Battery device disassembly method, control device, disassembly equipment and storage medium

Abstract

The application relates to the technical field of batteries, and provides a disassembling method of a battery device, a control device, a disassembling equipment and a storage medium. The disassembling method comprises the following steps: scanning the battery device along a direction perpendicular to a cover plate and towards the cover plate and acquiring a reference image of the battery device. The reference image can display the distribution of battery monomer assemblies in a box body, and thus the cutting track of the cover plate can be determined, the cutting track is kept at a safe distance from the edge of the battery monomer assemblies, the cutting mechanism is controlled to cut the battery device according to a preset cutting depth and along the cutting track, and the cover plate can be disassembled. Moreover, manual cutting is not required in the cutting process, and the risk of injury to the operator can be reduced. The disassembling equipment can realize accurate disassembly of the cover plate of the battery device based on the above disassembling method.

Description

Technical Field

[0001] This application relates to the field of battery technology, and in particular to a method for disassembling a battery device, a control device, disassembly equipment, and a storage medium. Background Technology

[0002] New energy batteries are being used more and more widely in daily life and industry. For example, new energy vehicles equipped with batteries are already widely used. In addition, batteries are being used more and more in the field of energy storage.

[0003] With the increasingly widespread application of batteries in daily life and industry, a large number of waste battery devices will be generated, making their recycling a hot topic in the industry. Typically, the recycling process involves removing the cover of the battery device to expose the internal battery cells before removing them. Traditionally, the cover is manually cut and then removed, which suffers from inaccurate cutting and high risks, making it difficult to meet the future demand for large-scale recycling. Therefore, improving the accuracy of cover cutting and reducing the risk of injury to operators is one of the key research topics in the industry.

[0004] The above statements are for the purpose of providing background information in relation to this application only and do not necessarily constitute prior art. Summary of the Invention

[0005] In view of the above problems, the embodiments of this application provide a method for disassembling a battery device, a control device, a disassembly device and a storage medium, which helps to improve the cutting accuracy of the cover plate and reduce the risk of injury to the operator.

[0006] In a first aspect, embodiments of this application provide a method for disassembling a battery device, used to disassemble the cover plate of the battery device. The battery device includes a housing and battery cell assemblies. The housing is formed by a main body and a cover plate, and the battery cell assemblies are built into the housing. The disassembly method includes:

[0007] A reference image is acquired that shows the distribution of individual battery cells within the housing. The reference image is obtained by scanning the battery device in a direction perpendicular to and toward the cover.

[0008] Construct a two-dimensional coordinate system on the reference image;

[0009] Based on a two-dimensional coordinate system, multiple trajectory points are defined along the outer periphery of the battery cell assembly on the reference image. Adjacent trajectory points are connected to enclose the cutting trajectory for cutting the cover plate. The cutting trajectory is located between the edge of the battery cell assembly and the side wall edge of the main body.

[0010] Based on the preset cutting depth, the cutting mechanism is controlled to cut the cover plate along the cutting trajectory.

[0011] In the above technical solution, by acquiring a reference image, the distribution of battery cells within the housing and the distance between the edge of the battery cells and the sidewall edge of the housing body can be accurately understood. By determining the cutting trajectory on the reference image, and ensuring that the cutting trajectory maintains a safe distance from the edge of the battery cells, the accuracy of cutting the cover plate can be improved, and the safety risks caused by cutting the battery cells during the cutting process can be reduced. Moreover, since the cover plate can be cut by controlling the cutting mechanism along the cutting trajectory, manual cutting of the cover plate is not required, thus reducing the risk of injury to the operator.

[0012] In some embodiments, before controlling the cutting mechanism to complete the cutting of the cover plate along the cutting trajectory according to a preset cutting depth, the disassembly method further includes:

[0013] On the reference image, determine the starting point of the cut along the cutting trajectory;

[0014] The output end of the cutting mechanism is mapped onto the reference image relative to the initial position of the battery device and defined as the initial point of the cutting mechanism;

[0015] The control mechanism moves from the initial point of the cutting mechanism to the starting point of the cutting.

[0016] In the above technical solution, by determining the cutting start point and the initial point of the cutting mechanism, and controlling the cutting mechanism to move from the initial point of the cutting mechanism to the cutting start point before cutting, the initial position of the cutting mechanism is not limited, making the layout of the cutting mechanism more flexible and beneficial to the structural layout of the disassembly equipment.

[0017] In some embodiments, the cutting start point on the cutting trajectory is determined based on the point on the cutting trajectory that is closest to the initial point of the cutting mechanism.

[0018] In the above technical solution, by taking the point on the cutting trajectory that is closest to the initial point of the cutting mechanism as the cutting starting point, the distance that the cutting mechanism moves to the cutting trajectory can be shortened, thereby reducing energy consumption and improving work efficiency.

[0019] In some embodiments, the cutting start point on the cutting trajectory is determined based on one of a plurality of trajectory points.

[0020] In the above technical solution, by using one of the multiple trajectory points as the cutting starting point, there is no need to redetermine other points on the cutting trajectory as the cutting starting point, which simplifies the program design.

[0021] In some embodiments, the cutting start point on the cutting trajectory is determined based on the point among multiple trajectory points that is closest to the initial point of the cutting mechanism.

[0022] In the above technical solution, by taking the point closest to the initial point of the cutting mechanism among multiple trajectory points as the cutting start point, the program design can be simplified and the distance the cutting mechanism moves to the cutting trajectory can be shortened, thereby saving energy and improving efficiency.

[0023] In some embodiments, controlling the cutting mechanism to move from its initial point to the cutting start point includes:

[0024] Based on a two-dimensional coordinate system, the distances from the initial point of the cutting mechanism to the starting point of the cutting are calculated in the X-axis and Y-axis directions, so that the cutting mechanism can move from the initial point of the cutting mechanism to the starting point of the cutting along the X-axis and Y-axis directions.

[0025] In the above technical solution, by calculating the moving distance of the cutting mechanism in the X-axis and Y-axis directions, the cutting mechanism can move accurately; moreover, by moving the cutting mechanism along the X-axis and Y-axis directions, the two-dimensional motion structure of the cutting mechanism can be realized, which has strong versatility and can be adapted to different working scenarios.

[0026] In some embodiments, after the cutting mechanism completes the cutting of the cover plate along the cutting trajectory according to a preset cutting depth, the disassembly method further includes:

[0027] Control the suction components on the hoisting mechanism to move to the cover plate;

[0028] Control the adsorption and fixation cover plate of the adsorption component;

[0029] Control the hoisting mechanism to move the cover plate.

[0030] In the above technical solution, by using a hoisting mechanism to adsorb and fix the cover plate, the gripping effect can be improved and the risk of detachment can be reduced. Moreover, the hoisting mechanism can move the cut cover plate without manual handling, which can improve the automation level of the dismantling equipment, increase work efficiency, and at the same time reduce the risk of injury to the operator.

[0031] In some embodiments, controlling the suction element on the hoisting mechanism to move to the cover plate includes:

[0032] Map the geometric center of the cover plate onto the reference image and define it as the center point;

[0033] The center of the adsorption element is mapped onto the reference image relative to the initial position of the battery device and defined as the reference point;

[0034] Control the suction components on the hoisting mechanism to move from the reference point to the center point;

[0035] Lower the hoisting mechanism and move the suction component to the cover plate.

[0036] In the above technical solution, by determining the center point of the cover plate and the reference point of the adsorption component, and aligning the reference point of the adsorption component with the center point, the adsorption component can be accurately adsorbed in the central area of ​​the cover plate after the lifting mechanism is lowered. This allows the cover plate to be subjected to uniform force when it is lifted, making it easier to quickly open the cover plate. At the same time, the adsorption component adsorbing in the central area of ​​the cover plate also helps to maintain the balance of the cover plate when it is moved, improving the stability of the movement.

[0037] In some embodiments, controlling the suction element on the hoisting mechanism to move from a reference point to a center point includes:

[0038] Based on a two-dimensional coordinate system, the distance from the reference point to the center point in the X-axis and Y-axis directions is calculated, so that the adsorption component on the hoisting mechanism can move from the reference point to the center point along the X-axis and Y-axis directions.

[0039] In the above technical solution, by calculating the moving distance of the adsorption component on the hoisting mechanism in the X-axis and Y-axis directions, the adsorption component on the hoisting mechanism can move accurately; moreover, by moving the adsorption component on the hoisting mechanism along the X-axis and Y-axis directions, a two-dimensional motion structure of the adsorption component on the hoisting mechanism can be realized, which has strong versatility and can be adapted to different working scenarios.

[0040] In some embodiments, controlling the adsorption of the fixing cover plate by the adsorption element includes:

[0041] Extract air from the adsorption component;

[0042] After extraction, the air pressure inside the adsorption component is measured.

[0043] When the air pressure value is less than or equal to the preset threshold, it is determined that the adsorption component has been adsorbed and fixed on the cover plate;

[0044] When the air pressure value is greater than the preset threshold, air is injected into the adsorption element and the adsorption element is restored to its original state. The air inside the adsorption element is then extracted again until the air pressure value is less than or equal to the preset threshold.

[0045] In the above technical solution, by detecting the air pressure value inside the adsorption component, the adsorption strength of the adsorption component on the cover plate can be determined, thereby reducing the probability of desorption when the cover plate is moved.

[0046] In some embodiments, before the suction element on the hoisting mechanism is moved to the cover plate, the disassembly method further includes:

[0047] Map the positions of the mounting holes on the main body onto the reference image and define them as mounting points;

[0048] Map the initial position of the plug on the counterweight mechanism relative to the battery device onto the reference image and define it as the initial point of the plug;

[0049] The plug on the control counterweight mechanism moves from its initial point to its mounting point;

[0050] Lower the counterweight mechanism and insert the plug into the mounting hole to fix the counterweight mechanism to the main body.

[0051] In the above technical solution, by inserting and fixing the counterweight mechanism onto the main body, the weight of the battery device can be increased, reducing the probability of the battery device moving when the cover is moved, and helping to stabilize the separation between the cover and the main body.

[0052] In some embodiments, controlling the movement of the plug on the counterweight mechanism from its initial point to its mounting point includes:

[0053] Based on a two-dimensional coordinate system, the distance from the initial point of the plug-in to the mounting point in the X-axis and Y-axis directions is calculated, so that the plug-in on the counterweight mechanism can move from the initial point of the plug-in to the mounting point along the X-axis and Y-axis directions.

[0054] In the above technical solution, by calculating the movement distance of the plug-in on the counterweight mechanism in the X-axis and Y-axis directions, the plug-in can move accurately; moreover, by moving the plug-in along the X-axis and Y-axis directions, the two-dimensional motion structure of the plug-in can be realized, which has strong versatility and can be adapted to different working scenarios.

[0055] Secondly, embodiments of this application also provide a control device, including a memory and a processor. The memory stores a control program, and the processor executes the control program to implement the steps of the disassembly method provided in any embodiment of the first aspect.

[0056] Thirdly, embodiments of this application also provide a battery device disassembly apparatus, the disassembly apparatus being used to perform the disassembly method as provided in any embodiment of the first aspect, the disassembly apparatus comprising:

[0057] The disassembly platform is configured to carry the battery assembly;

[0058] The scanning mechanism is configured to scan the battery device in a direction perpendicular to and toward the cover plate, acquire a reference image of the battery device, and transmit it to the control device.

[0059] The control device is configured to acquire a reference image and execute the disassembly method provided in any one embodiment of the first aspect;

[0060] The cutting mechanism is configured to cut the cover plate according to a preset cutting depth and along a cutting trajectory under the control of the control device.

[0061] In the above technical solution, by acquiring a reference image through a scanning mechanism, the distribution of battery cells within the housing and the distance between the edge of the battery cell assembly and the edge of the side wall of the housing body can be accurately understood. By determining the cutting trajectory on the reference image and ensuring that the cutting trajectory maintains a safe distance from the edge of the battery cell assembly, the accuracy of cutting the cover plate can be improved, and the safety risks caused by cutting the battery cell assembly during the cutting process can be reduced. Moreover, since the cover plate can be cut by controlling the cutting mechanism along the cutting trajectory, manual cutting of the cover plate is not required, thus reducing the risk of injury to the operator.

[0062] In some embodiments, the disassembly device further includes:

[0063] First XY two-axis motion platform;

[0064] The cutting mechanism is positioned facing the cover plate;

[0065] The cutting mechanism is connected to the output end of the first XY two-axis motion platform so that the cutting mechanism can move along the X-axis and Y-axis directions based on a two-dimensional coordinate system.

[0066] In the above technical solution, the first XY two-axis motion platform can drive the cutting mechanism to move along the X-axis and Y-axis directions, thereby realizing the two-dimensional planar motion of the cutting mechanism, increasing the working range of the cutting mechanism, and completing the cutting of the cover plate in one go, thus improving work efficiency.

