Battery cell pole cleaning device

Abstract

The invention relates to the technical field of battery manufacturing, and discloses a battery cell pole cleaning device which comprises a workbench, a tray positioning system, a welding head transplanting system, a laser cleaning mechanism and a control unit, the tray positioning system comprises an X-Y direction sliding table driven by a servo motor, and a vacuum adsorption clamp is arranged on the X-Y direction sliding table; the welding head transplanting system comprises a six-axis mechanical arm, and a laser cleaning head is installed on a flange at the tail end of the six-axis mechanical arm through a quick release connector. The laser cleaning mechanism comprises an optical fiber laser, a galvanometer scanning head and a CCD (Charge Coupled Device) visual positioning module; and the control unit comprises a neural network module and is used for generating control parameters of the laser power and the scanning track. Through a lead screw-sliding block structure of the X-Y direction sliding table and a conveying belt transmission mechanism of the six-axis mechanical arm, and in combination with high-precision recognition of the CCD visual positioning module, it is ensured that the laser cleaning head accurately positions the pole, and the surface of the pole is not scratched or deformed in the cleaning process.

Description

Technical Field

[0001] This invention relates to the field of battery manufacturing technology, specifically to a battery cell terminal cleaning device. Background Technology

[0002] Cell terminal cleaning is a critical step in battery manufacturing, directly impacting subsequent welding quality and battery performance. Currently, cell terminal cleaning primarily employs techniques such as mechanical brushing, ultrasonic cleaning, or chemical cleaning. Mechanical brushing removes oxides and contaminants from the terminal surface using brushes or abrasive tools; ultrasonic cleaning utilizes the impact force of bubbles generated by high-frequency vibration to clean the surface; and chemical cleaning dissolves contaminants using acid or alkaline solutions. These technologies effectively clean the terminals to a certain extent, providing a foundation for subsequent processes.

[0003] However, existing technologies have significant drawbacks, particularly in terms of cleaning precision and stability. Mechanical brushing and ultrasonic cleaning, due to contact operation or vibration impact, are prone to causing scratches or deformation on the electrode surface, especially for softer materials like aluminum electrodes, where the damage is particularly noticeable. While chemical cleaning avoids mechanical damage, the solution concentration and cleaning time are difficult to control precisely, potentially leading to uneven cleaning or even surface corrosion, affecting the flatness and conductivity of the electrodes. These problems not only reduce cleaning stability but may also cause poor contact or performance degradation during subsequent welding processes, failing to meet the demands of high-precision battery manufacturing. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a battery cell terminal cleaning device that solves the problem that mechanical brushing and ultrasonic cleaning can easily cause scratches or deformation on the terminal surface due to contact operation or vibration impact.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a battery cell electrode cleaning device, comprising a worktable, a tray positioning system, a welding head transfer system, a laser cleaning mechanism, and a control unit, wherein: The tray positioning system includes an XY slide table driven by a servo motor, and the XY slide table is equipped with a vacuum adsorption clamp for fixing the battery cell and ensuring that the electrode post faces upward. The welding head transfer system includes a six-axis robotic arm, and the end flange of the six-axis robotic arm is equipped with a laser cleaning head via a quick-release interface; The laser cleaning mechanism includes a fiber laser, a galvanometer scanning head, and a CCD vision positioning module. The galvanometer scanning head is installed at the end of the six-axis robotic arm via the quick-release interface and is used to perform non-contact laser cleaning on the battery cell terminals. The control unit includes a neural network module, which generates control parameters for laser power and scanning trajectory based on the pole material and contaminant characteristics fed back by the CCD visual positioning module.

[0006] Through the above technical solutions, the workbench uses rectangular steel plates with a thickness of 10 mm to 20 mm to support each subsystem and bear the operating load. The pallet positioning system achieves dual-axis movement through an aluminum alloy slide, with anodized surface to enhance corrosion resistance. The vacuum adsorption fixture has suction holes with a diameter of 1 mm to 3 mm, and the contact surface is covered with silicone pads to prevent scratches. The quick-release interface of the welding head transfer system is equipped with a sealing ring for dust prevention, and the conveyor belt uses high-temperature resistant polyurethane material with a width of 20 mm to 30 mm and an anti-slip textured surface. The fiber laser of the laser cleaning mechanism transmits energy through optical fiber, and the galvanometer scanning head has a built-in cooling air duct. The neural network module of the control unit analyzes the electrode material and contaminant characteristics through a pre-trained model. Inputs include reflectivity and roughness, and the output is adjusted control parameters to adapt to different cell types.

[0007] Preferably, the XY slide is driven by a dual-axis servo motor, with a maximum stroke range of 400 mm to 600 mm and a positioning accuracy range of ±0.005 mm to ±0.02 mm. The vacuum adsorption fixture includes multiple vacuum suction holes, with an adsorption force range of 400 Pa to 600 Pa. The fixture material is polytetrafluoroethylene, and it is equipped with a pressure sensor to detect the cell fixing status. The six-axis robotic arm has six degrees of freedom, a maximum load range of 4 kg to 6 kg, and a repeatability range of ±0.03 mm to ±0.07 mm. The quick-release interface includes a snap-fit ​​mechanism and an electrical connector, supporting the replacement of the laser cleaning head within 3 to 7 minutes.

[0008] Preferably, the fiber laser includes a pulse mode and continuous mode switching circuit, with a power range of 100W to 500W, a wavelength range of 1000nm to 1100nm, and a pulse frequency range of 20kHz to 100kHz. The switching circuit selects the operating mode according to the instructions of the control unit. The galvanometer scanning head includes a dual-axis galvanometer and an F-theta focusing lens. The scanning speed ranges from 6000 mm / s to 8000 mm / s, and the scanning range is from 40 mm × 40 mm to 60 mm × 60 mm. The galvanometer scanning head is connected to a dynamic focusing motor to adjust the focal length of the laser beam to adapt to different pole heights.

