packs. The robotic arm cooperates with the positioning camera 14 to automatically generate a motion trajectory, ensuring the smoothness and accuracy of the movement. The present invention realizes the precise removal of the battery pack connecting piece and the fully automatic disassembly process through the collaborative operation of the multi-axis robotic arm 11, servo motor 12, compound drilling and milling head 13 and positioning camera 14, thereby ensuring the continuity and efficiency of the entire battery pack disassembly process.

[0025] In this embodiment, the intelligent transfer module 2 includes a flipping fixture 21, a conveyor belt 23, and an automatic lifting platform 22. The flipping fixture 21 clamps the battery pack and performs a 180° horizontal flip. The automatic lifting platform 22 is used to automatically rise to a suitable flipping height before the battery pack is flipped. After the battery pack completes the horizontal flip, the conveyor belt 23 transfers the battery pack to the position of the thermal coupling disassembly module 4. The present invention fully considers the weight and shape of the battery pack through the design of the flipping fixture 21, ensuring the stability and safety of the flipping process. The automatic lifting platform 22 can accurately control the lifting height of the battery pack to accommodate battery packs of different specifications and weights, and ensure that the battery pack has enough space to flip. After the horizontal flip of the battery pack is completed, the conveyor belt automatically transfers the battery pack to the position of the thermal coupling disassembly module 4.

[0026] In this embodiment, the thermal coupling disassembly module 4 includes a dual-temperature zone hot air heater 41 and a high-frequency vibration cutting knife 42. The dual-temperature zone hot air heater 41 heats and softens the battery pack frame and back plate through an adjustable temperature within the range of 60-160 degrees Celsius. The high-frequency vibration cutting knife 42 can be adjusted within the range of amplitude 0.1-2mm and frequency 20-100Hz to cut, grind and polish the softened frame and back plate; the dual-temperature zone hot air heater 41 can accurately control the heating temperature, which can ensure the softening of the battery pack frame and back plate materials without causing the internal structure of the battery pack to be denatured or damaged due to excessive temperature. Combustion, thereby ensuring the safety and controllability of the disassembly process. At the same time, the high-frequency vibration cutting knife 42 has an adjustable amplitude within the range of 0.1-2mm and an adjustable frequency within the range of 20-100Hz, so that the high-frequency vibration cutting knife 42 can flexibly adjust the cutting force and speed according to the hardness and thickness of the battery pack of different materials, ensuring the flatness and accuracy of the cutting surface, improving the disassembly efficiency, and greatly reducing the risk of damage to the internal structure of the battery pack. In addition, the cutting knife also has grinding and polishing functions, which can further process the cutting surface to make it smoother, providing convenience for the subsequent disassembly and recycling of the battery pack.

[0027] In this embodiment, the overhead crane module consists of a hook, a clamp, and a lifting device. The hook is fixedly connected to the clamp, and the clamp is used to clamp the outer frame and back plate of the battery pack to cooperate with the lifting device and the hook to remove the outer frame and back plate. When the outer frame and back plate of the battery pack are cut, the hook hooks the clamp, the clamp clamps the outer frame and back plate, and the hook is lifted by the lifting device, and the clamp tears the outer frame and back plate from the battery pack. The clamp can be an electromagnet with power and magnetism. When the clamp clamps the outer frame and back plate, the clamp is powered on to generate magnetism to ensure that the clamp stably clamps the battery pack.

[0028] The present invention also provides a fully automatic CTP battery pack three-dimensional disassembly method, comprising the following steps: a. Place the CTP battery pack to be disassembled on the fully automatic visual recognition drilling and milling module 1, and automatically identify the position of the connecting piece of the battery pack by visual recognition; b servo motor 12 controls the rotation of the composite drilling and milling head 13, the manipulator adjusts the position and angle of the composite drilling and milling head 13, drilling and milling to remove the connecting piece, so that the connecting piece of the battery pack and the battery module are separated from each other; c. The intelligent transport module 2 lifts the battery pack and flips it horizontally, keeping the battery pack in a horizontal state with the back facing up, and then transports the battery pack to the thermal coupling disassembly module 4; d. The thermal coupling disassembly module 4 preheats the battery pack to reduce the hardness of the battery pack frame and back plate, and then cuts the battery pack frame and back plate in a state where the amplitude and frequency are adjustable to separate the frame and back plate; e. After cutting is completed, the battery pack frame and back panel are removed by the overhead crane module 5 and transported to a designated location for collection and processing.

