Electrolyte barrel automatic filling connector plugging device and method

Abstract

The invention relates to an electrolyte barrel automatic filling connector plugging and unplugging device and method, the device comprises a robot and an automatic plugging and unplugging mechanism, the automatic plugging and unplugging mechanism is installed at the execution tail end of the robot, and the automatic plugging and unplugging mechanism comprises a front clamping jaw mechanism, a rear clamping jaw mechanism, a front end self-floating mechanism, a camera, a sleeve pulling air cylinder, a rear end floating air cylinder, a switch valve mechanism and a correlation sensor. The front clamping jaw mechanism is connected with the installation support through a front end self-floating mechanism with axial elasticity, and the rear clamping jaw mechanism is connected with the installation support through a rear end floating air cylinder. The sleeve pulling air cylinder drives the front clamping jaw mechanism to move, and sequential actions of inserting, pulling and unlocking of the quick connector are achieved. Visual guidance and floating compensation are combined to adapt to the position deviation of the barrel body; manual plugging and valve opening and closing operations are completely replaced, the harm of harmful gas to personnel is eliminated, and the filling efficiency and reliability are improved.

Description

Technical Field

[0001] This invention relates to the field of automatic filling technology for lithium battery electrolyte, specifically to an automatic filling connector plugging and unplugging device and method for electrolyte tanks. Background Technology

[0002] With the rapid development of the lithium battery industry, the demand for electrolyte, as an important component of lithium-ion batteries, is also constantly increasing. Electrolyte storage containers typically use specially structured 1000L stainless steel drums (i.e., electrolyte stainless steel drum 3). These drums have multiple interfaces, generally including an inlet and an outlet. Each interface is equipped with a valve 31, and the front end of the valve 31 is fitted with a quick connector (male or female) for connection to the corresponding connector on the filling equipment pipeline.

[0003] During the electrolyte filling operation, the quick connectors at the ends of the electrolyte material pipeline 41 and the exhaust gas pipeline 42 connecting to the filling equipment need to be plugged and unplugged to the corresponding interfaces on the electrolyte stainless steel tank 3, and disconnected after filling is completed. Currently, this process is usually carried out manually: the operator needs to manually align the quick connector with the interface on the tank and insert it, while simultaneously opening or closing the valve; after filling is completed, the valve is manually closed and the quick connector is removed.

[0004] This traditional manual operation method has the following obvious drawbacks: First, the work efficiency is low and the labor intensity is high.

[0005] Manual insertion and removal of quick connectors requires operators to repeatedly perform actions such as alignment, insertion, and removal. In mass production scenarios, this is time-consuming and labor-intensive, severely restricting the improvement of filling efficiency.

[0006] Second, there are safety hazards and health risks.

[0007] Electrolyte is a chemical product with a certain degree of corrosiveness and volatility. During manual insertion and removal of the container, a small amount of residual electrolyte may leak into the external environment. This electrolyte can react with water vapor in the air to produce acidic gases, and prolonged exposure can harm the respiratory system and skin of operators. Furthermore, close proximity of operators to the raw material container also poses other potential safety risks.

[0008] Third, it is difficult to guarantee operational consistency.

[0009] Manual operation is affected by the operator's skill level and working condition. It is difficult to maintain a stable and consistent control of insertion and extraction force and valve opening and closing timing, which may affect filling quality and equipment life.

[0010] Fourth, the problem of electrolyte tank position deviation.

[0011] Each time a 1000L electrolyte tank is transferred to the filling station, its relative position and the posture of the quick connectors and valves on the tank will deviate to some extent. This is due to the tolerance of manual welding and the positioning error during transportation. This deviation makes it difficult for automated insertion and removal to align, and traditional automated equipment is difficult to adapt to this uncertainty.

[0012] To address the aforementioned issues, some attempts have been made to automate insertion and removal processes in existing technologies, such as using robotic arms in conjunction with positioning devices. However, these solutions primarily address the automation of the insertion and removal actions. Effective solutions are still lacking for issues such as how to accurately compensate for barrel position deviations, how to distinguish between material pipes and exhaust pipes that look similar but have different structures, and how to achieve automatic unlocking and locking sequence actions during the insertion and removal process.

[0013] Therefore, developing an automatic electrolyte tank filling connector insertion and removal device that can adapt to tank position deviations, automatically identify pipeline types, and control the insertion, removal, and unlocking sequence is of significant practical importance and application value. Summary of the Invention

[0014] This invention designs an automatic filling connector insertion and removal device and method for electrolyte tanks. The technical problems it solves are: how to automate the insertion and removal action, how to accurately compensate for the tank position deviation, how to distinguish between material pipes and exhaust pipes that look similar but have different structures, and how to achieve the sequential action of automatic unlocking and locking during the insertion and removal process.