[0009] Preferably, the CCD visual positioning module includes a camera and an LED light source. The camera resolution ranges from 18 million pixels to 22 million pixels, the field of view ranges from 80 mm × 80 mm to 120 mm × 120 mm, and the recognition accuracy ranges from ±0.01 mm to ±0.03 mm. The module determines the polar coordinates through edge detection algorithm and template matching algorithm.

[0010] Preferably, the XY slide table includes an X-axis slide table and a Y-axis slide table. The X-axis slide table includes a base plate, the lower surface of which is fixedly connected to the upper surface of the worktable. A motor is fixedly connected to one side of the base plate, and a lead screw is connected to the output end of the motor. A fixing block is fixedly connected to the other side of the base plate. One end of the lead screw is rotatably connected to the inside of the fixing block. A connecting block is threaded to the outer wall of the lead screw. A base plate is fixedly connected to the top of the connecting block. A slide rail is fixedly connected to the upper surface of the base plate. A slider is fixedly connected to the lower surface of the base plate. The inside of the slider is slidably connected to the outside of the slide rail.

[0011] Preferably, the Y-axis slide table includes a second motor, which is externally fixedly connected to one side of a second base plate. The output end of the second motor is connected to a second lead screw. A second fixing block is fixedly connected to the other side of the second base plate. One end of the second lead screw is rotatably connected to the inside of the second fixing block. A second connecting block is threadedly connected to the outer wall of the second lead screw. The top of the second connecting block is fixedly connected to the lower surface of a vacuum adsorption fixture. A second slider is fixedly connected to the lower surface of the vacuum adsorption fixture. A second slide rail is fixedly connected to the upper surface of the second base plate. The inside of the second slider is slidably connected to the outside of the second slide rail.

[0012] Preferably, the six-axis robotic arm includes a support plate, an outer shell fixedly connected to the upper surface of the support plate, a motor three fixedly connected inside the outer shell, a base connected to the output end of the motor three, a bottom end of the base rotatably connected to the top end of the outer shell, a motor four connected inside the base, a turntable one connected to the output end of the motor four, a support arm one fixedly connected to one end of the turntable one, a bottom side of the support arm one rotatably connected to the inside of the base, a motor five on the top side of the support arm one, a turntable two connected to the output end of the motor five, a support arm two fixedly connected to one end of the turntable two, a bottom side of the support arm two rotatably connected to the top side of the support arm one, a motor six fixedly connected to one side of the support arm two, a support arm three connected to the output end of the motor six, and a side of the support arm three rotatably connected to the other side of the support arm two.

[0013] Preferably, the six-axis robotic arm further includes a motor seven, which is fixedly connected inside the support arm three. The output end of the motor seven is connected to a transmission wheel one, and a transmission belt is provided on the outer wall of the transmission wheel one. A transmission wheel two is provided at one end of the transmission belt, and one end of the transmission wheel two is fixedly connected to a laser cleaning mechanism. The laser cleaning mechanism is rotatably connected to the other side of the support arm three.

[0014] Preferably, the working process of the battery cell terminal cleaning device includes the following steps: S1. The XY sliding table conveys the battery cell to the cleaning station, and the vacuum adsorption fixture detects and fixes the battery cell through a pressure sensor. S2. The CCD vision positioning module captures the coordinates of the pole position and transmits them to the control unit to generate a cleaning path; S3. The six-axis robotic arm positions the laser cleaning head 15 mm to 25 mm above the electrode post, and the galvanometer scanning head performs laser scanning according to the parameters generated by the control unit. S4. The laser beam vaporizes the contaminants on the electrode surface. After cleaning, the CCD vision positioning module re-inspects the electrode surface, and the six-axis robotic arm resets.

[0015] Preferably, the control unit determines whether the gray value of the pole surface reaches a preset threshold based on the secondary detection result of the CCD vision positioning module. If it does not reach the threshold, the laser cleaning mechanism is triggered to perform secondary cleaning.

[0016] This invention provides a battery cell electrode cleaning device. It has the following beneficial effects: 1. This invention uses the lead screw-slider structure of the XY slide table and the conveyor belt transmission mechanism of the six-axis robotic arm, combined with the high-precision recognition of the CCD vision positioning module, to ensure the precise positioning of the laser cleaning head on the electrode post, and ensures that there are no scratches or deformations on the surface of the electrode post during the cleaning process.

[0017] 2. The present invention generates laser power and scanning trajectory parameters based on the electrode material and contaminant characteristics through the neural network module in the control unit. The device can dynamically adjust the cleaning conditions to adapt to different cell types and contamination levels.

[0018] 3. The multi-degree-of-freedom motion of the six-axis robotic arm and the high-speed galvanometer scanning of the laser cleaning mechanism of this invention, combined with the rapid positioning of the XY-axis slide, shorten the cleaning time of a single pole column.

[0019] 4. This invention uses laser cleaning technology, where the laser beam directly vaporizes pollutants without the need for chemical reagents, and no waste liquid or waste gas is generated. The trace particles generated during the cleaning process can be collected through an external ventilation system.