[0067] In some embodiments, the disassembly device further includes:

[0068] Second XY two-axis motion platform;

[0069] The hoisting mechanism is connected to the output end of the second XY two-axis motion platform, so that the hoisting mechanism can move along the X-axis and Y-axis directions based on the two-dimensional coordinate system;

[0070] The hoisting mechanism includes:

[0071] The mounting plate is positioned facing the cover plate.

[0072] A substrate lifter is fixed to the output end of the second XY two-axis motion platform. The substrate lifter is configured to drive the lifted substrate to move closer to or away from the cover plate.

[0073] The adsorption component is located on the side of the lifting base plate facing the cover plate;

[0074] An air pump is configured to either extract air from the interior of the adsorption element or to fill the interior of the adsorption element with air.

[0075] The hoisting controller is configured to control the operation of the base plate lifter and the air pump.

[0076] In the above technical solution, the second XY-axis motion platform can drive the lifting mechanism to move along the X and Y axes, thus realizing two-dimensional planar motion of the lifting mechanism and increasing its working range. Furthermore, the substrate lifter can move the lifting substrate and adsorption components closer to or further away from the cover plate, enabling the adsorption and fixation of the cover plate and lifting of the cut cover plate to separate it from the main body of the battery device. Additionally, the adsorption method used by the lifting mechanism to fix the cover plate improves the gripping effect and reduces the risk of detachment.

[0077] In some embodiments, the hoisting mechanism further includes:

[0078] A pressure sensor is configured to detect the air pressure inside the adsorption component and feed it back to the hoisting controller.

[0079] In the above technical solution, by setting up a pressure sensor to collect the internal pressure value of the adsorption component and feeding it back to the hoisting controller, the adsorption strength of the adsorption component on the cover plate can be determined, thereby reducing the probability of desorption when moving the cover plate.

[0080] In some embodiments, the number of adsorption elements is multiple, and the multiple adsorption elements are arranged in an array.

[0081] In the above technical solution, by setting up multiple arrayed adsorption components, the adsorption capacity of the hoisting mechanism can be enhanced, thereby further improving the gripping effect and reducing the risk of desorption.

[0082] In some embodiments, the disassembly device further includes:

[0083] Third XY two-axis motion platform;

[0084] The counterweight mechanism is connected to the output end of the third XY two-axis motion platform so that the counterweight mechanism can move along the X-axis and Y-axis based on the two-dimensional coordinate system.

[0085] The counterweight mechanism includes:

[0086] Counterweights;

[0087] The counterweight lifter is fixed to the output end of the third XY two-axis motion platform. The counterweight lifter is configured to drive the counterweight closer to or away from the battery device.

[0088] The plug is located on the side of the counterweight facing the battery device. The plug is configured to engage with the mounting hole on the main body to fix the counterweight to the side of the battery device.

[0089] The counterweight controller is configured to control the operation of the counterweight lifter.

[0090] In the above technical solution, the third XY two-axis motion platform can drive the counterweight mechanism to move along the X and Y axes, thus realizing the two-dimensional planar motion of the counterweight mechanism and increasing its working range. Furthermore, the counterweight lifter can drive the counterweight components to be inserted and fixed onto the main body, increasing the weight of the battery device and reducing the probability of the battery device shifting when moving the cover, which helps to ensure stable separation between the cover and the main body.

[0091] In some embodiments, the counterweight mechanism further includes:

[0092] A plug-in driver component is connected between the counterweight and the plug-in. The plug-in driver component is configured to drive the plug-in to move along the X-axis and / or Y-axis of a two-dimensional coordinate system.

[0093] In the above technical solution, the plug-in drive component can drive the plug-in to move along the X-axis and / or Y-axis, which can reduce or eliminate the need for the overall movement of the counterweight mechanism to adjust the position of the plug-in so that the plug-in corresponds to the position of the mounting hole. This structural design can reduce energy consumption by reducing the overall movement of the counterweight mechanism, and can also make the adjustment of the plug-in more flexible and the position adjustment more precise.

[0094] In some embodiments, the number of plug-ins is at least two, the at least two plug-ins are distributed along the extension direction of the counterweight, and each plug-in can be inserted into its corresponding mounting hole.

[0095] In the above technical solution, by setting at least two plugs on the counterweight, and each plug can be inserted into the corresponding mounting hole, the counterweight can be more stably inserted and fixed to the main body of the battery device.

[0096] In some embodiments, the number of counterweights is two, and the two counterweights can be fixed relative to each other on both sides of the battery device.

[0097] In the above technical solution, by setting two counterweight mechanisms arranged opposite to each other, and when the two counterweight mechanisms act on the battery device at the same time, the self-weight of the battery device can be further increased on the one hand, and the counterweight balance on both sides of the battery device can be maintained on the other hand, thereby improving the stability of the battery device.

[0098] Fourthly, embodiments of this application also provide a storage medium storing a control program, which, when executed by a processor, implements the steps of the disassembly method provided in any of the embodiments of the first aspect. Attached Figure Description

[0099] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0100] Figure 1 This is a schematic diagram of the structure of a vehicle provided according to some embodiments of this application;

[0101] Figure 2 This is an exploded structural diagram of a battery device provided according to some embodiments of this application;

[0102] Figure 3 This is a flowchart of a disassembly method provided according to some embodiments of this application;

[0103] Figure 4 This is a top view schematic diagram of a battery device provided according to some embodiments of this application;

[0104] Figure 5 This is a top view of the battery device provided according to some embodiments of this application after removing the cover plate;

[0105] Figure 6 This is a schematic diagram of a reference image obtained according to some embodiments of this application;

[0106] Figure 7 This refers to a two-dimensional coordinate system constructed on a reference image, as provided in some embodiments of this application.

[0107] Figure 8 This is a flowchart illustrating the process of controlling the cutting mechanism to move to the cutting starting point in a disassembly method according to some embodiments of this application;

[0108] Figure 9 This is a flowchart illustrating the lifting of the cover plate in a disassembly method provided according to some embodiments of this application;

[0109] Figure 10 This is a flowchart illustrating the process of controlling the movement of the suction component on the hoisting mechanism to the cover plate in a disassembly method provided according to some embodiments of this application;

[0110] Figure 11 This is a flowchart illustrating the process of controlling the adsorption of the fixed cover plate by the adsorption component in a disassembly method provided according to some embodiments of this application;

[0111] Figure 12 This is a flowchart illustrating the assembly of a counterweight mechanism for a battery device in a disassembly method provided according to some embodiments of this application;

[0112] Figure 13This is a three-dimensional structural diagram of a disassembly device provided according to some embodiments of this application;

[0113] Figure 14 This is a top view of the disassembly device provided according to some embodiments of this application;

[0114] Figure 15 This is a three-dimensional structural diagram of a hoisting mechanism provided according to some embodiments of this application at one angle;

[0115] Figure 16 This is a three-dimensional structural schematic diagram of a hoisting mechanism provided according to some embodiments of this application from another angle;

[0116] Figure 17 This is a three-dimensional structural schematic diagram of a counterweight mechanism provided according to some embodiments of this application at one angle;

[0117] Figure 18 This is a three-dimensional structural schematic diagram of a counterweight mechanism provided according to some embodiments of this application, showing a structural schematic diagram of a first plug-in driving component;

[0118] Figure 19 for Figure 18 A magnified structural diagram of part E in the middle;

[0119] Figure 20 This is a bottom view of a counterweight provided according to some embodiments of this application, showing a structural schematic diagram of a second type of plug-in driving component;

[0120] Figure 21 This is a bottom view of a counterweight provided according to some embodiments of this application, showing a structural schematic diagram of a third plug-in driver component.

[0121] The attached figures are labeled as follows:

[0122] 1000 - Vehicles;

[0123] 100-Battery device, 110-Battery cell assembly, 120-Box, 1201-First box, 1202-Second box, 1203-Main body, 1204-Cover plate, 1205-Hanging hole;

[0124] 200-Controller;

[0125] 300-motor;

[0126] 10-Cutting trajectory;

[0127] 20-Disassembly platform, 201-Disassembly area, 202-Enclosure;

[0128] 30 - Scanning mechanism, 301 - X-ray generator, 302 - Flat panel detector;

[0129] 40 - Cutting mechanism;

[0130] 50-Lifting mechanism, 501-Lifting base plate, 502-Base plate lifter, 5021-Cable, 503-Suction component, 504-Air pump, 505-Hose, 506-Lifting controller, 507-Lifting control box, 508-Pressure sensor;

[0131] 60-Counterweight mechanism, 601-Counterweight component, 602-Counterweight lifter, 603-Plug-in, 604-Counterweight controller, 605-Counterweight control box, 606-Plug-in drive assembly, 6061-Drive motor, 6062-Bidirectional screw mechanism, 60621-Screw, 60622-Sliding block, 60623-Linear slide rail, 6063-Linear drive mechanism, 6064-First drive mechanism, 6065-Second drive mechanism, 607-Plug-in controller;

[0132] 70 - First XY Two-Axis Motion Platform;

[0133] 80 - Second XY two-axis motion platform;

[0134] 90-Third XY two-axis motion platform. Detailed Implementation

[0135] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0136] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the embodiments of this application is for the purpose of describing specific embodiments only and is not intended to limit this application; the terms "comprising" and "having" and any variations thereof in the specification and the foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0137] The term "embodiment" as used in this application means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0138] The specific term "exemplary" used in the embodiments of this application means "serving as an example, embodiment, or illustration." Any embodiment illustrated as "exemplary" is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0139] In the description of the embodiments of this application, the technical terms "first", "second", "third", etc. are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0140] In the description of the embodiments in this application, the technical term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0141] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0142] In the description of the embodiments of this application, the technical terms "upper", "lower", "inner", "outer", "front", "rear", "left", "right", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship in the working state of the embodiments of this application. They are only used to facilitate the description of the embodiments of this application and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0143] In the description of the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0144] In the description of the embodiments of this application, "parallel" includes not only the case of absolute parallelism, but also the case of approximate parallelism as commonly understood in engineering; at the same time, "perpendicular" also includes not only the case of absolute perpendicularity, but also the case of approximate perpendicularity as commonly understood in engineering.

[0145] In the description of the embodiments of this application, "multiple" means two or more (including two), unless otherwise explicitly specified.

[0146] In the description of the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, and other dimensions of various components in the embodiments of this application shown in the drawings, as well as the overall thickness, length, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0147] Currently, judging from market trends, battery applications are becoming increasingly widespread. Batteries are not only used in energy storage systems such as hydropower, thermal power, wind power, and solar power plants, but also extensively in electric vehicles such as electric bicycles, electric motorcycles, and electric cars, as well as in aerospace and other fields. With the continuous expansion of battery applications, market demand is also constantly increasing.

[0148] With the increasingly widespread application of batteries in daily life and industry, a large number of waste battery devices will be generated, making their recycling a hot topic in the industry. Typically, the recycling process involves removing the cover of the battery device to expose the internal battery cells before removing them. Traditionally, the cover is cut manually before removal; however, because the battery devices are sealed in groups, it's impossible to accurately know the distribution of the battery cells inside the enclosure or the distance between the edges of the battery cells and the side walls of the enclosure. When manually cutting the cover with a handheld cutter, the cutting trajectory is prone to deviation, the cutting depth is uncertain, and there's a risk of cutting into the battery cells inside the enclosure, leading to safety issues and increasing the risk of injury to the operator.

[0149] To address the aforementioned issues and accurately disassemble the cover plate on the battery device, embodiments of this application provide a method for disassembling the battery device. By scanning the battery device and acquiring a reference image with the same dimensions as the battery device, the distribution of the individual battery cells within the casing can be displayed. Based on the reference image, the cutting trajectory for cutting the cover plate can be determined, ensuring a safe distance between the cutting trajectory and the edges of the individual battery cells. Then, by controlling the cutting mechanism to cut the battery device according to a preset cutting depth and along the cutting trajectory, precise disassembly of the cover plate can be achieved. Moreover, this cutting process does not require manual cutting, reducing the risk of injury to the operator.

[0150] The battery device disassembly method provided in this application is applicable to the disassembly process in battery device recycling and can be used to disassemble retired battery devices and battery devices that fail inspection. To execute this disassembly method, this application also provides a battery device disassembly device, which can disassemble the cover plate of the battery device based on the disassembly method. Before disassembling the battery device, it can be pre-discharged to reduce the risk of fire, explosion, etc., caused by short circuits.

[0151] In this embodiment, the battery device can be used as a power source for electrical equipment or as an energy storage element in an energy storage system. The electrical equipment can be a vehicle, ship, spacecraft, etc. The energy storage system can be an energy storage container, an energy storage cabinet, etc.

[0152] For ease of description, this application uses the application of a battery device in a vehicle as an example for illustration.

[0153] refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a vehicle according to some embodiments of this application. The vehicle 1000 can be a gasoline-powered vehicle, a natural gas-powered vehicle, or a new energy vehicle. The new energy vehicle can be a pure electric vehicle, a hybrid electric vehicle, or a range-extended electric vehicle, etc. A battery device 100 is disposed inside the vehicle 1000, and the battery device 100 can be located at the bottom, front, or rear of the vehicle 1000. The battery device 100 can be used to power the vehicle 1000; for example, the battery device 100 can serve as the operating power source for the vehicle 1000. The vehicle 1000 may also include a controller 200 and a motor 300. The controller 200 is used to control the battery device 100 to supply power to the motor 300, for example, to meet the power needs of the vehicle 1000 during starting, navigation, and driving.