[0029] As an improvement to the present invention, in step a, the battery pack is horizontally scanned by an automatic visual recognition and positioning camera 14 to automatically identify the position of the connecting piece. The robotic arm controls the position and angle of the compound drilling and milling head 13. The rotation speed of the compound drilling and milling head 13 is controlled by a servo motor 12 equipped with pressure feedback, and the pressure exerted on the compound drilling and milling head 13 is detected to adjust the rotation speed of the compound drilling and milling head 13 to a size that matches the pressure value.

[0030] As an improvement to the present invention, in step c, the intelligent transfer module 2 is automatically raised to a suitable flipping height by the automatic lifting platform 22 before the battery pack is flipped, and then the flipping fixture 21 flips the battery pack 180° horizontally, and then places the battery pack on the conveyor belt 23, which transfers the battery pack to the position of the thermal coupling disassembly module 4.

[0031] As an improvement to the present invention, the thermal coupling disassembly module 4 heats and softens the battery pack frame and back panel through a dual-temperature zone hot air heater 41 within an adjustable temperature range of 60-160 degrees Celsius, and then uses a high-frequency vibration cutting knife 42 that can be adjusted within the amplitude range of 0.1-2mm and the frequency range of 20-100Hz to cut, grind and polish the softened frame and back panel.

[0032] As an improved solution of the present invention, the overhead lifting module 5 is composed of a hook 52, a clamp 53, and a lifting device 51. The hook 52 is fixedly connected to the clamp 53. The clamp 53 is used to clamp the outer frame and back plate of the battery pack to cooperate with the lifting device 51 and the hook 52 to remove the outer frame and back plate; wherein, the clamp 53 can be an electromagnet with power and magnetism. After the clamp 53 clamps the outer frame and back plate, the clamp 53 is energized to generate magnetism, thereby achieving a firm clamping of the outer frame and back plate to prevent them from falling off during clamping.

[0033] The advantages of the present invention are: 1. This invention realizes a fully automated process for battery pack disassembly through the collaboration of multiple modules and multiple processes, from drilling and milling of battery pack connectors to disassembly of the outer frame backplane, reducing manual labor intensity.

[0034] 2. The outer frame backplane disassembly method that combines hot air heating and cutting can effectively reduce damage to the battery module during the disassembly process, improve the quality of battery recycling, and is adaptable to different types of battery packs.

[0035] 3. Automated operation reduces direct manual contact with the battery pack, reducing the risk of accidents to operators caused by battery leakage and short circuits during disassembly.

[0036] The above disclosures are only several specific embodiments of the present invention, but the present invention is not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A fully automatic CTP battery pack three-dimensional disassembly system, characterized in that: include: The fully automatic visual recognition drilling and milling module is used to automatically identify and scan the location information of the battery pack, perform drilling and milling operations on the connecting pieces on the battery module with adjustable speed, and sense the drilling and milling pressure on the battery module to gradually separate the connecting pieces from the battery module; An intelligent transport module is used to flip, lift, and transport the battery pack, so as to adjust the posture and position of the battery pack and cooperate with the fully automatic visual recognition drilling and milling module to complete the initial disassembly of the battery pack; The thermal coupling disassembly module is used to heat the battery pack shell, soften the outer frame and back plate by heating the battery pack, and separate the softened outer frame and back plate by vibration cutting; The overhead crane module is used to lift and separate the outer frame and back plate of the cut and separated battery pack to complete the disassembly of the battery pack.

2. The fully automatic CTP battery pack three-dimensional disassembly system according to claim 1 is characterized in that: The fully automatic visual recognition drilling and milling module includes a multi-axis robotic arm, a servo motor, a compound drilling and milling head and a positioning camera. The multi-axis robotic arm can control the position and angle of the compound drilling and milling head; the servo motor can adjust the speed of the compound drilling and milling head within the range of 30,000 revolutions per second, and the servo motor is equipped with pressure feedback for detecting the pressure applied by the compound drilling and milling head, so as to adjust the speed of the compound drilling and milling head to a size matching the pressure value according to the pressure applied by the compound drilling and milling head; the positioning camera is used to horizontally scan the position of the battery pack connecting piece, and to movably scan above the battery pack, automatically identifying the connecting piece position information, so as to control the compound drilling and milling head to be positioned to the connecting piece through the multi-axis robotic arm.