[0020] 5. The structural design of the XY-axis slide table and the six-axis robotic arm of this invention (such as the slide rail hardness of HRC55 to HRC60 and the application of thrust bearings) improves the wear resistance and stability of the device, and is less prone to deviation or failure during long-term operation. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of a battery cell electrode cleaning device according to the present invention; Figure 2 This is a partial structural diagram of the base plate of a battery cell electrode cleaning device according to the present invention; Figure 3 This is a schematic diagram of a partial structure of the base plate of a battery cell electrode cleaning device according to the present invention; Figure 4 This is a partial structural diagram of the outer shell of a battery cell electrode cleaning device according to the present invention; Figure 5 This is a partial structural diagram of the support plate of a battery cell electrode cleaning device according to the present invention; Figure 6 This is a schematic diagram of the three-part structure of the motor in the battery cell electrode cleaning device of the present invention; Figure 7 This is a partial structural diagram of the conveyor wheel of a battery cell electrode cleaning device according to the present invention; Figure 8 This is a flowchart illustrating the operation of a battery cell electrode cleaning device according to the present invention.

[0022] The components include: 1. Worktable; 2. XY-axis slide table; 21. Base plate 1; 22. Motor 1; 23. Lead screw 1; 24. Fixing block 1; 25. Connecting block 1; 26. Base plate 2; 27. Slide rail 1; 28. Slider 1; 29. ​​Motor 2; 210. Lead screw 2; 211. Fixing block 2; 212. Connecting block 2; 213. Slide rail 2; 214. Slider 2; 3. Six-axis robotic arm; 31. Support plate; 32. Outer shell; 33. Motor 3; 34. Base; 35. Motor 4; 36. Turntable 1; 37. Support arm 1; 38. Motor 5; 39. Turntable 2; 310. Support arm 2; 311. Motor 6; 312. Support arm 3; 313. Motor 7; 314. Conveyor wheel 1; 315. Conveyor belt; 316. Conveyor wheel 2; 4. Laser cleaning mechanism; 5. Vacuum adsorption fixture. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Please see the appendix Figure 1 - Appendix Figure 7 This invention provides a battery cell electrode cleaning device, including a workbench 1, a tray positioning system, a welding head transfer system, a laser cleaning mechanism 4, and a control unit, wherein: The tray positioning system includes an XY slide 2 driven by a servo motor, and a vacuum adsorption clamp 5 is provided on the XY slide 2 to fix the battery cell and ensure that the electrode post faces upward. The welding head transfer system includes a six-axis robotic arm 3, and the laser cleaning head is installed on the end flange of the six-axis robotic arm 3 via a quick-release interface; The laser cleaning mechanism 4 includes a fiber laser, a galvanometer scanning head and a CCD vision positioning module. The galvanometer scanning head is installed at the end of the six-axis robotic arm 3 via a quick-release interface and is used to perform non-contact laser cleaning on the battery cell terminals. The control unit includes a neural network module, which generates control parameters for laser power and scanning trajectory based on the pole material and contaminant characteristics fed back by the CCD vision positioning module.

[0025] Specifically, the workbench 1 is a rectangular steel plate structure with multiple fixing holes on its surface for mounting other subsystems. The steel plate thickness ranges from 10 mm to 20 mm, sufficient to withstand vibrations and loads during device operation. The tray positioning system uses a servo motor to drive the XY axis slide 2 to achieve planar movement of the battery cell. The slide is made of aluminum alloy with an anodized surface to enhance corrosion resistance. The vacuum adsorption fixture 5 has a grid-like suction hole layout on its surface, with hole diameters ranging from 1 mm to 3 mm, ensuring uniform distribution of adsorption force. The contact surface between the fixture and the battery cell is covered with a soft silicone pad to prevent scratching the battery cell surface. The six-axis robotic arm 3 in the welding head transfer system is fixed to the workbench 1 via a base. Its end connects to the laser cleaning head via a quick-release interface. The quick-release interface uses a mechanical snap-fit ​​and electrical plug-in design, and a sealing ring is provided at the interface to prevent dust from entering. The conveyor belt 315 is made of high-temperature resistant polyurethane material, with a width ranging from 20 mm to 30 mm and a non-slip textured surface to ensure the stability of the laser cleaning head during transmission. The fiber laser in laser cleaning unit 4 transmits energy via optical fiber, and the galvanometer scanning head has a built-in cooling duct to prevent high temperatures from affecting optical components. The neural network module of the control unit analyzes the electrode material and contaminant characteristics through a pre-trained model. The model input includes the reflectivity and surface roughness data of the electrode, and the output is adjusted laser power and scanning trajectory parameters to adapt to different cell types.

[0026] The XY slide table 2 is driven by a dual-axis servo motor, with a maximum stroke range of 400 mm to 600 mm and a positioning accuracy range of ±0.005 mm to ±0.02 mm. The vacuum adsorption fixture 5 includes multiple vacuum suction holes with an adsorption force range of 400 Pa to 600 Pa. The fixture material is polytetrafluoroethylene and is equipped with a pressure sensor to detect the cell fixing status. The six-axis robotic arm 3 has six degrees of freedom, a maximum load range of 4 kg to 6 kg, a repeatability range of ±0.03 mm to ±0.07 mm, and a quick-release interface including a snap-fit ​​mechanism and an electrical connector, supporting the replacement of the laser cleaning head in 3 to 7 minutes.