[0154] In some embodiments, the battery device 100 can not only serve as the operating power source for the vehicle 1000, but also as the driving power source for the vehicle 1000, replacing or partially replacing fuel or natural gas to provide driving power for the vehicle.

[0155] refer to Figure 2 , Figure 2 This is an exploded structural diagram of a battery device according to some embodiments of this application. The battery device includes a housing 120 and a battery cell assembly 110. The housing 120 has a receiving cavity, in which the battery cell assembly 110 is received.

[0156] In some embodiments, a battery apparatus may include one or more battery cell assemblies for providing voltage and capacity. A battery cell assembly may include multiple battery cells connected in series, parallel, or in a mixed configuration via a busbar.

[0157] In some embodiments, a battery cell assembly is typically formed by arranging multiple battery cells.

[0158] As an example, a battery cell assembly can be a battery module, which consists of multiple battery cells arranged and fixed together to form an independent module.

[0159] As an example, a battery module can be formed by bundling multiple battery cells together with cable ties.

[0160] In some embodiments, the battery device may be a battery pack, which includes a housing and one or more individual battery cells housed within the housing.

[0161] As an example, the battery cell assembly can be a battery module, which can be housed in a housing by fixing the battery module in the housing.

[0162] As an example, battery cell assemblies can also be housed in a housing by directly fixing multiple battery cells to the housing.

[0163] As an example, such as Figure 2 As shown, the housing 120 may include a first housing 1201 and a second housing 1202. The first housing 1201 and the second housing 1202 are fastened together to form a closed space inside the housing 120 to house the battery cell assembly 110. Here, "closed" refers to covering or closing, which can be sealed or unsealed. The first housing 1201 may be a top cover or a bottom plate.

[0164] As an example, the enclosure may include a top cover, a frame, and a bottom plate. The top cover and bottom plate are connected to the frame, creating an enclosed space inside the enclosure to house the individual battery cells.

[0165] In some embodiments, the housing may be part of the vehicle's chassis structure. For example, a portion of the housing may be at least a part of the vehicle's floor, or a portion of the housing may be at least a part of the vehicle's crossbeams and longitudinal beams.

[0166] In some embodiments, the battery cell can be a secondary battery, which refers to a battery cell that can be recharged to activate the active materials and continue to be used after the battery cell has been discharged.

[0167] As an example, the battery cell can be a lithium-ion battery, sodium-ion battery, sodium-lithium-ion battery, lithium metal battery, sodium metal battery, lithium-sulfur battery, magnesium-ion battery, nickel-metal hydride battery, nickel-cadmium battery, lead-acid battery, etc., and the embodiments of this application are not limited in this regard.

[0168] As an example, the battery cell can be a cylindrical battery cell, a prismatic battery cell, a pouch battery cell, or a battery cell of other shapes. Prismatic battery cells include prismatic battery cells, blade-shaped battery cells, and multi-prismatic batteries, such as hexagonal prismatic batteries. This application does not limit this.

[0169] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings. The technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0170] refer to Figures 3 to 7 , Figure 3 This is a flowchart of a disassembly method provided according to some embodiments of this application; Figure 4 This is a top view schematic diagram of a battery device provided according to some embodiments of this application; Figure 5 This is a top view of the battery device provided according to some embodiments of this application after removing the cover plate; Figure 6 This is a schematic diagram of a reference image obtained according to some embodiments of this application; Figure 7 This refers to a two-dimensional coordinate system constructed on a reference image, as provided in some embodiments of this application.

[0171] Firstly, such as Figure 3 As shown, an embodiment of this application provides a method for disassembling a battery device 100, used to disassemble the cover plate 1204 of the battery device 100.

[0172] Specifically, such as Figure 4 and Figure 5 As shown, the battery device 100 includes a housing 120 and a battery cell assembly 110. The housing 120 is formed by a main body 1203 and a cover plate 1204, and the battery cell assembly 110 is built into the housing 120.

[0173] The cover plate 1204 can be a wall surface on the housing 120 that is opposite to the large surface of the battery cell assembly 110. The large surface of the battery cell assembly 110 refers to the surface with the largest area in the battery cell assembly 110.

[0174] For example, the housing 120 may include a top cover, a frame, and a bottom plate. The top cover and the bottom plate are disposed opposite each other and may face the two large surfaces of the battery cell assembly 110 respectively. The frame may be formed by multiple side walls and may be disposed around the outer periphery of the battery cell assembly 110. The top cover and the bottom plate are connected to the frame, so that the interior of the housing 120 forms a closed space to house the battery cell assembly 110.

[0175] Optionally, the cover plate 1204 can be the top cover or bottom plate of the box 120, and the main body 1203 can be composed of a frame and a bottom plate or the main body 1203 can be composed of a frame and a top cover.

[0176] Disassembly methods include:

[0177] S100: Acquire a reference image that can display the distribution of the battery cell assembly 110 within the housing 120. The reference image is acquired by scanning the battery device 100 in a direction perpendicular to and toward the cover plate 1204.

[0178] Specifically, scanning the battery device 100 in a direction perpendicular to and toward the cover plate 1204 can penetrate the cover plate 1204 to scan the internal structure of the housing 120, thereby generating a perspective image that can be used as a reference image.

[0179] The perspective image can display information such as the distribution of the battery cell assembly 110 within the housing 120 and the gap between the battery cell assembly 110 and the side wall of the housing 120. The side wall of the housing 120 refers to the wall surface of the housing 120 that is connected to the cover plate 1204 and surrounds the battery cell assembly 110.

[0180] Optionally, the reference image can also be an image based on a perspective image and processed proportionally to ensure that the reference image matches the actual size of the battery device 100. Converting the perspective image to a reference image with the same size as the battery device 100 allows for direct location of trajectory points, cutting trajectories, and the position points of each mechanism on the reference image during subsequent processing. This enables the direct acquisition of accurate point information and the movement distance information of each mechanism without further conversion, simplifying the program design.

[0181] For example, the specific process of scaling a perspective image to form a reference image with the same size as the battery device 100 can be as follows: Select multiple feature vertices of the battery device 100 (e.g., the four feature vertices at the outer corner of the housing 120) as standard reference points in the perspective image; eliminate perspective distortion using a perspective transformation algorithm to obtain an orthographic projection image; then measure the actual physical dimensions of the battery device 100 (e.g., the length and width of the housing 120); calculate the scaling ratio based on the image resolution; and scale the corrected image proportionally so that the pixel size of the battery device 100 in the image is in a fixed ratio to the actual physical size, thus forming the reference image. Of course, the above-described method of processing a perspective image into a reference image is only an exemplary processing method; other processing methods can also be used, and this application embodiment does not limit this.

[0182] Optionally, the scanning method for scanning the battery device 100 can be X-ray scanning, ultrasonic scanning, etc., and this application embodiment does not limit this.

[0183] S200: Construct a two-dimensional coordinate system on the reference image.

[0184] Optionally, such as Figure 6 and Figure 7 As shown, the origin O(0,0) of the constructed two-dimensional coordinate system can be the geometric center of the reference image.

[0185] S300: Based on a two-dimensional coordinate system, multiple trajectory points are defined along the outer periphery of the battery cell assembly 110 on the reference image. Adjacent trajectory points are connected to enclose a cutting trajectory 10 for cutting the cover plate 1204. The cutting trajectory 10 is located between the edge of the battery cell assembly 110 and the sidewall edge of the main body 1203. Figure 7 As shown.

[0186] The edge of the battery cell assembly 110 refers to the outer periphery of the area where the battery cell assembly 110 is located on the reference image.

[0187] The side wall edge of the main body 1203 refers to the edge of the side wall of the housing 120 near the battery cell assembly 110.

[0188] It should be understood that the trajectory points are not points on the edge of the battery cell assembly 110. The trajectory points are close to the edge of the battery cell assembly 110 and maintain a safe preset distance from the edge of the battery cell assembly 110. Specifically, when defining the trajectory points, trajectory points can be selected outside the edge of the battery cell assembly 110, and the closest distance between the trajectory point and the edge of the battery cell assembly 110 can be set as a preset distance. At the same time, it is also necessary to consider that the line connecting two adjacent trajectory points needs to maintain a certain safe distance from the edge of the battery cell assembly 110 so that the battery cell assembly 110 will not be cut when the cover plate 1204 is cut along the cutting trajectory 10.

[0189] It should be noted that the preset distance and safety distance can be selected to match the width of the cutting tool (e.g., a cutting laser or a water jet). Since the cutting tool has a certain width, when cutting the cover plate 1204 along the cutting trajectory 10, the cutting tool will have a certain depth in its width direction. That is, the cutting tool will cut off a portion of the cover plate 1204 along the cutting trajectory 10 near the battery cell assembly 110, which may result in cutting the battery cell assembly 110. Therefore, the influence of the width of the cutting tool needs to be considered when setting the preset distance and safety distance.

[0190] Optionally, the number of trajectory points can be two, three, four, five, or even more. It should be understood that the more trajectory points there are, the more accurate the enclosed cutting trajectory 10 will be. However, defining too many trajectory points will affect the efficiency of determining the cutting trajectory 10 and may also complicate the program. Therefore, the setting of the number of trajectory points needs to take into account factors such as the accuracy of the cutting trajectory 10, the efficiency of determination, and program design.

[0191] For example, one specific way to define multiple trajectory points and form the cutting trajectory 10 can be as follows: Figure 7As shown, based on a two-dimensional coordinate system, four vertices of the cover plate 1204 are defined on the reference image as points A, B, C, and D. Any one of these four vertices is connected to its two nearest neighbors by lines connecting points A and B, B and C, C and D, and D and A. This defines the area to be cut in the cover plate 1204. The lines enclosing this area are defined as trajectory lines. There are four trajectory lines: AB, BC, CD, and DA. These four trajectory lines form a cutting trajectory 10 for cutting the area. On the reference image, the four vertices are located one-to-one near the four vertices of the battery cell assembly 110, and each trajectory line is located between the edge of the battery cell assembly 110 and the sidewall edge of the main body 1203. Of course, the above-described scheme of defining multiple trajectory points and forming the cutting trajectory 10 is only an exemplary implementation method. Other implementation methods can also be used, and this application embodiment does not limit this.

[0192] S400: According to the preset cutting depth, control the cutting mechanism 40 to complete the cutting of the cover plate 1204 along the cutting trajectory 10.

[0193] The preset cutting depth refers to setting relevant parameters (such as the power of the cutting laser and the power of the cutting water flow) according to the thickness and material of the cover plate 1204 to match the cutting depth, so that the cutting depth is equal to or slightly greater than the thickness of the cover plate 1204. In this way, the cover plate 1204 can be cut without cutting other items below the cover plate 1204.

[0194] For example, a specific cutting method for controlling the cutting mechanism 40 to complete the cutting of the cover plate 1204 along the cutting trajectory 10 can be: as follows Figure 7 As shown, based on a two-dimensional coordinate system, the distances from point A to point B, point B to point C, point C to point D, and point D to point A are calculated. The cutting mechanism 40 is controlled to start cutting from point A and complete the cutting of the cover plate 1204 along the cutting trajectory 10 in the order of from point A to point B, from point B to point C, from point C to point D, and from point D back to point A. Of course, the above cutting method is only an exemplary implementation method. Other implementation methods can also be used, and this application embodiment does not limit this.

[0195] In actual operation, based on the cutting trajectory 10 constructed on the reference image, the system can control the cutting mechanism 40 to cut the cover plate 1204 on the battery device 100 according to the cutting trajectory 10. It should be understood that the system can control the cutting mechanism 40 to move clockwise or counterclockwise along the cutting trajectory 10, and the embodiments of this application are not limited in this respect.

[0196] In the above technical solution, by acquiring a reference image, the distribution of the battery cell assembly 110 within the housing 120 and the distance between the edge of the battery cell assembly 110 and the side wall edge of the housing 120 body 1203 can be accurately understood. By determining the cutting trajectory 10 on the reference image and ensuring that the cutting trajectory 10 maintains a safe distance from the edge of the battery cell assembly 110, the accuracy of cutting the cover plate 1204 can be improved, and the safety risk caused by cutting the battery cell assembly 110 during the cutting process can be reduced. Moreover, since the cutting of the cover plate 1204 can be completed by controlling the cutting mechanism 40 along the cutting trajectory 10, manual cutting of the cover plate 1204 is not required, thus reducing the risk of injury to the operator.