3. The fully automatic CTP battery pack three-dimensional disassembly system according to claim 1 is characterized in that: The intelligent transport module includes a flip fixture, a conveyor belt, and an automatic lifting platform. The flip fixture is used to clamp the battery pack and perform a 180° horizontal flip of the battery pack. The automatic lifting platform is used to automatically rise to a suitable flipping height before the battery pack is flipped; After the battery pack is horizontally flipped, the conveyor belt transfers the battery pack to the position of the thermal coupling disassembly module.

4. The fully automatic CTP battery pack three-dimensional disassembly system according to claim 1 is characterized in that: The thermal coupling disassembly module includes a dual-zone hot air heater and a high-frequency vibration cutting knife. The dual-zone hot air heater heats and softens the battery pack frame and back plate through an adjustable temperature range of 60-160 degrees Celsius. The high-frequency vibration cutting knife can be adjusted within the range of amplitude 0.1-2mm and frequency 20-100Hz, and is used to cut, grind and polish the softened frame and back plate.

5. The fully automatic CTP battery pack three-dimensional disassembly system according to claim 1 is characterized in that: The overhead crane module consists of a hook, a clamp, and a lifting device. The hook is fixedly connected to the clamp. The clamp is used to clamp the outer frame and back plate of the battery pack to cooperate with the lifting device and the hook to remove the outer frame and back plate.

6. A fully automatic CTP battery pack three-dimensional disassembly method, characterized in that: The following steps are involved: a. Place the CTP battery pack to be disassembled on the fully automatic visual recognition drilling and milling module, and use automatic visual recognition to identify the position of the battery pack's connecting piece; b. The servo motor controls the rotation of the composite drilling and milling head. The robotic arm adjusts the position and angle of the composite drilling and milling head to remove the connecting piece by drilling and milling, thereby separating the connecting piece of the battery pack from the battery module. c. The intelligent transport module flips the separated battery pack horizontally, keeping the battery pack in a horizontal position with the back side facing up, and transports the battery pack to the thermal coupling disassembly module; d. The thermal coupling disassembly module preheats the battery pack to reduce the hardness of the battery pack frame and back plate. The frame and back plate are then cut with adjustable amplitude and frequency to separate them. e. After cutting is completed, the battery pack frame and back panel are removed by the overhead crane module and transported to a designated location for collection and processing.

7. The fully automatic CTP battery pack three-dimensional disassembly method according to claim 6, characterized in that: In step a, the battery pack is horizontally scanned by an automatic visual recognition and positioning camera to automatically identify the position of the connecting plate. The robotic arm controls the position and angle of the composite drilling and milling head. The rotation speed of the composite drilling and milling head is controlled by a servo motor equipped with pressure feedback, and the pressure applied to the composite drilling and milling head is detected to adjust the rotation speed of the composite drilling and milling head to a size that matches the pressure value.

8. The fully automatic CTP battery pack three-dimensional disassembly method according to claim 6, characterized in that: In step c, the intelligent transfer module is automatically raised to a suitable flipping height by an automatic lifting platform before the battery pack is flipped, and then the flipping fixture flips the battery pack 180° horizontally, and then places the battery pack on the conveyor belt, which transfers the battery pack to the position of the thermal coupling disassembly module.

9. The fully automatic CTP battery pack three-dimensional disassembly method according to claim 6, characterized in that: The thermal coupling disassembly module uses a dual-zone hot air heater to heat and soften the battery pack frame and back panel within an adjustable temperature range of 60-160 degrees Celsius, and then uses a high-frequency vibration cutting knife with an amplitude of 0.1-2mm and a frequency of 20-100Hz to cut, grind and polish the softened frame and back panel.

10. The fully automatic CTP battery pack three-dimensional disassembly method according to claim 6, characterized in that: The overhead crane module consists of a hook, a clamp, and a lifting device. The hook is fixedly connected to the clamp. The clamp is used to clamp the outer frame and back plate of the battery pack to cooperate with the lifting device and the hook to remove the outer frame and back plate.

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