[0027] Specifically, the servo motor of the XY-axis slide 2 is connected to the drive shaft via a reducer with a reduction ratio ranging from 1:5 to 1:10, ensuring sufficient output torque to drive the battery cell tray. The tray can bear a weight ranging from 1 kg to 5 kg, adapting to various battery cell specifications. During slide operation, the motor feeds back position information via an encoder, and the closed-loop control system calibrates the slide position in real time, with a calibration frequency ranging from 50 to 100 times per second. The pressure sensor of the vacuum adsorption fixture 5 is embedded in the bottom of the fixture, and the sensor signal is transmitted to the control unit via a cable. If the adsorption force is insufficient, the system automatically increases the vacuum pump power, with an adjustment time ranging from 0.5 seconds to 1 second. The surface of the fixture is made of PTFE material with a smooth surface and a friction coefficient ranging from 0.05 to 0.1, reducing resistance when in contact with the battery cells. The six-axis robotic arm 3 achieves its six degrees of freedom through multiple joints, with angle sensors at the joints, monitoring a range from 0 degrees to 360 degrees, ensuring the stability of the robotic arm in complex paths. The quick-release interface features a spring-reset mechanism with a locking force range of 50 N to 100 N. The electrical plug-in section supports dual-channel transmission of signals and power to meet the control requirements of the laser cleaning head.

[0028] The fiber laser includes a pulsed mode and continuous mode switching circuit, with a power range of 100W to 500W, a wavelength range of 1000nm to 1100nm, and a pulse frequency range of 20kHz to 100kHz. The switching circuit selects the operating mode according to the instructions of the control unit. The galvanometer scanning head includes a dual-axis galvanometer and an F-theta focusing lens. The scanning speed ranges from 6000 mm / s to 8000 mm / s, and the scanning range is from 40 mm × 40 mm to 60 mm × 60 mm. The galvanometer scanning head is connected to a dynamic focusing motor to adjust the focal length of the laser beam to accommodate different pole heights.

[0029] Specifically, the pulse mode and continuous mode switching circuit of the fiber laser is controlled by a relay with a response time ranging from 1 millisecond to 5 milliseconds, ensuring zero-delay mode switching. The laser is cooled by an external air-cooling system with an airflow rate ranging from 50 cubic meters per hour to 100 cubic meters per hour. The fiber optic transmission line length ranges from 3 meters to 5 meters for convenient installation. The dual-axis galvanometer of the scanning head is driven by a micro-motor with a speed range of 5000 rpm to 8000 rpm. The galvanometer lenses are made of high-transmittance quartz material with a transmittance range of 98% to 99.5%, reducing energy loss. The F-theta focusing lens has an anti-reflection coating to reduce reflection loss, and its focal length ranges from 100 mm to 150 mm, ensuring the uniformity of the laser beam within the scanning range. The dynamic focusing motor is driven by a stepper motor with a stepping accuracy ranging from 0.01 mm to 0.05 mm and an adjustment frequency range of 20 to 50 times per second, adapting to changes in the height of the battery cell terminals.

[0030] The CCD visual positioning module includes a camera and an LED light source. The camera resolution ranges from 18 million to 22 million pixels, the field of view ranges from 80 mm × 80 mm to 120 mm × 120 mm, and the recognition accuracy ranges from ±0.01 mm to ±0.03 mm. The module determines the polar coordinates through edge detection algorithms and template matching algorithms.

[0031] Specifically, the camera of the CCD vision positioning module is fixed to workbench 1 by a bracket, with the camera lens facing the cleaning station. The lens aperture ranges from F2.0 to F4.0 to adapt to different lighting conditions. The LED light source adopts a ring layout and is installed around the camera lens. The light source brightness ranges from 5000 lux to 10000 lux, providing uniform illumination, and the color temperature ranges from 5000K to 6000K, close to natural light, avoiding color difference interference. The edge detection algorithm extracts the polar contour through a gradient operator, and the template matching algorithm compares it based on a preset polar shape library. The algorithm processing time ranges from 0.1 seconds to 0.3 seconds. The recognition results are stored in coordinate form, with the coordinate system centered at the center of workbench 1, which facilitates path planning.

[0032] Please see the appendix Figure 1 - Appendix Figure 3The XY slide table 2 includes an X-axis slide table and a Y-axis slide table. The X-axis slide table includes a base plate 21. The lower surface of the base plate 21 is fixedly connected to the upper surface of the worktable 1. A motor 22 is fixedly connected to one side of the base plate 21. A lead screw 23 is connected to the output end of the motor 22. A fixing block 24 is fixedly connected to the other side of the base plate 21. One end of the lead screw 23 is rotatably connected to the inside of the fixing block 24. A connecting block 25 is threadedly connected to the outer wall of the lead screw 23. A base plate 26 is fixedly connected to the top of the connecting block 25. A slide rail 27 is fixedly connected to the upper surface of the base plate 21. A slider 28 is fixedly connected to the lower surface of the base plate 26. The inside of the slider 28 is slidably connected to the outside of the slide rail 27.