[0197] It should be noted that, in addition to the above-mentioned technical solutions, a 3D digital model of the battery device 100 can also be used to measure and determine the cutting trajectory 10. However, due to factors such as the adhesive coating on the sides of the battery cell assembly 110 inside the battery device 100, assembly errors of the incoming materials of the casing 120, deviations in the dimensions of the side foam, and measurement errors, there may be millimeter or even centimeter differences between the 3D digital model and the actual measurement results. Consequently, during subsequent cutting, the battery cell assembly 110 may be cut, thus causing safety risks. Compared to the solution of constructing a 3D digital model of the battery device 100, this solution uses a reference image of the battery device 100 and determines the cutting trajectory 10 based on multiple defined trajectory points, which can more accurately locate the cutting position.

[0198] refer to Figure 7 and Figure 8 , Figure 8 This is a flowchart illustrating the process of controlling the cutting mechanism to move to the cutting starting point in a disassembly method provided according to some embodiments of this application.

[0199] In some embodiments, before the cutting mechanism 40 completes the cutting of the cover plate 1204 along the cutting trajectory 10 according to a preset cutting depth, the disassembly method further includes:

[0200] S11: On the reference image, determine the starting point of the cut on the cut trajectory 10.

[0201] Optionally, the cutting start point on the cutting trajectory 10 is determined based on the point on the cutting trajectory 10 that is closest to the initial point of the cutting mechanism 40; that is, the cutting start point is the point on the cutting trajectory 10 that is closest to the initial point of the cutting mechanism 40. By adopting this structural design, and using the point on the cutting trajectory 10 that is closest to the initial point of the cutting mechanism 40 as the cutting start point, the distance the cutting mechanism 40 needs to move to the cutting trajectory 10 can be shortened, thus reducing energy consumption and improving work efficiency.

[0202] Optionally, the cutting start point on the cutting trajectory 10 is determined based on one of the multiple trajectory points; that is, the cutting start point is one of the multiple trajectory points. This structural design simplifies program design by using one of the multiple trajectory points as the cutting start point, eliminating the need to re-determine other points on the cutting trajectory 10 as cutting start points. For example, the cutting start point can be one of the four vertices of the cover plate 1204 on the reference image, i.e., the cutting start point can be one of point A, point B, point C, or point D.

[0203] Optionally, the cutting start point on the cutting trajectory 10 is determined based on the point among multiple trajectory points that is closest to the initial point of the cutting mechanism 40; that is, the cutting start point is the point among multiple trajectory points that is closest to the initial point of the cutting mechanism 40. This structural design simplifies program design and relatively shortens the distance the cutting mechanism 40 travels to the cutting trajectory 10, thereby saving energy and improving efficiency. For example, the cutting start point can be the point among the four vertices of the cover plate 1204 in the reference image that is closest to the initial point of the cutting mechanism 40, i.e., the cutting start point can be point A, point B, point C, or point D that is closest to the initial point of the cutting mechanism 40.

[0204] S12: Map the output end of the cutting mechanism 40 relative to the initial position of the battery device 100 onto the reference image and define it as the initial point L of the cutting mechanism 40.

[0205] Specifically, based on the principle of spatial coordinate system mapping, points in three-dimensional space can be mapped onto a two-dimensional plane, so that the initial position of the output end of the cutting mechanism 40 relative to the battery device 100 can correspond to the initial point L of the cutting mechanism 40 on the reference image.

[0206] The output end of the cutting mechanism 40 refers to the cutting head of the cutting mechanism 40, that is, the starting cutting part of the cutting mechanism 40 used to cut the cover plate 1204. For example, the output end of the cutting mechanism 40 can be the focusing lens of a laser cutting machine or the nozzle of a waterjet cutting machine.

[0207] The initial position of the output end of the cutting mechanism 40 relative to the battery device 100 refers to the geometric center of the orthographic projection of the output end of the cutting mechanism 40 onto the projection plane; wherein, the projection plane is the plane containing the surface of the cover plate 1204 on the side opposite to the battery cell assembly 110.

[0208] S13: Control the cutting mechanism 40 to move from its initial point L to the cutting start point.

[0209] Based on the initial point L and the cutting start point of the cutting mechanism 40 constructed on the reference image, in actual operation, the system can control the output end of the cutting mechanism 40 to move from its initial position to a position where the output end of the cutting mechanism 40 is vertically opposite to the cutting start point, so as to facilitate subsequent cutting work.

[0210] It should be noted that steps S11 and S12 can be performed in any order and can be performed simultaneously.

[0211] In the above technical solution, by determining the cutting start point and the initial point of the cutting mechanism 40, and by controlling the cutting mechanism 40 to move from its initial point to the cutting start point before cutting, the initial position of the cutting mechanism 40 is not limited, making the layout of the cutting mechanism 40 more flexible and beneficial to the structural layout of the disassembly equipment.

[0212] In some embodiments, such as Figure 7 As shown, controlling the cutting mechanism 40 to move from its initial point L to the cutting start point includes: calculating the distances from the initial point L to the cutting start point in the X-axis and Y-axis directions based on a two-dimensional coordinate system, so that the cutting mechanism 40 can move from its initial point along the X-axis and Y-axis directions to the cutting start point.

[0213] For ease of description, point A is taken as the starting point of cutting. The distance between the initial point L of the cutting mechanism 40 and point A in the X-axis direction is the absolute value of the difference between the X value of the initial point L of the cutting mechanism 40 and the X value of point A. The distance between the initial point L of the cutting mechanism 40 and point A in the Y-axis direction is the absolute value of the difference between the Y value of the initial point L of the cutting mechanism 40 and the Y value of point A.

[0214] It should be understood that during the movement of the cutting mechanism 40 from its initial point L to the cutting start point, the cutting mechanism 40 may first move along the X-axis and then along the Y-axis; or, the cutting mechanism 40 may first move along the Y-axis and then along the X-axis; the embodiments of this application do not limit this.

[0215] In the above technical solution, by calculating the moving distance of the cutting mechanism 40 in the X-axis and Y-axis directions, the cutting mechanism 40 can move accurately; moreover, by moving the cutting mechanism 40 along the X-axis and Y-axis directions, the two-dimensional motion structure of the cutting mechanism 40 can be realized, which has strong versatility and can be adapted to different working scenarios.

[0216] refer to Figure 9 , Figure 9 This is a flowchart of the disassembly method for hoisting the cover plate according to some embodiments of this application.

[0217] In some embodiments, after the cutting mechanism 40 completes the cutting of the cover plate 1204 along the cutting trajectory 10 according to a preset cutting depth, the disassembly method further includes:

[0218] S21: Control the suction component 503 on the hoisting mechanism 50 to move to the cover plate 1204.

[0219] The phrase "the adsorption component 503 moves to the cover plate 1204" means that the adsorption component 503 can be moved to the side of the cover plate 1204 away from the battery cell assembly 110 under the control of the hoisting mechanism 50, and part of the structure of the adsorption component 503 will come into contact with the cover plate 1204 so that the adsorption component 503 can be adsorbed onto the cover plate 1204 in the future.

[0220] S22: Control adsorption element 503 adsorption fixing cover plate 1204.

[0221] The adsorption element 503 adsorbs and fixes the cover plate 1204, which means that the adsorption element 503 can generate negative pressure and thus adsorb the cover plate 1204, so that the cover plate 1204 is fixed on the hoisting mechanism 50, so as to facilitate the subsequent hoisting of the cover plate 1204.

[0222] S23: Control the hoisting mechanism 50 to move the cover plate 1204.

[0223] The lifting mechanism 50 moves the cover plate 1204, which means that the cover plate 1204 is fixed by the adsorption component 503. The mechanical force of the lifting mechanism 50 can lift the adsorption component 503 and the cover plate 1204 together, so that the cover plate 1204 can be separated from the battery device 100 and transported to the next station.

[0224] In the above technical solution, by using the hoisting mechanism 50 to adsorb and fix the cover plate 1204, the gripping effect can be improved and the risk of detachment can be reduced. Moreover, the hoisting mechanism 50 can move the cut cover plate 1204 without manual handling, which can improve the automation level of the dismantling equipment, increase work efficiency, and at the same time reduce the risk of injury to the operator.

[0225] refer to Figure 7 and Figure 10 , Figure 10 This is a flowchart illustrating the process of controlling the movement of the adsorption component on the hoisting mechanism to the cover plate in a disassembly method provided according to some embodiments of this application.

[0226] In some embodiments, controlling the suction element 503 on the hoisting mechanism 50 to move to the cover plate 1204 includes:

[0227] S211: Map the geometric center of cover plate 1204 onto the reference image and define it as center point O1.

[0228] Specifically, based on the principle of spatial coordinate system mapping, points in three-dimensional space can be mapped onto a two-dimensional plane, so that the geometric center of the cover plate 1204 can correspond to the center point O1 on the reference image.

[0229] The geometric center of the cover plate 1204 refers to the geometric center of the surface of the cover plate 1204 facing away from the battery cell assembly 110. For example, if the surface of the cover plate 1204 facing away from the battery cell assembly 110 is a rectangle, the intersection of the two diagonals of the rectangle is the geometric center of the cover plate 1204.

[0230] S212: Map the center of the adsorption member 503 relative to the initial position of the battery device 100 onto the reference image and define it as reference point S.

[0231] Specifically, based on the principle of spatial coordinate system mapping, points in three-dimensional space can be mapped onto a two-dimensional plane, so that the initial position of the center of the adsorption component 503 relative to the battery device 100 can correspond to the reference point S on the reference image.

[0232] When there is only one adsorbent 503, the center of the adsorbent 503 is a point on the central axis of the adsorbent 503. The initial position of the center of the adsorbent 503 relative to the battery device 100 refers to the orthographic projection of the point on the central axis of the adsorbent 503 onto the projection plane; wherein, the projection plane is the plane containing the surface of the cover plate 1204 on the side opposite to the battery cell assembly 110.

[0233] When there are multiple adsorbents 503, the center of each adsorbent 503 is the geometric center of the area where the multiple adsorbents 503 are distributed. The area where the multiple adsorbents 503 are distributed refers to the region formed by connecting points on the central axis of the outermost multiple adsorbents 503 that lie in the same plane; for example, if the area where the multiple adsorbents 503 are distributed is a rectangle, the intersection of the two diagonals of the rectangle is the center of the adsorbent 503. The initial position of the center of the adsorbent 503 relative to the battery device 100 refers to the orthographic projection of the geometric center of the area where the multiple adsorbents 503 are distributed onto the projection plane; wherein, the projection plane is the plane containing the surface of the cover plate 1204 on the side opposite to the battery cell assembly 110.

[0234] S213: Control the suction component 503 on the hoisting mechanism 50 to move from the reference point S to the center point O1.

[0235] Based on the reference point S and center point O1 constructed on the reference image, in actual operation, the system can control the adsorption component 503 on the hoisting mechanism 50 to move from its initial position to the position where the center of the adsorption component 503 is vertically opposite to the center point O1, so as to facilitate subsequent hoisting work.

[0236] S214: Lower the hoisting mechanism 50 and move the adsorption component 503 to the cover plate 1204.

[0237] The lowering and hoisting mechanism 50 can drive the adsorption member 503 to move onto the cover plate 1204 from top to bottom along the direction perpendicular to the surface of the cover plate 1204 on the side opposite to the battery cell assembly 110.

[0238] Optionally, after the adsorption member 503 moves onto the cover plate 1204, half of the structure of the adsorption member 503 in its height direction contacts the cover plate 1204.

[0239] It should be noted that steps S211 and S212 can be performed in any order and can be performed simultaneously.

[0240] In the above technical solution, by determining the center point of the cover plate 1204 and the reference point of the adsorption member 503, and aligning the reference point of the adsorption member 503 with the center point, the adsorption member 503 can be accurately adsorbed in the central area of ​​the cover plate 1204 after the lifting mechanism 50 is lowered. This allows the cover plate 1204 to be subjected to uniform force when it is lifted, making it easier to quickly open the cover plate 1204. At the same time, the adsorption of the adsorption member 503 in the central area of ​​the cover plate 1204 also helps to maintain the balance of the cover plate 1204 when it is moved, improving the stability of the movement.

[0241] In some embodiments, such as Figure 7 As shown, controlling the suction component 503 on the hoisting mechanism 50 to move from the reference point S to the center point O1 includes: calculating the distance from the reference point S to the center point O1 in the X-axis and Y-axis directions based on the two-dimensional coordinate system, so that the suction component 503 on the hoisting mechanism 50 can move from the reference point S to the center point O1 along the X-axis and Y-axis directions.

[0242] Wherein, the distance between the reference point S and the center point O1 in the X-axis direction is the absolute value of the difference between the X value of the reference point S and the X value of the center point O1, and the distance between the reference point S and the center point O1 in the Y-axis direction is the absolute value of the difference between the Y value of the reference point S and the Y value of the center point O1.

[0243] It should be understood that during the movement of the adsorption member 503 from the reference point S to the center point O1, the adsorption member 503 may first move along the X-axis direction and then move along the Y-axis direction; or, the adsorption member 503 may first move along the Y-axis direction and then move along the X-axis direction; the embodiments of this application do not limit this.