[0033] Specifically, the X-axis slide of the XY-axis slide 2 includes a base plate 21, which is a rectangular aluminum alloy plate with a polished surface and a surface roughness ranging from Ra0.8 to Ra1.6 to reduce frictional resistance. The thickness of the base plate 21 ranges from 15 mm to 25 mm to ensure sufficient rigidity to support the load during slide operation. A motor 22 is bolted to one side of the base plate 21. The output shaft of the motor 22 is connected to a lead screw 23 via a coupling. The coupling is made of an elastic material to absorb minor vibrations during operation, and its elastic coefficient ranges from 0.5 N·m / degree to 1 N·m / degree. The lead screw 23 has a diameter ranging from 10 mm to 15 mm and a pitch ranging from 2 mm to 5 mm. It is connected to a connecting block 25 via a ball nut. The ball nut contains circulating balls to reduce friction, and the ball diameter ranges from 1 mm to 2 mm. Fixed block 24 is welded to the other side of base plate 21. A bearing is embedded inside fixed block 24, with its inner diameter matching that of lead screw 23, supporting the high-speed rotation of lead screw 23. Connecting block 25 has an L-shaped structure, with its top end connected to base plate 26 via screws. Base plate 26 is made of the same material as base plate 21 and has multiple mounting holes on its surface for easy assembly. Slide rail 27 is bolted to the upper surface of base plate 21. Slide rail 27 has a linear design, its length covering the entire stroke of base plate 21. The hardness of slide rail 27 ranges from HRC55 to HRC60, providing high wear resistance. Slider 28 engages with slide rail 27 via internal ball bearings. The number of ball bearings in slider 28 ranges from 20 to 30, with a ball bearing spacing ranging from 0.5 mm to 1 mm, ensuring smooth sliding. The X-axis slide table operates based on a combination of lead screw drive and slide rail guidance. After motor 22 starts, it drives lead screw 23 to rotate via coupling. The rotational motion of lead screw 23 is converted into linear motion of connecting block 25 through ball nuts. Connecting block 25 drives base plate 26 to move along the X-axis. The cooperation between slide rail 27 and slider 28 ensures the stability and straightness of base plate 26 during movement. The balls inside slider 28 roll on slide rail 27, reducing frictional resistance and maintaining high-precision positioning. The bearing in fixed block 24 supports the end of lead screw 23, reducing runout during rotation and ensuring transmission efficiency. The entire X-axis slide table has a movement speed range of 0.2 m / s to 0.5 m / s, meeting the rapid adjustment requirements for battery cell positioning.

[0034] Please see the appendix Figure 1 - Appendix Figure 3The Y-axis slide includes a motor 29, which is externally fixedly connected to one side of the base plate 26. The output end of the motor 29 is connected to a lead screw 210. The other side of the base plate 26 is fixedly connected to a fixing block 211. One end of the lead screw 210 is rotatably connected to the inside of the fixing block 211. The outer wall of the lead screw 210 is threadedly connected to a connecting block 212. The top of the connecting block 212 is fixedly connected to the lower surface of the vacuum adsorption fixture 5. The lower surface of the vacuum adsorption fixture 5 is fixedly connected to a slider 214. The upper surface of the base plate 26 is fixedly connected to a slide rail 213. The inside of the slider 214 is slidably connected to the outside of the slide rail 213.

[0035] Specifically, the motor 29 of the Y-axis slide is connected to one side of the base plate 26 via a flange. The flange is made of aluminum alloy, coated with anti-rust paint, and has a thickness ranging from 5 mm to 10 mm to ensure a stable connection. The output shaft of motor 29 is connected to lead screw 210 via a coupling. The elastic coefficient of the coupling is the same as that of the X-axis slide to absorb vibration. The length of lead screw 210 ranges from 300 mm to 500 mm, and the pitch ranges from 2 mm to 5 mm, the same as lead screw 23. Lead screw 210 is connected to connecting block 212 via a ball nut. The preload of the ball nut ranges from 10 N to 20 N to reduce movement backlash. Fixed block 211 is fixed to the other side of the base plate 26 by welding. Fixed block 211 contains a bearing, which is lubricated with grease with a viscosity range of NLGI2 to NLGI3 to ensure long-term operational reliability. Connecting block 212 is a rectangular block, fixed to the lower surface of vacuum adsorption fixture 5 by bolts at the top. Reinforcing ribs are provided on the sides of connecting block 212 to enhance structural strength. Slide rail 213 is fixed to the upper surface of base plate 26 by bolts. The width of slide rail 213 ranges from 15 mm to 25 mm, and its surface is plated with a hard chrome layer to increase wear resistance. Slider 214 contains embedded balls that cooperate with slide rail 213. The number of balls ranges from 15 to 25, and the ball spacing ranges from 0.5 mm to 1 mm to ensure smooth sliding. The working principle of the Y-axis slide is similar to that of the X-axis slide, achieving linear motion through a lead screw drive. After motor 29 starts, it drives lead screw 210 to rotate. Lead screw 210 converts the rotational motion into linear motion of connecting block 212 through ball nuts. Connecting block 212 then moves vacuum adsorption fixture 5 along the Y-axis. The cooperation between slide rail 213 and slider 214 ensures that the movement trajectory of the vacuum adsorption fixture 5 remains straight. The ball bearings inside slider 214 reduce sliding resistance and maintain high precision. The bearings inside fixed block 211 support the end of lead screw 210, reducing rotational runout and ensuring transmission stability. The Y-axis slide has a movement speed range of 0.2 m / s to 0.5 m / s, and cooperates with the X-axis slide to achieve two-dimensional positioning of the battery cell in the XY plane.

[0036] Please see the appendix Figure 4 - Appendix Figure 7 The six-axis robotic arm 3 includes a support plate 31, a housing 32 fixedly connected to the upper surface of the support plate 31, a motor 33 fixedly connected inside the housing 32, a base 34 connected to the output end of the motor 33, a bottom end of the base 34 rotatably connected to the top end of the housing 32, a motor 4 35 connected inside the base 34, a turntable 1 36 connected to the output end of the motor 4 35, a support arm 1 37 fixedly connected to one end of the turntable 1 36, a bottom side of the support arm 1 37 rotatably connected to the inside of the base 34, a motor 5 38 on the top side of the support arm 1 37, a turntable 2 39 connected to the output end of the motor 5 38, a support arm 2 310 fixedly connected to one end of the turntable 2 39, a bottom side of the support arm 2 310 rotatably connected to the top side of the support arm 1 37, a motor 6 311 fixedly connected to one side of the support arm 2 310, a support arm 312 connected to the output end of the motor 6 311, and a side of the support arm 312 rotatably connected to the other side of the support arm 2 310.