[0244] In the above technical solution, by calculating the moving distance of the adsorption component 503 on the hoisting mechanism 50 in the X-axis and Y-axis directions, the adsorption component 503 on the hoisting mechanism 50 can move accurately; moreover, by moving the adsorption component 503 on the hoisting mechanism 50 along the X-axis and Y-axis directions, the two-dimensional motion structure of the adsorption component 503 on the hoisting mechanism 50 can be realized, which has strong versatility and can be adapted to different working scenarios.

[0245] refer to Figure 11 , Figure 11 This is a flowchart illustrating the process of controlling the adsorption of the fixed cover plate by the adsorption component in a disassembly method provided according to some embodiments of this application.

[0246] In some embodiments, controlling the adsorption element 503 to adsorb and fix the cover plate 1204 includes:

[0247] S221: Extract air from the adsorption component 503.

[0248] The inner cavity of the adsorption component 503 can be connected to the air pump 504. The air pump 504 can extract the air inside the adsorption component 503. As the air inside the adsorption component 503 gradually decreases, the adsorption component 503 can gradually be adsorbed onto the cover plate 1204.

[0249] S222: After extraction, check the air pressure inside the adsorption component 503.

[0250] The lower the air pressure inside the adsorption element 503, the less air is inside the adsorption element 503, and the greater the adsorption strength between the adsorption element 503 and the cover plate 1204. Therefore, detecting the air pressure inside the adsorption element 503 can determine the connection strength between the adsorption element 503 and the cover plate 1204.

[0251] S223: When the air pressure value is less than or equal to the preset threshold, it is determined that the adsorption element 503 has been adsorbed and fixed on the cover plate 1204.

[0252] When the air pressure inside the adsorption component 503 is less than or equal to a preset threshold, it indicates that the adsorption component 503 has been firmly attached to the cover plate 1204, and the system can control the hoisting mechanism 50 to carry out subsequent hoisting and moving of the cover plate 1204.

[0253] Optionally, the preset threshold can be 20 kPa, 30 kPa, 40 kPa, etc. It should be understood that the setting of the preset threshold is related to factors such as the weight of the cover plate 1204, the number of adsorption components 503, and the adhesive strength between the cover plate 1204 and the battery cell assembly 110. An appropriate preset threshold can be selected according to the above factors, and the embodiments of this application do not limit this.

[0254] S224: When the air pressure value is greater than the preset threshold, inflate the adsorption element 503 and restore the adsorption element 503 to its original state, and re-extract the air from the adsorption element 503 until the air pressure value is less than or equal to the preset threshold.

[0255] If the air pressure inside the adsorption element 503 is greater than the preset threshold, it indicates that the adsorption strength of the adsorption element 503 on the cover plate 1204 is insufficient, and the adsorption element 503 and the cover plate 1204 are not firmly connected. It is necessary to re-extract the air inside the adsorption element 503 until the air pressure requirement is met.

[0256] It should be noted that when there are multiple adsorption components 503, at least some of the adsorption components 503 must have an air pressure value less than or equal to a preset threshold when adsorbing and fixing the cover plate 1204. The specific number of adsorption components 503 that need to meet the requirement of having an air pressure value less than or equal to the preset threshold can be adapted and set according to factors such as the weight of the cover plate 1204 and the adhesive strength between the cover plate 1204 and the battery cell assembly 110.

[0257] In the above technical solution, by detecting the air pressure value inside the adsorption element 503, the adsorption strength of the adsorption element 503 on the cover plate 1204 can be determined, so as to reduce the probability of desorption when the cover plate 1204 is moved.

[0258] refer to Figure 7 and Figure 12 , Figure 12 This is a flowchart of assembling a counterweight mechanism for a battery device in a disassembly method provided according to some embodiments of this application.

[0259] In some embodiments, before the suction element 503 on the hoisting mechanism 50 is moved to the cover plate 1204, the disassembly method further includes:

[0260] S31: Map the position of the mounting hole 1205 on the main body 1203 onto the reference image and define it as the mounting point.

[0261] Specifically, based on the principle of spatial coordinate system mapping, points in three-dimensional space can be mapped onto a two-dimensional plane, so that the position of the mounting hole 1205 on the main body 1203 can correspond to the mounting point on the reference image.

[0262] The mounting hole 1205 on the main body 1203 can be a hole structure provided on the outer side wall of the main body 1203 to facilitate the hoisting and moving of the battery device 100 by a gantry crane. The position of the mounting hole 1205 on the main body 1203 refers to the point on the center line of the mounting hole 1205.

[0263] S32: Map the initial position of the plug 603 on the counterweight mechanism 60 relative to the battery device 100 onto the reference image and define it as the initial point of the plug 603.

[0264] Specifically, based on the principle of spatial coordinate system mapping, points in three-dimensional space can be mapped onto a two-dimensional plane, so that the initial position of the plug 603 on the counterweight mechanism 60 relative to the battery device 100 can correspond to the initial point of the plug 603 on the reference image.

[0265] The initial position of the plug 603 on the counterweight mechanism 60 relative to the battery device 100 refers to the geometric center of the orthographic projection of the plug 603 on the projection plane; wherein, the projection plane is the plane on the side of the cover plate 1204 facing away from the battery cell assembly 110.

[0266] S33: Control the plug 603 on the counterweight mechanism 60 to move from the initial point of the plug 603 to the mounting point.

[0267] Based on the initial point and mounting point of the plug-in 603 constructed on the reference image, in actual operation, the system can control the plug-in 603 on the counterweight mechanism 60 to move from its initial position to a position where the plug-in 603 is vertically opposite to the mounting point, so as to facilitate the subsequent work of increasing the weight of the battery device 100.

[0268] S34: Lower the counterweight mechanism 60 and insert the plug 603 into the mounting hole 1205 to fix the counterweight mechanism 60 to the main body 1203.

[0269] The lowering counterweight mechanism 60 can drive the plug 603 into the mounting hole 1205 from top to bottom along the direction of the surface of the cover plate 1204 that is perpendicular to the side facing away from the battery cell assembly 110.

[0270] Optionally, the number of mounting holes 1205 on the main body 1203 can be multiple, and correspondingly, the number of plugs 603 on the counterweight mechanism 60 can also be matched.

[0271] For example, there are four mounting holes 1205 arranged in a rectangular array on both sides of the battery device 100. There are two counterweight mechanisms 60, each with two inserts 603. Each counterweight mechanism 60 can be fixed to the main body 1203 by inserting its two inserts 603 into two adjacent mounting holes 1205. The four mounting holes 1205 can map four mounting points, which can be points G1, G2, G3, and G4, arranged in a rectangular array on the reference image. Furthermore, each of the four mounting points corresponds one-to-one with one of the four inserts 603. Of course, the above-described arrangement of the mounting holes 1205 and inserts 603 is only one exemplary implementation; other implementations are possible, and this application does not limit this.

[0272] It should be noted that steps S31 and S32 can be performed in any order and can be performed simultaneously; moreover, if the counterweight mechanism 60 is fixed on the main body 1203 and does not interfere with the cutting operation of the cutting mechanism 40, steps S33 and S400 can be performed in any order and can be performed simultaneously.

[0273] In the above technical solution, by inserting and fixing the counterweight mechanism 60 onto the main body 1203, the weight of the battery device 100 can be increased, reducing the probability of the battery device 100 moving when the cover plate 1204 is moved, which helps to stabilize the separation between the cover plate 1204 and the main body 1203.

[0274] In some embodiments, such as Figure 7 As shown, controlling the movement of the plug 603 on the counterweight mechanism 60 from its initial point to the mounting point includes: calculating the distances from the initial point of the plug 603 to the mounting point in the X-axis and Y-axis directions based on a two-dimensional coordinate system, so that the plug 603 on the counterweight mechanism 60 can move from its initial point along the X-axis and Y-axis directions to the mounting point.

[0275] Wherein, the distance between the initial point and the mount point of plug-in 603 in the X-axis direction is the absolute value of the difference between the X value of the initial point of plug-in 603 and the X value of the mount point, and the distance between the initial point and the mount point of plug-in 603 in the Y-axis direction is the absolute value of the difference between the Y value of the reference point S and the Y value of the mount point.

[0276] It should be understood that during the movement of the plug-in 603 from its initial point to its mount point, the plug-in 603 may first move along the X-axis and then along the Y-axis; or, the plug-in 603 may first move along the Y-axis and then along the X-axis; the embodiments of this application do not limit this.

[0277] In the above technical solution, by calculating the moving distance of the plug 603 on the counterweight mechanism 60 in the X-axis and Y-axis directions, the plug 603 can move accurately; moreover, by moving the plug 603 along the X-axis and Y-axis directions, the two-dimensional motion structure of the plug 603 can be realized, which has strong versatility and can be adapted to different working scenarios.

[0278] like Figures 3 to 12As shown in the embodiment of this application, a method for disassembling a battery device 100 includes: S100: acquiring a reference image that can display the distribution of battery cell assembly 110 within the housing 120, the reference image being acquired by scanning the battery device 100 along a direction perpendicular to and towards the cover plate 1204; S200: constructing a two-dimensional coordinate system on the reference image; S300: defining multiple trajectory points along the outer periphery of the edge of the battery cell assembly 110 on the reference image based on the two-dimensional coordinate system, and connecting adjacent trajectory points to enclose a cutting trajectory 10 for cutting the cover plate 1204, wherein the cutting trajectory 10 is located between the edge of the battery cell assembly 110 and the side wall edge of the main body 1203; S400: controlling the cutting mechanism 40 to complete the cutting of the cover plate 1204 along the cutting trajectory 10 according to a preset cutting depth. Before step S400, the disassembly method further includes: S11: determining the cutting start point on the cutting trajectory 10 on the reference image; S12: mapping the initial position of the output end of the cutting mechanism 40 relative to the battery device 100 onto the reference image and defining it as the initial point L of the cutting mechanism 40; S13: controlling the cutting mechanism 40 to move from the initial point L to the cutting start point. After step S400, the disassembly method further includes: S21: controlling the suction member 503 on the lifting mechanism 50 to move to the cover plate 1204; S22: controlling the suction member 503 to suction and fix the cover plate 1204; S23: controlling the lifting mechanism 50 to move the cover plate 1204. Step S21 includes: S211: mapping the geometric center of the cover plate 1204 onto the reference image and defining it as center point O1; S212: mapping the initial position of the center of the adsorption member 503 relative to the battery device 100 onto the reference image and defining it as reference point S; S213: controlling the adsorption member 503 on the hoisting mechanism 50 to move from reference point S to center point O1; S214: lowering the hoisting mechanism 50 and moving the adsorption member 503 to the cover plate 1204. Step S22 includes: S221: Extracting air from the adsorption component 503; S222: After extraction, detecting the air pressure inside the adsorption component 503; S223: When the air pressure is less than or equal to a preset threshold (e.g., 20 kPa), confirming that the adsorption component 503 has been adsorbed and fixed on the cover plate 1204; S224: When the air pressure is greater than the preset threshold, inflating the adsorption component 503 and restoring the adsorption component 503 to its original state, and extracting air from the adsorption component 503 again until the air pressure is less than or equal to the preset threshold.Before step S21, the disassembly method further includes: S31: mapping the position of the mounting hole 1205 on the main body 1203 onto the reference image and defining it as the mounting point; S32: mapping the initial position of the plug 603 on the counterweight mechanism 60 relative to the battery device 100 onto the reference image and defining it as the initial point of the plug 603; S33: controlling the plug 603 on the counterweight mechanism 60 to move from the initial point of the plug 603 to the mounting point; S34: lowering the counterweight mechanism 60 and placing the plug 603 into the mounting hole 1205 to fix the counterweight mechanism 60 to the main body 1203. In this case, steps S11 and S12 can be performed in any order and can be performed simultaneously; steps S211 and S212 can be performed in any order and can be performed simultaneously; steps S31 and S32 can be performed in any order and can be performed simultaneously; and, if the counterweight mechanism 60 is fixed on the main body 1203 and does not interfere with the cutting operation of the cutting mechanism 40, steps S33 and S400 can be performed in any order and can be performed simultaneously.

[0279] Secondly, embodiments of this application also provide a control device, including a memory and a processor. The memory stores a control program, and the processor executes the control program to implement the steps of the disassembly method provided in any embodiment of the first aspect.

[0280] The processor, functional modules, or functional units in any embodiment of this application may include an integration of one or more of the following: a general-purpose processor, an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field-programmable gate array (FPGA), a central processing unit (CPU), a graphics processing unit (GPU), an embedded neural network processing unit (NPU), a controller, a microcontroller, a microprocessor, a programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, a quantum computing-based data processing logic unit, an artificial intelligence (AI) processor, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0281] refer to Figure 13 and Figure 14 , Figure 13 This is a three-dimensional structural diagram of a disassembly device provided according to some embodiments of this application; Figure 14 This is a top view of a disassembly device provided according to some embodiments of this application.

[0282] Thirdly, embodiments of this application also provide a disassembly apparatus for a battery device 100, including a disassembly platform 20, a scanning mechanism 30, a control device, and a cutting mechanism 40. The disassembly platform 20 is configured to carry the battery device 100. The scanning mechanism 30 is configured to scan the battery device 100 in a direction perpendicular to and toward the cover plate 1204, acquire a reference image of the battery device 100, and transmit it to the control device. The control device is configured to acquire the reference image and execute the disassembly method provided in any embodiment of the first aspect. The cutting mechanism 40 is configured to, under the control of the control device, cut the cover plate 1204 according to a preset cutting depth and along a cutting trajectory 10.

[0283] Specifically, such as Figure 7 and Figure 14 As shown, the disassembly platform 20 is provided with a disassembly area 201, which can be used to support the battery device 100 so as to support the scanning mechanism 30 to scan the battery device 100 and the cutting mechanism 40 to cut the battery device 100.

[0284] For example, the specific process of transporting the battery device 100 to be disassembled to the disassembly area 201 may be as follows: a robotic arm picks up the battery device 100 to be disassembled, and according to a pre-set program, transports the battery device 100 to be disassembled to the disassembly area 201 for disassembly. Of course, the method of transporting the battery device 100 to be disassembled to the disassembly area 201 can also be other methods. For example, a conveyor belt can be used to transport the battery device 100 to be disassembled to the disassembly area 201. This application embodiment is not limited in this respect.

[0285] For example, one specific structure of the disassembly platform 20 may be: such as Figure 13 and Figure 14As shown, the disassembly platform 20 includes a support frame formed by connecting crossbeams and longitudinal beams. The support frame can be placed horizontally, and a disassembly area 201 is formed above the support frame to support the battery device 100. The disassembly area 201 may have at least two crossbeams, and these at least two crossbeams may be spaced apart on the base plate of the battery device 100, so that the battery device 100 is generally laid flat. Of course, the specific structure of the disassembly platform 20 described above is only one exemplary embodiment; other embodiments may also be used, and this application does not limit this.

[0286] It should be noted that, in order to reduce safety risks, fencing 202 can also be installed around the dismantling platform 20, such as... Figure 13 As shown.

[0287] Optionally, the scanning mechanism 30 may include, but is not limited to, an X-ray scanner or an ultrasound scanner.

[0288] To facilitate the description of the specific structure of the scanning mechanism 30, the following explanation uses an X-ray scanner as an example: Figure 13 As shown, the X-ray scanner includes an X-ray generator 301, a flat panel detector 302, and a data processing unit. The X-ray generator 301 is positioned above the battery device 100 and emits penetrating X-rays toward the cover plate 1204 on the upper part of the battery device 100. The flat panel detector 302 is positioned below the battery device 100 and receives the X-rays penetrating the battery device 100, converting them into quantifiable electrical signals. The data processing unit converts the electrical signals into digital signals and generates a reference image reflecting the internal structure of the battery device 100. The reference image can be transmitted to a control device. Of course, the specific construction of the scanning mechanism 30 described above is only an exemplary embodiment. Other embodiments can also be used, and this application does not limit this.

[0289] It should be noted that the X-ray generator 301 in the scanning mechanism 30 can be in a fixed state, that is, it can complete the scanning of the battery device 100 without moving. The X-ray generator 301 can also be moved along the X and Y axes on the horizontal plane to adjust the scanning position and realize the scanning of more types of battery devices 100. Whether the X-ray generator 301 needs to move during operation can be adapted and selected according to factors such as scanning method, type of scanning mechanism 30, and detection target. This application embodiment does not limit this.

[0290] Optionally, the cutting mechanism 40 may include, but is not limited to, a laser cutter or a waterjet cutter.

[0291] To facilitate the description of the specific structure of the cutting mechanism 40, the following explanation uses a laser cutting machine as an example: Figure 13As shown, the laser cutting machine is positioned above the battery device 100 and can emit a laser beam toward the cover plate 1204 on the upper part of the battery device 100 to cut the cover plate 1204. Specifically, the laser cutting machine includes a laser, a laser cutting head, an auxiliary gas system, and a cutting controller. The laser can generate a high-energy-density laser beam. The laser cutting head integrates a focusing lens and a nozzle. The focusing lens can focus the laser beam into a micron-sized spot to increase the energy density. The nozzle can spray auxiliary gas to remove molten slag and protect the lens of the focusing lens. The auxiliary gas system can provide compressed gas and spray it out through the nozzle to assist in slag removal, cooling the cut, and improving the cut quality. The cutting controller can control the operation of the laser cutting machine according to instructions and can synchronously adjust the laser power and gas flow rate to achieve automation and precision in the cutting process. The laser cutting machine can also be externally connected to a motion platform. The motion platform may include CNC guide rails and can drive the laser and laser cutting head to move along a preset path. The motion platform can also be connected to a cutting controller, which can receive the cutting trajectory 10 output by the control device and convert it into control commands to control the motion platform to drive the laser and laser cutting head to move precisely along the cutting trajectory 10, thereby completing the cutting of the cover plate 1204. Of course, the specific structure of the cutting mechanism 40 described above is only an exemplary implementation method. Other implementation methods can also be used, and this application embodiment does not limit this.

[0292] In the above technical solution, by acquiring a reference image through the scanning mechanism 30, the distribution of the battery cell assembly 110 within the housing 120 and the distance between the edge of the battery cell assembly 110 and the side wall edge of the housing 120 body 1203 can be accurately understood. By determining the cutting trajectory 10 on the reference image and ensuring that the cutting trajectory 10 maintains a safe distance from the edge of the battery cell assembly 110, the accuracy of cutting the cover plate 1204 can be improved, and the safety risk caused by cutting the battery cell assembly 110 during the cutting process can be reduced. Moreover, since the cutting of the cover plate 1204 can be completed by controlling the cutting mechanism 40 along the cutting trajectory 10, manual cutting of the cover plate 1204 is not required, thus reducing the risk of injury to the operator.

[0293] In some embodiments, such as Figure 13 As shown, the disassembly equipment also includes a first XY two-axis motion platform 70. The cutting mechanism 40 is disposed facing the cover plate 1204; the cutting mechanism 40 is connected to the output end of the first XY two-axis motion platform 70 so that the cutting mechanism 40 can move along the X-axis and Y-axis directions based on a two-dimensional coordinate system.

[0294] The first XY two-axis motion platform 70 can be set above the disassembly platform 20. Taking the cutting mechanism 40 as an example of using a laser cutting machine, the laser of the laser cutting machine is connected to the output end of the first XY two-axis motion platform 70. Under the control of the cutting controller or control device, the first XY two-axis motion platform 70 can drive the laser and laser cutting head to move precisely along the cutting trajectory 10 to complete the cutting of the cover plate 1204.

[0295] It should be noted that, in order to facilitate cutting, when constructing the cutting trajectory 10, the trajectory line on the cutting trajectory 10 can be made parallel to the X-axis or Y-axis of the two-dimensional coordinate system to improve the working efficiency of the cutting mechanism 40.

[0296] In the above technical solution, the first XY two-axis motion platform 70 can drive the cutting mechanism 40 to move along the X-axis and Y-axis directions, thereby realizing the two-dimensional planar motion of the cutting mechanism 40, which can increase the working range of the cutting mechanism 40 and complete the cutting of the cover plate 1204 in one go, thus improving work efficiency.

[0297] refer to Figure 13 , Figure 15 and Figure 16 , Figure 15 This is a three-dimensional structural schematic diagram of a hoisting mechanism provided according to some embodiments of this application at one angle; Figure 16 This is a three-dimensional structural schematic diagram of a hoisting mechanism provided according to some embodiments of this application from another angle.

[0298] In some embodiments, such as Figure 13 As shown, the disassembly equipment also includes a second XY two-axis motion platform 80 and a hoisting mechanism 50. The hoisting mechanism 50 is connected to the output end of the second XY two-axis motion platform 80 so that the hoisting mechanism 50 can move along the X-axis and Y-axis directions based on a two-dimensional coordinate system.

[0299] The second XY two-axis motion platform 80 is located above the disassembly platform 20. The output end of the second XY two-axis motion platform 80 is connected to the hoisting mechanism 50, which can face the battery device 100 to facilitate the hoisting of the cover plate 1204.

[0300] Optionally, the second XY two-axis motion platform 80 can be controlled by a control device to drive the lifting mechanism 50 to move in the X-axis and Y-axis directions.

[0301] In the above technical solution, the second XY two-axis motion platform 80 can drive the hoisting mechanism 50 to move along the X-axis and Y-axis directions, thereby realizing the two-dimensional planar motion of the hoisting mechanism 50, which can increase the working range of the hoisting mechanism 50, and can also adjust the position of the hoisting mechanism 50 so that the hoisting mechanism 50 can be accurately hoisted to the central area of ​​the cover plate 1204.

[0302] Furthermore, such as Figure 15 and Figure 16 As shown, the hoisting mechanism 50 includes a hoisting base plate 501, a base plate lifter 502, an adsorption member 503, an air pump 504, and a hoisting controller 506. The hoisting base plate 501 is disposed facing the cover plate 1204; the base plate lifter 502 is fixed to the output end of the second XY two-axis motion platform 80, and the base plate lifter 502 is configured to drive the hoisting base plate 501 closer to or away from the cover plate 1204; the adsorption member 503 is disposed on the side of the hoisting base plate 501 facing the cover plate 1204; the air pump 504 is configured to extract air from the inside of the adsorption member 503 or inflate the inside of the adsorption member 503; the hoisting controller 506 is configured to control the operation of the base plate lifter 502 and the air pump 504.

[0303] Optionally, the lifting base plate 501 can be a flat plate structure, with the bottom surface of the lifting base plate 501 facing the side of the cover plate 1204 and an adsorption component 503 can be arranged thereon, and the top surface of the lifting base plate 501 can be connected to the output end of the base plate lifter 502.

[0304] Optionally, the base plate lifter 502 can be an electric lifter, a hydraulic lifter, a pneumatic lifter, etc.

[0305] To facilitate the description of the specific structure of the substrate lifting device 502, the following description takes an electric lifting device as an example: The electric lifting device includes a motor and a lead screw and nut mechanism. The motor can be connected to the lead screw, and the nut can be fixed to the lifting substrate 501 through a connector. Under the control of the lifting controller 506, the motor can drive the lead screw to rotate and drive the nut to move in a straight line, thereby realizing the lifting of the lifting substrate 501 and enabling the lifting substrate 501 to move closer to or away from the cover plate 1204. Alternatively, the electric lift can also be a combination of a motor and a cable 5021. One end of the cable 5021 is connected to the output shaft of the motor, and the other end is connected to the lifting base plate 501. Under the control of the lifting controller 506, the motor rotates forward to wind the cable 5021 around the output shaft, thereby raising the lifting base plate 501. Reversing the motor releases the cable 5021 from the output shaft, thereby lowering the lifting base plate 501. To ensure stability during the lifting process, a guide rod (not shown) can be provided to the lifting base plate 501, allowing it to move only along the guide rod during lifting. Of course, the specific construction of the base plate lift 502 described above is only one exemplary embodiment; other embodiments are also possible, and this application does not limit this.

[0306] Optionally, such as Figure 16 As shown, there are multiple adsorption elements 503, and these adsorption elements 503 are arranged in an array. By adopting the above structural design and setting multiple arrayed adsorption elements 503, the adsorption capacity of the lifting mechanism 50 can be enhanced, thereby further improving the gripping effect and reducing the risk of desorption.

[0307] To facilitate the description of the specific structure of the adsorption component 503 and its relationship with the air pump 504, the following explanation uses a suction cup as an example for the adsorption component 503: Figure 15 As shown, the suction cup is fixed to the side of the lifting base plate 501 facing the cover plate 1204, with the suction port of the suction cup facing the cover plate 1204. The air pump 504 is connected to the internal cavity of the suction cup via a hose 505. Under the control of the lifting controller 506, the air pump 504 can extract air from the inside of the suction cup, allowing the suction cup to adhere to the cover plate 1204. Simultaneously, the air pump 504 can also inflate the inside of the suction cup, allowing it to return to its original shape and detach from the cover plate 1204. An airflow channel can also be provided inside the lifting base plate 501, with one end connected to the hose 505 connected to the air pump 504 and the other end connected to the internal cavity of the suction cup. Of course, the specific structure of the suction member 503 and its relationship with the air pump 504 described above is only one exemplary embodiment; other embodiments can also be used, and this application does not limit this.

[0308] Optionally, such as Figure 15 As shown, parts of the air pump 504, the hoisting controller 506, and the base plate lifter 502 can be integrated into the hoisting control box 507, which is connected to the output end of the second XY two-axis motion platform 80.

[0309] Optionally, the hoisting controller 506 may be part of the control device, or the hoisting controller 506 may be electrically connected to the control device and may control the operation of the base plate lifter 502 and the air pump 504 by receiving instructions from the control device.

[0310] In the above technical solution, the substrate lifting device 502 can move the lifting substrate 501 and the adsorption component 503 closer to or away from the cover plate 1204, so as to adsorb and fix the cover plate 1204 and lift the cut cover plate 1204, thereby separating the cover plate 1204 from the main body 1203 of the battery device 100. In addition, the lifting mechanism 50 uses adsorption to adsorb and fix the cover plate 1204, which can improve the gripping effect and reduce the risk of detachment.