[0037] Specifically, the support plate 31 of the six-axis robotic arm 3 is a square or round steel plate with a thickness ranging from 20 mm to 30 mm. The surface is sandblasted to increase corrosion resistance. The support plate 31 is fixed to the worktable 1 with bolts, and the spacing between the fixing holes ranges from 100 mm to 150 mm to ensure stable installation. A housing 32 is welded to the support plate 31. The housing 32 is a rectangular aluminum alloy structure with an internal cavity volume ranging from 5 liters to 10 liters to accommodate the motor and transmission components. The sides of the housing 32 have ventilation holes with a diameter ranging from 5 mm to 10 mm to enhance ventilation. A motor 33 is fixedly connected inside the housing 32. The motor 33 is mounted via a bracket with a height ranging from 50 mm to 70 mm. The bracket is made of steel and galvanized to increase durability. The output shaft of the motor 33 is connected to the base 34 via a coupling made of elastic material with an elastic coefficient ranging from 0.5 N·m / degree to 1 N·m / degree to absorb vibration. The base 34 is rotatably connected to the top of the housing 32 via bearings with an inner diameter ranging from 30 mm to 40 mm, supporting 360-degree rotation. A motor 4 35 is installed inside the base 34. The output shaft of motor 4 35 is connected to a turntable 1 36 via a key. Turntable 1 36 is a circular disc with a thickness ranging from 10 mm to 15 mm. One side of turntable 1 36 is bolted to support arm 1 37, with a reinforcing plate at the connection point, the thickness ranging from 5 mm to 8 mm. Support arm 1 37 is a long strip structure with a length ranging from 300 mm to 400 mm. The bottom side of support arm 1 37 is rotatably connected to the base 34 via a pivot with a diameter ranging from 20 mm to 25 mm. A motor 5 38 is installed on the top side of support arm 1 37, secured with bolts. The output shaft of motor 5 38 is connected to turntable 2 39 via a key. Turntable 2 39 is a circular disc with a thickness ranging from 8 mm to 12 mm. The working principle of the six-axis robotic arm 3 is based on multi-joint coordinated motion. After motor 33 starts, it drives base 34 to rotate around the vertical axis via a coupling, achieving base rotation with a rotation angle range of 0 to 360 degrees. Motor 4 35 inside base 34 drives turntable 1 36 to rotate. Turntable 1 36 is connected to support arm 1 37 via a key, allowing support arm 1 37 to swing in the horizontal plane with a swing angle range of -90 to 90 degrees. Motor 5 38 on the top side of support arm 1 37 drives turntable 2 39 to rotate. Turntable 2 39 is connected to subsequent support arms via a key, completing the motion transmission from the first joint to the second joint. The movement of each joint is driven by a motor, cooperating with bearings and pivots to achieve flexible rotation, with a movement speed range of 0.1 m / s to 0.3 m / s, ensuring precise positioning of the laser cleaning head in space. The six degrees of freedom of robotic arm 3 correspond to base rotation, shoulder swing, elbow rotation, wrist pitch, wrist deflection, and end effector rotation, respectively. The motion trajectory is preset by the control unit to ensure coverage of various angles of the battery cell terminals.

[0038] Please see the appendix Figure 4 - Appendix Figure 7The six-axis robotic arm 3 also includes a motor 7 313, which is fixedly connected inside the support arm 3 312. The output end of the motor 7 313 is connected to a transmission wheel 1 314. A transmission belt 315 is provided on the outer wall of the transmission wheel 1 314. A transmission wheel 2 316 is provided at one end of the transmission belt 315. One end of the transmission wheel 2 316 is fixedly connected to the laser cleaning mechanism 4. The laser cleaning mechanism 4 is rotatably connected to the other side of the support arm 3 312.

[0039] Specifically, the second support arm 310 of the six-axis robotic arm 3 is a long strip steel structure with a length ranging from 250 mm to 350 mm. Its surface is coated with anti-rust paint to increase corrosion resistance. One end of the second support arm 310 is bolted to the second turntable 39, and a buffer pad with a thickness ranging from 2 mm to 3 mm is provided at the connection point to absorb impact. The bottom side of the second support arm 310 is rotatably connected to the top side of the first support arm 37 via a pivot with a diameter ranging from 15 mm to 20 mm. A thrust bearing with a thickness ranging from 5 mm to 7 mm is provided at the pivot to prevent axial displacement. A sixth motor 311 is bolted to one side of the second support arm 310. The output shaft of the sixth motor 311 is connected to the third support arm 312 via a key. The third support arm 312 is a long strip structure with a length ranging from 200 mm to 300 mm. One side of the third support arm 312 is rotatably connected to the other side of the second support arm 310 via a pivot with a diameter ranging from 15 mm to 20 mm. Motor 7 313 is bolted inside support arm 312. The output shaft of motor 7 313 is connected to transmission wheel 1 314 via a key. Transmission wheel 1 314 is a circular wheel with a diameter ranging from 50 mm to 70 mm and has a toothed design on its surface to increase transmission stability. A transmission belt 315 is fitted onto the outer wall of transmission wheel 1 314. The width of transmission belt 315 ranges from 20 mm to 30 mm, and its thickness ranges from 2 mm to 4 mm. One end of transmission belt 315 is connected to transmission wheel 2 316, which is a circular wheel with the same diameter as transmission wheel 1 314. One end of transmission wheel 2 316 is bolted to laser cleaning mechanism 4. Laser cleaning mechanism 4 is rotatably connected to the other side of support arm 312 via a pivot with a diameter ranging from 10 mm to 15 mm. Support arms 2 310 to support arms 312 of the six-axis robotic arm 3 achieve multi-joint movements driven by motors. After motor 6 311 starts, it drives support arm 3 312 to swing relative to support arm 2 310, with a swing angle range of -60 degrees to 60 degrees. Motor 7 313 inside support arm 3 312 drives transmission wheel 1 314 to rotate via a key. Transmission wheel 1 314 drives transmission wheel 2 316 via transmission belt 315. The tension of transmission belt 315 ranges from 20 N to 40 N, ensuring slippage-free transmission. Transmission wheel 2 316 is fixedly connected to laser cleaning mechanism 4. Laser cleaning mechanism 4 adjusts its angle with the rotation of transmission wheel 2 316, with an adjustment angle range of 0 degrees to 90 degrees. The entire transmission system is controlled by motor 7 313, whose speed ranges from 1000 rpm to 3000 rpm and whose transmission ratio ranges from 1:2 to 1:3. The end-effector speed of laser cleaning mechanism 4 ranges from 0.05 m / s to 0.15 m / s, ensuring precise alignment with the battery cell electrode. The combination of the pivot and bearing reduces friction, and the thrust bearing restricts axial movement, ensuring the long-term stability of the transmission system.