[0311] In some embodiments, such as Figure 16 As shown, the hoisting mechanism 50 also includes a pressure sensor 508, which is configured to detect the air pressure value inside the adsorption component 503 and feed it back to the hoisting controller 506.

[0312] Specifically, taking the suction cup as an example of the adsorption component 503, after the air pump 504 finishes extracting the air from the suction cup, the air pressure sensor 508 can detect the air pressure value in the suction cup and feed it back to the hoisting controller 506. The hoisting controller 506 can make a judgment based on the preset conditions and air pressure value. According to the judgment result, it can issue an instruction to control the hoisting structure to move the cover plate 1204 or control the air pump 504 to inflate the suction cup and re-extract the air from the suction cup.

[0313] Optionally, the pressure sensor 508 can be located at the top of the internal cavity of the suction cup; thus, when the suction cup is firmly attached to the cover plate 1204, the pressure sensor 508 will not be damaged by compression.

[0314] In the above technical solution, by setting up a pressure sensor 508 to collect the pressure value inside the adsorption component 503 and feeding it back to the hoisting controller 506, the adsorption strength of the adsorption component 503 adsorbed on the cover plate 1204 can be determined, so as to reduce the probability of desorption when moving the cover plate 1204.

[0315] refer to Figure 13 , Figure 17 and Figure 18 , Figure 17 This is a three-dimensional structural schematic diagram of a counterweight mechanism provided according to some embodiments of this application at one angle; Figure 18This is a three-dimensional structural schematic diagram of a counterweight mechanism provided according to some embodiments of this application, showing a structural schematic diagram of a first plug-in driving component.

[0316] In some embodiments, such as Figure 13 As shown, the disassembly equipment also includes a third XY two-axis motion platform 90 and a counterweight mechanism 60. The counterweight mechanism 60 is connected to the output end of the third XY two-axis motion platform 90 so that the counterweight mechanism 60 can move along the X-axis and Y-axis directions based on a two-dimensional coordinate system.

[0317] The third XY two-axis motion platform 90 is located above the disassembly platform 20. The output end of the third XY two-axis motion platform 90 is connected to a counterweight mechanism 60, which allows the counterweight mechanism 60 to face the battery device 100, so as to facilitate the assembly of the counterweight mechanism 60 onto the battery device 100.

[0318] Optionally, the third XY two-axis motion platform 90 can be controlled by a control device to drive the counterweight mechanism 60 to move in the X-axis and Y-axis directions.

[0319] It should be noted that if the initial position of the counterweight mechanism 60 corresponds vertically to its mounting position on the battery device 100, then the third XY two-axis motion platform 90 may not be required; only the counterweight mechanism 60 needs to be equipped with vertical movement in the Z direction.

[0320] In the above technical solution, the third XY two-axis motion platform 90 can drive the counterweight mechanism 60 to move along the X-axis and Y-axis directions, thereby realizing the two-dimensional planar motion of the counterweight mechanism 60, which can increase the working range of the counterweight mechanism 60, and can also adjust the initial position of the counterweight mechanism 60 so that the counterweight mechanism 60 can be assembled onto the battery device 100.

[0321] Furthermore, such as Figure 17 and Figure 18 As shown, the counterweight mechanism 60 includes a counterweight 601, a counterweight lifter 602, a plug 603, and a counterweight controller 604. The counterweight lifter 602 is fixed to the output end of the third XY two-axis motion platform 90, and is configured to drive the counterweight 601 closer to or further away from the battery device 100. The plug 603 is located on the side of the counterweight 601 facing the battery device 100, and is configured to be able to be inserted into the mounting hole 1205 on the main body 1203 to fix the counterweight 601 to the side of the battery device 100. The counterweight controller 604 is configured to control the operation of the counterweight lifter 602.

[0322] Optionally, such as Figure 17 and Figure 18As shown, the counterweight 601 can be a strip plate. The bottom surface of the counterweight 601 faces the side of the battery device 100 and can be equipped with plugs 603. The top surface of the counterweight 601 can be connected to the output end of the counterweight lifter 602.

[0323] The specific structure of the counterweight lifter 602 is similar to that of the base plate lifter 502 described above. The main difference lies in the target of the drive: the base plate lifter 502 is used to lift the base plate 501 and the suction component 503, while the counterweight lifter 602 is used to lift the counterweight component 601 and the plug-in 603. Therefore, the specific structure of the counterweight lifter 602 can be referred to the base plate lifter 502 described above, and will not be repeated here.

[0324] Optionally, such as Figure 18 As shown, there are at least two plug-ins 603, which are distributed along the extension direction of the counterweight 601, and each plug-in 603 can be inserted into its corresponding mounting hole 1205. With this structural design, by providing at least two plug-ins 603 on the counterweight 601, and ensuring that each plug-in 603 can be inserted into its corresponding mounting hole 1205, the counterweight 601 can be more stably attached and fixed to the main body 1203 of the battery device 100.

[0325] Optionally, the plug-in 603 is rod-shaped, and its diameter may be slightly smaller than that of the mounting hole 1205 to facilitate the insertion and assembly between the plug-in 603 and the mounting hole 1205.

[0326] Optionally, such as Figure 17 As shown, some structures of the counterweight controller 604 and the counterweight lifter 602 can be integrated into the counterweight control box 605, which is connected to the output end of the third XY two-axis motion platform 90.

[0327] Optionally, the counterweight controller 604 may be part of the control device, or the counterweight controller 604 may be electrically connected to the control device and may control the operation of the counterweight lifter 602 by receiving instructions from the control device.

[0328] It should be noted that, in order not to affect the hoisting or cutting of the cover plate 1204, the shape and size of the counterweight 601 can be designed so that the counterweight 601 assembled on the battery device 100 is located on the outside of the side wall of the battery device 100.

[0329] In the above technical solution, the counterweight lifter 602 can drive the counterweight 601 to be inserted and fixed on the main body 1203, thereby increasing the weight of the battery device 100. This reduces the probability of the battery device 100 moving when the cover plate 1204 is moved, and helps to stably separate the cover plate 1204 from the main body 1203.

[0330] refer to Figures 17 to 21 , Figure 19 for Figure 18 A magnified structural diagram of part E in the middle; Figure 20 This is a bottom view of a counterweight provided according to some embodiments of this application, showing a structural schematic diagram of a second type of plug-in driving component; Figure 21 The diagram below shows a bottom view of a counterweight provided according to some embodiments of this application, which illustrates a structural schematic of a third plug-in driver component.

[0331] In some embodiments, such as Figure 18 As shown, the counterweight mechanism 60 also includes a plug-in drive component 606, which is connected between the counterweight 601 and the plug-in 603. The plug-in drive component 606 is configured to drive the plug-in 603 to move along the X-axis and / or Y-axis of the two-dimensional coordinate system.

[0332] The plug-in driver component 606 can have various structural forms, as follows:

[0333] The first type, such as Figure 18 and Figure 19As shown, taking two plug-in 603s as an example, the plug-in drive assembly 606 includes a drive motor 6061 and a bidirectional lead screw mechanism 6062. The bidirectional lead screw mechanism 6062 includes a screw 60621, two sliding blocks 60622, and a linear slide rail 60623. The screw 60621 has two sections of threads with opposite directions of rotation. The two sliding blocks 60622 are threadedly connected to the two sections of threads in a corresponding manner. The two sliding blocks 60622 are also slidably connected to the linear slide rail 60623. The screw 60621 is connected to the output shaft of the drive motor 6061. Driven by the drive motor 6061, the screw 60621 rotates and can drive the two sliding blocks 60622 to move towards each other or away from each other along the linear slide rail 60623, so that the two sliding blocks 60622 can move closer to each other or further away from each other. Thus, the two plug-ins 603 can be fixed one-to-one on the two sliding blocks 60622, and driven by the motor, the two plug-ins 603 can move closer or further apart along the X-axis or Y-axis. This structural design allows for simultaneous adjustment of the positions of the two plug-ins 603. Since the two plug-ins 603 are already in position in one of the X-axis or Y-axis directions, only the counterweight mechanism 60 needs to be moved in the other direction to adjust their positions, allowing them to be properly inserted into their respective mounting holes 1205.

[0334] The second type, such as Figure 20 As shown, taking one plug-in 603 as an example, the plug-in drive assembly 606 includes a linear drive mechanism 6063, which is a mechanism capable of driving the plug-in 603 to move linearly, such as an electric cylinder or a pneumatic cylinder. The linear drive mechanism 6063 is connected to the bottom surface of the counterweight 601, and the plug-in 603 is connected to the output end of the linear drive mechanism 6063. Under the drive of the linear drive mechanism 6063, the plug-in 603 can move along the X-axis or Y-axis. With this structural design, the position of the plug-in 603 in one of the X-axis or Y-axis directions can be adjusted. Only the counterweight mechanism 60 needs to be moved in the other direction to adjust the position of the plug-in 603, allowing it to be properly inserted into its corresponding mounting hole 1205.

[0335] The third type, such as Figure 21As shown, taking one plug-in 603 as an example, the plug-in drive assembly 606 includes two linear drive mechanisms. These linear drive mechanisms, such as electric cylinders or pneumatic cylinders, are mechanisms capable of driving the plug-in 603 to move linearly. Specifically, the two linear drive mechanisms are a first drive mechanism 6064 and a second drive mechanism 6065. The first drive mechanism 6064 is connected to the bottom surface of the counterweight 601, and the second drive mechanism 6065 is connected to the output end of the first drive mechanism 6064. The plug-in 603 is connected to the output end of the second drive mechanism 6065. Under the drive of the first drive mechanism 6064, the second drive mechanism 6065 and the plug-in 603 can move along the X-axis. Under the drive of the second drive mechanism 6065, the plug-in 603 can move along the Y-axis. With this structural design, the position adjustment of the plug-in 603 can be completed solely through the plug-in drive assembly 606, allowing the plug-in 603 to be properly inserted into its corresponding mounting hole 1205.

[0336] Of course, the above-described structure of the plug-in driver component 606 is only one of the exemplary implementations. Other implementations may also be adopted, and this application does not limit them.

[0337] It should be noted that the plug-in drive component 606 can be configured with a separate plug-in controller 607 to control the plug-in drive component 606 to move the plug-in 603. The plug-in controller 607 can also be electrically connected to the counterweight controller 604 or a control device to control the movement of the plug-in 603 by receiving instructions from the control device; the plug-in controller 607 can also be integrated into the counterweight control box 605. Alternatively, the plug-in drive component 606 can drive the plug-in 603 to move under the control of the counterweight controller 604 or the control device to complete the position adjustment of the plug-in 603.

[0338] In the above technical solution, the plug-in drive component 606 can drive the plug-in 603 to move along the X-axis and / or Y-axis, which can reduce or eliminate the need for the overall movement of the counterweight mechanism 60 to adjust the position of the plug-in 603 so that the plug-in 603 corresponds to the position of the mounting hole 1205. This structural design can reduce energy consumption by reducing the overall movement of the counterweight mechanism 60, and can also make the adjustment of the plug-in 603 more flexible and the position adjustment more precise.

[0339] In some embodiments, such as Figure 13 As shown, there are two counterweight mechanisms 60, and the two counterweight mechanisms 60 can be fixed relatively on both sides of the battery device 100.

[0340] In the above technical solution, by setting two counterweight mechanisms 60 arranged opposite to each other, and when the two counterweight mechanisms 60 act on the battery device 100 at the same time, the weight of the battery device 100 can be increased on the one hand, and the counterweight balance on both sides of the battery device 100 can be maintained on the other hand, thereby improving the stability of the battery device 100.

[0341] It should be noted that the number of counterweight mechanisms 60 can be set to two or more, which can further increase the weight of the battery device 100 and improve its stability. The number of counterweight mechanisms 60 can be adapted and adjusted according to specific needs, and this embodiment of the application does not limit this.