[0040] Please see the appendix Figure 8 The working process of the battery cell terminal cleaning device includes the following steps: S1, XY sliding table 2 conveys the battery cell to the cleaning station, and vacuum adsorption fixture 5 detects and fixes the battery cell through pressure sensor; S2, the CCD vision positioning module captures the position coordinates of the pole and transmits them to the control unit to generate the cleaning path; S3, the six-axis robotic arm 3 positions the laser cleaning head 15 mm to 25 mm above the pole post, and the galvanometer scanning head performs laser scanning according to the parameters generated by the control unit; S4. The laser beam vaporizes the contaminants on the electrode surface. After cleaning, the CCD vision positioning module re-inspects the electrode surface, and the six-axis robotic arm 3 resets.

[0041] Specifically, in step S1 of the workflow, the lead screws 23 and 210 of the XY slide table 2 achieve high-precision transmission through ball nuts. The preload of the nuts ranges from 10 N to 20 N, reducing movement backlash, and the transmission efficiency ranges from 90% to 95%. The cleaning station is located in the central area of ​​the workbench 1, and the station surface is covered with an anti-slip coating to prevent the tray from sliding. In step S2, the coordinate data of the CCD vision positioning module is transmitted to the control unit via Ethernet, with a transmission rate ranging from 100 Mbps to 1000 Mbps to ensure real-time performance. In step S3, when the motor 313 of the six-axis robotic arm 3 drives the conveyor belt 315, the conveyor belt tension ranges from 20 N to 40 N to prevent slippage. After the laser cleaning head is positioned, the laser beam scans in a fan-shaped trajectory with a trajectory spacing ranging from 0.1 mm to 0.5 mm to ensure coverage of the entire pole surface. In step S4, the detection area of ​​the CCD vision positioning module covers a pole diameter range of 5 mm to 30 mm. After the detection is completed, the motor 33 of the six-axis robotic arm 3 resets at a constant speed, with a speed range of 0.5 m / s to 1 m / s.

[0042] The control unit determines whether the gray value of the pole surface has reached the preset threshold based on the secondary detection results of the CCD vision positioning module. If it has not reached the threshold, the laser cleaning mechanism 4 is triggered to perform secondary cleaning.

[0043] Specifically, during the secondary detection, the control unit acquires grayscale data of the electrode surface, with a grayscale value range of 0 to 255 and a preset threshold range of 200 to 220. The cleaning effect is judged through comparative analysis. When the secondary cleaning is triggered, motor 7313 of the laser cleaning mechanism 4 operates in low-speed mode, with a speed range of 1000 to 2000 rpm, reducing the laser power to 50% to 70% of the initial value to avoid over-cleaning. After cleaning, the control unit stores the detection data in an internal database with a capacity ranging from 1GB to 5GB, supporting the storage of at least 1000 cleaning records for subsequent process optimization.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A battery cell electrode cleaning device, characterized in that, Includes a workbench (1), a tray positioning system, a welding head transfer system, a laser cleaning mechanism (4), and a control unit, wherein: The tray positioning system includes an XY slide (2) driven by a servo motor, and a vacuum adsorption clamp (5) is provided on the XY slide (2) to fix the battery cell and ensure that the electrode post faces upward. The welding head transfer system includes a six-axis robotic arm (3), and the end flange of the six-axis robotic arm (3) is equipped with a laser cleaning head via a quick-release interface; The laser cleaning mechanism (4) includes a fiber laser, a galvanometer scanning head and a CCD vision positioning module. The galvanometer scanning head is installed at the end of the six-axis robotic arm (3) through the quick-release interface and is used to perform non-contact laser cleaning on the battery cell electrode. The control unit includes a neural network module, which generates control parameters for laser power and scanning trajectory based on the pole material and contaminant characteristics fed back by the CCD visual positioning module.

2. The cell electrode cleaning device according to claim 1, characterized in that, The XY slide (2) is driven by a dual-axis servo motor, with a maximum stroke range of 400 mm to 600 mm and a positioning accuracy range of ±0.005 mm to ±0.02 mm. The vacuum adsorption fixture (5) includes multiple vacuum suction holes, with an adsorption force range of 400 Pa to 600 Pa. The fixture material is polytetrafluoroethylene, and it is equipped with a pressure sensor to detect the cell fixing status. The six-axis robotic arm (3) has 6 degrees of freedom, a maximum load range of 4 kg to 6 kg, and a repeatability range of ±0.03 mm to ±0.07 mm. The quick-release interface includes a snap-fit ​​mechanism and an electrical connector, which supports the replacement of the laser cleaning head in 3 to 7 minutes.