[0342] like Figures 13 to 21As shown in the embodiment of this application, a disassembly device for a battery device 100 is provided. The disassembly device includes a disassembly platform 20, a scanning mechanism 30, a cutting mechanism 40, a hoisting mechanism 50, a counterweight mechanism 60, and a control device. The disassembly platform 20 includes a support frame formed by connecting crossbeams and longitudinal beams. The support frame can be placed horizontally, and a disassembly area 201 is formed above the support frame to support the battery device 100. The scanning mechanism 30 can be an X-ray scanner, which includes an X-ray generator 301, a flat panel detector 302, and a data processing unit. The X-ray generator 301 is positioned above the battery device 100 and emits penetrating X-rays perpendicular to and towards the cover plate 1204 above the battery device 100. The flat panel detector 302 is positioned below the battery device 100 and receives the X-rays penetrating the battery device 100, converting them into quantifiable electrical signals. The data processing unit converts the electrical signals into digital signals and generates a reference image reflecting the internal structure of the battery device 100. The reference image can be transmitted to a control device. The cutting mechanism 40 is connected to the output end of the first XY-axis motion platform 70. Based on a two-dimensional coordinate system, the cutting mechanism 40 can move along the X-axis and Y-axis directions. The cutting mechanism 40 can be a laser cutter, which is positioned above the battery device 100 and emits a laser beam towards the cover plate 1204 above the battery device 100 to cut the cover plate 1204. The hoisting mechanism 50 is connected to the output end of the second XY-axis motion platform 80. Based on a two-dimensional coordinate system, the hoisting mechanism 50 can move along the X-axis and Y-axis directions. The hoisting mechanism 50 includes a hoisting base plate 501, a base plate lifter 502, an adsorption member 503, an air pump 504, and a hoisting controller 506. The hoisting base plate 501 is positioned facing the cover plate 1204. The base plate lifter 502 is fixed to the output end of the second XY-axis motion platform 80 and is configured to drive the hoisting base plate 501 closer to or further away from the cover plate 1204. The adsorption member 503 is positioned on the side of the hoisting base plate 501 facing the cover plate 1204. The air pump 504 is configured to extract air from the adsorption member 503 or inflate the adsorption member 503. The hoisting controller 506 is configured to control the operation of the base plate lifter 502 and the air pump 504. Optionally, the base plate lifter 502 can be an electric lifter, a hydraulic lifter, a pneumatic lifter, etc. Optionally, there may be multiple adsorption elements 503, and the multiple adsorption elements 503 may be arranged in an array.The hoisting mechanism 50 also includes a pressure sensor 508, which is configured to detect the air pressure value inside the suction component 503 and feed it back to the hoisting controller 506. Specifically, taking the suction component 503 as an example, after the air pump 504 finishes extracting the air from the suction cup, the pressure sensor 508 can detect the air pressure value inside the suction cup and feed it back to the hoisting controller 506. The hoisting controller 506 can make a judgment based on preset conditions and air pressure value. According to the judgment result, it can issue a command to control the hoisting structure to move the cover plate 1204 or control the air pump 504 to inflate the suction cup and re-extract the air from the suction cup. The counterweight mechanism 60 is connected to the output end of the third XY two-axis motion platform 90. Based on the two-dimensional coordinate system, the counterweight mechanism 60 can move along the X-axis and Y-axis directions. Of course, if the initial position of the counterweight mechanism 60 corresponds vertically to its assembly position on the battery device 100, the third XY two-axis motion platform 90 may not be required, and the counterweight mechanism 60 only needs to be equipped with vertical movement in the Z-direction. The counterweight mechanism 60 includes a counterweight 601, a counterweight lifter 602, a plug-in 603, and a counterweight controller 604. The counterweight lifter 602 is fixed to the output end of the third XY two-axis motion platform 90 and is configured to drive the counterweight 601 closer to or further away from the battery device 100. The plug-in 603 is disposed on the side of the counterweight 601 facing the battery device 100 and is configured to be able to be inserted into the mounting hole 1205 on the main body 1203 to fix the counterweight 601 to the side of the battery device 100. The counterweight controller 604 is configured to control the operation of the counterweight lifter 602. Optionally, there are at least two plug-ins 603, which are distributed along the extension direction of the counterweight 601, and each plug-in 603 can be inserted into its corresponding mounting hole 1205. The counterweight mechanism 60 also includes a plug-in drive assembly 606, which is connected between the counterweight 601 and the plug-in 603. The plug-in drive assembly 606 is configured to drive the plug-in 603 to move along the X-axis and / or Y-axis of a two-dimensional coordinate system. The control device is configured to acquire a reference image and execute the disassembly method as provided in any embodiment of the first aspect. The control device can control the operation of the scanning mechanism 30, the cutting mechanism 40, the hoisting mechanism 50, and the counterweight mechanism 60, and coordinate the processes between the various mechanisms.

[0343] Fourthly, embodiments of this application also provide a storage medium storing a control program, which, when executed by a processor, implements the steps of the disassembly method provided in any of the embodiments of the first aspect.

[0344] The memory or computer-readable storage medium in any embodiment of this application may include at least one of non-volatile memory and volatile memory. Non-volatile memory includes integration of one or more of the following: Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Ferromagnetic Random Access Memory (FRAM), Flash Memory, Magnetic Surface Memory, Optical Disc, Compact Disc Read-Only Memory (CD-ROM), Magnetic Tape, Floppy Disk, Flash Memory, Optical Memory, High-Density Embedded Non-Volatile Memory, Resistive Random Access Memory (ReRAM), Magnetoresistive Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), Graphene Memory, Volatile Memory, etc. Volatile memory includes one or more of the following: Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0345] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0346] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. This application is not limited to the specific embodiments applied herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for disassembling a battery device, used to disassemble the cover plate of the battery device, the battery device comprising a housing and battery cell assemblies, the housing being formed by a main body and the cover plate, the battery cell assemblies being housed within the housing, characterized in that, The disassembly method includes: A reference image is acquired that shows the distribution of the battery cell assembly within the housing. The reference image is obtained by scanning the battery device in a direction perpendicular to and toward the cover plate. A two-dimensional coordinate system is constructed on the reference image; Based on the two-dimensional coordinate system, multiple trajectory points are defined on the reference image along the outer periphery of the battery cell assembly. Adjacent trajectory points are connected to enclose a cutting trajectory for cutting the cover plate. The cutting trajectory is located between the edge of the battery cell assembly and the sidewall edge of the main body. According to the preset cutting depth, the cutting mechanism is controlled to complete the cutting of the cover plate along the cutting trajectory; The disassembly method, prior to hoisting the cover plate, further includes: The positions of the mounting holes on the main body are mapped onto the reference image and defined as mounting points; The initial position of the plug on the counterweight mechanism relative to the battery device is mapped onto the reference image and defined as the initial point of the plug; The plug on the counterweight mechanism is controlled to move from its initial point to the mounting point; Lower the counterweight mechanism and insert the plug into the mounting hole to fix the counterweight mechanism to the main body.

2. The method for disassembling the battery device according to claim 1, characterized in that, Before controlling the cutting mechanism to complete the cutting of the cover plate along the cutting trajectory according to the preset cutting depth, the disassembly method further includes: On the reference image, determine the cutting start point on the cutting trajectory; The output end of the cutting mechanism is mapped onto the reference image relative to the initial position of the battery device, and is defined as the initial point of the cutting mechanism; Control the cutting mechanism to move from its initial point to the cutting start point.

3. The method for disassembling the battery device according to claim 2, characterized in that, The cutting start point on the cutting trajectory is determined based on the point on the cutting trajectory that is closest to the initial point of the cutting mechanism.

4. The method for disassembling the battery device according to claim 2, characterized in that, The cutting start point on the cutting trajectory is determined based on one of the multiple trajectory points.

5. The method for disassembling a battery device according to claim 2, characterized in that, The cutting start point on the cutting trajectory is determined based on the point among the multiple trajectory points that is closest to the initial point of the cutting mechanism.

6. The method for disassembling a battery device according to claim 2, characterized in that, The control of moving the cutting mechanism from its initial point to the cutting start point includes: Based on the two-dimensional coordinate system, the distance from the initial point of the cutting mechanism to the cutting start point in the X-axis and Y-axis directions is calculated, so that the cutting mechanism can move from the initial point of the cutting mechanism to the cutting start point along the X-axis and Y-axis directions.

7. The method for disassembling a battery device according to claim 1, characterized in that, After the cutting mechanism is controlled to cut the cover plate along the cutting trajectory according to the preset cutting depth, the disassembly method further includes: Control the suction components on the hoisting mechanism to move to the cover plate; The adsorption element is controlled to adsorb and fix the cover plate. Control the hoisting mechanism to move the cover plate.

8. The method for disassembling a battery device according to claim 7, characterized in that, The control mechanism for moving the suction element on the hoisting mechanism to the cover plate includes: The geometric center of the cover plate is mapped onto the reference image and defined as the center point; The center of the adsorption element is mapped onto the reference image relative to the initial position of the battery device and defined as a reference point; Control the suction component on the hoisting mechanism to move from the reference point to the center point; Lower the hoisting mechanism and move the suction element to the cover plate.

9. The method for disassembling a battery device according to claim 8, characterized in that, The control of moving the suction element on the hoisting mechanism from the reference point to the center point includes: Based on the two-dimensional coordinate system, the distance from the reference point to the center point in the X-axis and Y-axis directions is calculated, so that the adsorption component on the hoisting mechanism can move from the reference point to the center point along the X-axis and Y-axis directions.

10. The method for disassembling a battery device according to claim 7, characterized in that, The control of the adsorption element to adsorb and fix the cover plate includes: Extract the air from the adsorption element; After extraction, the air pressure inside the adsorption element is measured; When the air pressure value is less than or equal to a preset threshold, it is determined that the adsorption element has been adsorbed and fixed on the cover plate; When the air pressure value is greater than the preset threshold, air is injected into the adsorption element and the adsorption element is restored to its original state. The air inside the adsorption element is then extracted again until the air pressure value is less than or equal to the preset threshold.

11. The method for disassembling a battery device according to claim 1, characterized in that, The control of moving the plug on the counterweight mechanism from its initial point to the mounting point includes: Based on the two-dimensional coordinate system, the distance from the initial point of the plug-in to the mounting point in the X-axis and Y-axis directions is calculated, so that the plug-in on the counterweight mechanism can move from the initial point of the plug-in to the mounting point along the X-axis and Y-axis directions.

12. A control device comprising a memory and a processor, wherein the memory stores a control program, characterized in that, When the processor executes the control program, it implements the steps of the disassembly method as described in any one of claims 1-11.

13. A battery device disassembly device, characterized in that, include: A disassembly platform is configured to carry the battery device; The scanning mechanism is configured to scan the battery device in a direction perpendicular to and toward the cover plate, acquire a reference image of the battery device, and transmit it to the control device. The control device is configured to acquire the reference image and perform the disassembly method as described in any one of claims 1-11; The cutting mechanism is configured to cut the cover plate according to a preset cutting depth and along the cutting trajectory under the control of the control device. A counterweight mechanism includes a counterweight component, a counterweight lifter, a plug, and a counterweight controller; the counterweight lifter is configured to drive the counterweight component closer to or further away from the battery device; the plug is disposed on the side of the counterweight component facing the battery device, and the plug is configured to engage with a mounting hole on the main body to fix the counterweight component to the side of the battery device; the counterweight controller is configured to control the operation of the counterweight lifter.

14. The dismantling equipment according to claim 13, characterized in that, The dismantling equipment also includes: First XY two-axis motion platform; The cutting mechanism is positioned facing the cover plate; The cutting mechanism is connected to the output end of the first XY two-axis motion platform so that the cutting mechanism can move along the X-axis and Y-axis directions based on the two-dimensional coordinate system.

15. The dismantling equipment according to claim 13, characterized in that, The dismantling equipment also includes: Second XY two-axis motion platform; A hoisting mechanism is connected to the output end of the second XY two-axis motion platform so that the hoisting mechanism can move along the X-axis and Y-axis directions based on the two-dimensional coordinate system; The hoisting mechanism includes: The hoisting base plate is positioned facing the cover plate; A substrate lifter is fixed to the output end of the second XY two-axis motion platform. The substrate lifter is configured to drive the hoisted substrate closer to or away from the cover plate. An adsorption element is disposed on the side of the lifting base plate facing the cover plate; An air pump is configured to either extract internal air from the adsorption element or inflate the adsorption element. The hoisting controller is configured to control the operation of the base plate lifter and the operation of the air pump.

16. The dismantling equipment according to claim 15, characterized in that, The hoisting mechanism also includes: A pressure sensor is configured to detect the air pressure inside the adsorption element and feed it back to the hoisting controller.

17. The dismantling equipment according to claim 15, characterized in that, The number of adsorption elements is multiple, and the multiple adsorption elements are distributed in an array.

18. The dismantling equipment according to claim 13, characterized in that, The disassembly equipment also includes a third XY two-axis motion platform; The counterweight mechanism is fixed to the output end of the third XY two-axis motion platform by the counterweight lifter, so that the counterweight mechanism can move along the X-axis and Y-axis based on the two-dimensional coordinate system.

19. The dismantling equipment according to claim 18, characterized in that, The counterweight mechanism also includes: A plug-in driving component is connected between the counterweight and the plug-in, and the plug-in driving component is configured to drive the plug-in to move along the X-axis and / or Y-axis of the two-dimensional coordinate system.

20. The dismantling equipment according to claim 18, characterized in that, The number of the plug-ins is at least two, and the at least two plug-ins are distributed along the extension direction of the counterweight, and each plug-in can be inserted and engaged with its corresponding mounting hole.

21. The dismantling equipment according to claim 18, characterized in that, The number of counterweight mechanisms is two, and the two counterweight mechanisms can be fixed relative to each other on both sides of the battery device.

22. A storage medium storing a control program, characterized in that, When the control program is executed by the processor, it implements the steps of the disassembly method as described in any one of claims 1-11.

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