3. The cell electrode cleaning device according to claim 1, characterized in that, The fiber laser includes a pulse mode and continuous mode switching circuit, with a power range of 100W to 500W, a wavelength range of 1000nm to 1100nm, and a pulse frequency range of 20kHz to 100kHz. The switching circuit selects the operating mode according to the instructions of the control unit. The galvanometer scanning head includes a dual-axis galvanometer and an F-theta focusing lens. The scanning speed ranges from 6000 mm / s to 8000 mm / s, and the scanning range is from 40 mm × 40 mm to 60 mm × 60 mm. The galvanometer scanning head is connected to a dynamic focusing motor to adjust the focal length of the laser beam to adapt to different pole heights.

4. The cell electrode cleaning device according to claim 1, characterized in that, The CCD visual positioning module includes a camera and an LED light source. The camera resolution ranges from 18 million pixels to 22 million pixels, the field of view ranges from 80 mm × 80 mm to 120 mm × 120 mm, and the recognition accuracy ranges from ±0.01 mm to ±0.03 mm. The module determines the polar coordinates through edge detection algorithm and template matching algorithm.

5. The cell electrode cleaning device according to claim 1, characterized in that, The XY slide table (2) includes an X-axis slide table and a Y-axis slide table. The X-axis slide table includes a base plate (21). The lower surface of the base plate (21) is fixedly connected to the upper surface of the worktable (1). A motor (22) is fixedly connected to one side of the base plate (21). A lead screw (23) is connected to the output end of the motor (22). A fixing block (24) is fixedly connected to the other side of the base plate (21). One end of the lead screw (23) is rotatably connected to the inside of the fixing block (24). A connecting block (25) is threadedly connected to the outer wall of the lead screw (23). A base plate (26) is fixedly connected to the top of the connecting block (25). A slide rail (27) is fixedly connected to the upper surface of the base plate (21). A slider (28) is fixedly connected to the lower surface of the base plate (26). The inside of the slider (28) is slidably connected to the outside of the slide rail (27).

6. The cell electrode cleaning device according to claim 5, characterized in that, The Y-axis slide includes a second motor (29), which is externally fixedly connected to one side of a second base plate (26). The output end of the second motor (29) is connected to a second lead screw (210). The other side of the second base plate (26) is fixedly connected to a second fixing block (211). One end of the second lead screw (210) is rotatably connected to the inside of the second fixing block (211). The outer wall of the second lead screw (210) is threadedly connected to a second connecting block (212). The top of the second connecting block (212) is fixedly connected to the lower surface of a vacuum adsorption fixture (5). The lower surface of the vacuum adsorption fixture (5) is fixedly connected to a second slider (214). The upper surface of the second base plate (26) is fixedly connected to a second slide rail (213). The inside of the second slider (214) is slidably connected to the outside of the second slide rail (213).

7. The cell electrode cleaning device according to claim 1, characterized in that, The six-axis robotic arm (3) includes a support plate (31), a housing (32) is fixedly connected to the upper surface of the support plate (31), a motor (33) is fixedly connected inside the housing (32), a base (34) is connected to the output end of the motor (33), the bottom end of the base (34) is rotatably connected to the top end of the housing (32), a motor (35) is connected inside the base (34), a turntable (36) is connected to the output end of the motor (35), a support arm (37) is fixedly connected to one end of the turntable (36), and the bottom of the support arm (37) is... The support arm (37) is rotatably connected to the inside of the base (34). The top side of the support arm (37) is connected to the motor (38). The output end of the motor (38) is connected to the turntable (39). One end of the turntable (39) is fixedly connected to the support arm (310). The bottom side of the support arm (310) is rotatably connected to the top side of the support arm (37). One side of the support arm (310) is fixedly connected to the motor (311). The output end of the motor (311) is connected to the support arm (312). One side of the support arm (312) is rotatably connected to the other side of the support arm (310).

8. The cell electrode cleaning device according to claim 7, characterized in that, The six-axis robotic arm (3) also includes a motor seven (313), which is fixedly connected inside the support arm three (312). The output end of the motor seven (313) is connected to a transmission wheel one (314). The outer wall of the transmission wheel one (314) is provided with a transmission belt (315). One end of the transmission belt (315) is provided with a transmission wheel two (316). One end of the transmission wheel two (316) is fixedly connected to the laser cleaning mechanism (4). The laser cleaning mechanism (4) is rotatably connected to the other side of the support arm three (312).

9. The cell electrode cleaning device according to claim 1, characterized in that, The working process of the battery cell electrode cleaning device includes the following steps: S1. The XY slide table (2) transports the battery cell to the cleaning station, and the vacuum adsorption fixture (5) detects and fixes the battery cell through a pressure sensor. S2. The CCD vision positioning module captures the coordinates of the pole position and transmits them to the control unit to generate a cleaning path; S3, the six-axis robotic arm (3) positions the laser cleaning head 15 mm to 25 mm above the pole post, and the galvanometer scanning head performs laser scanning according to the parameters generated by the control unit; S4. The laser beam vaporizes the contaminants on the electrode surface. After cleaning, the CCD vision positioning module detects the electrode surface again, and the six-axis robotic arm (3) is reset.

10. The cell electrode cleaning device according to claim 9, characterized in that, The control unit determines whether the gray value of the pole surface has reached a preset threshold based on the secondary detection result of the CCD vision positioning module. If it has not reached the threshold, the laser cleaning mechanism (4) is triggered to perform secondary cleaning.

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