[0015] To solve the aforementioned technical problems, the present invention adopts the following solution: An automatic filling connector plugging and unplugging device for electrolyte tanks includes: The robot controls the movement and angle of the automatic plugging and unplugging mechanism; An automatic insertion and removal mechanism is installed at the end of the robot to grip and insert / remove electrolyte material pipelines or exhaust gas pipelines, and to control the opening and closing of valves on the electrolyte stainless steel tank. The automatic insertion and removal mechanism includes a mounting bracket, and a front gripper mechanism, a rear gripper mechanism, a front self-floating mechanism, a camera, a sleeve removal cylinder, a rear floating cylinder, a switching valve mechanism, and a through-beam sensor disposed on the mounting bracket. The front gripper mechanism includes a front gripper cylinder and a ferrule actuating part disposed thereon, used to grip the electrolyte material pipeline or exhaust gas pipeline and actuate the ferrule on the quick connector; the rear gripper mechanism is a gripper cylinder, used to grip the electrolyte material pipeline or exhaust gas pipeline. The front gripper mechanism is connected to the mounting bracket via the front self-floating mechanism, and the rear gripper mechanism is connected to the mounting bracket via the rear floating cylinder. The front-end self-floating mechanism has axial elasticity, allowing the front gripper mechanism to move axially and to swing in the X and Y directions of the horizontal plane. The cylinder body of the pull-out cylinder is fixed to the mounting bracket, and its piston rod is connected to the front-end self-floating mechanism; The ferrule actuation part on the front gripper mechanism is used to engage with the ferrule on the quick connector integrated at the end of the electrolyte material pipeline or exhaust gas pipeline. The camera is mounted on the mounting bracket and is used to take pictures and locate the interface on the electrolyte stainless steel tank. The through-beam sensor is located between the front gripper mechanism and the rear gripper mechanism and is used to detect whether the electrolyte material pipeline or the exhaust gas pipeline is in place. The switching valve mechanism is installed on one side of the automatic plugging and unplugging mechanism and is used to control the opening and closing of the valve.

[0016] Preferably, when the pull-out cylinder extends, it drives the front gripper mechanism to move the electrolyte material pipeline or exhaust gas pipeline forward to insert into the interface; when the pull-out cylinder retracts, the axial elasticity of the front self-floating mechanism causes the front gripper mechanism to move relatively backward first, and the sleeve is unlocked by the sleeve-pulling part, and then the electrolyte material pipeline or exhaust gas pipeline continues to move backward to be pulled out.

[0017] Preferably, the piston rod of the rear floating cylinder is in a freely extendable floating state during the insertion and removal process. In conjunction with the floating joint set between it and the rear gripper mechanism, the rear gripper mechanism is allowed to move slightly in the horizontal direction, which, together with the front self-floating mechanism, compensates for the alignment error during the insertion and removal process.

[0018] Preferably, the camera is mounted on the mounting bracket with its optical axis perpendicular to the plane of the mounting bracket, and is used for 3D visual positioning of the valve interface on the electrolyte stainless steel tank.

[0019] Preferably, the valve switching mechanism includes a valve switching cylinder or a valve switching motor, the output end of which has a slot that cooperates with the valve handle and can rotate 90°.

[0020] Preferably, the ends of the electrolyte material pipeline and the exhaust gas pipeline are respectively integrated with quick connectors, and the outer ring of the quick connector is fitted with an axially movable ferrule.

[0021] Preferably, the robot's axis can rotate 90°, driving the automatic insertion / removal mechanism to switch between insertion / removal posture and valve switching posture.

[0022] Preferably, the through-beam sensor is used to confirm whether the electrolyte material pipeline or the exhaust gas pipeline is within the gripper's gripping area before gripping. If it is not in place, the system will alarm or re-grip.

[0023] Preferably, the front gripper mechanism and the rear gripper mechanism are respectively equipped with a first pressure sensor and a second pressure sensor; the robot drives the automatic insertion and removal mechanism to perform two gripping operations at different positions on the same electrolyte material pipeline or the same exhaust gas pipeline. The controller first determines whether the readings of each pressure sensor in the two gripping operations are both greater than the effective gripping threshold. If any reading is less than the effective gripping threshold, the gripping operation is determined to have failed and the gripping operation is re-executed. After confirming effective gripping, the controller determines the pipeline type based on the pressure difference between the two gripping operations: if the pressure difference between the two gripping operations is less than the preset threshold, it is determined to be an electrolyte material pipeline; if the pressure difference in the first gripping operation is less than the preset threshold and the pressure difference in the second gripping operation is greater than the preset threshold, it is determined to be an exhaust gas pipeline.

[0024] A method for automatically plugging and unplugging quick connectors for filling electrolyte tanks, applied to the aforementioned automatic electrolyte tank filling connector plugging and unplugging device, includes the following steps: Step 1, Visual positioning of the tank interface: The robot, carrying the automatic plugging and unplugging mechanism, moves to the top of the stainless steel electrolyte tank. The camera takes a picture of the interface of the valve on the stainless steel electrolyte tank to obtain accurate position and posture information, and the system performs pose compensation. Step 2, Pipeline visual positioning and gripping: The robot moves to the pipeline placement station, the camera takes pictures of the electrolyte material pipeline or exhaust gas pipeline for positioning, and combined with the detection of the through-beam sensor, the pipeline is gripped by the front gripper mechanism and the rear gripper mechanism. Step 3, Pipeline Connection: The sleeve-pulling cylinder extends, pushing the front self-floating mechanism and the front gripper mechanism, causing the quick connector held by the front gripper mechanism to move forward and insert into the interface corresponding to the valve on the electrolyte stainless steel tank; during the insertion process, the ferrule-pulling part on the front gripper mechanism moves forward but does not contact the ferrule, and the ferrule on the quick connector is automatically pushed open by the interface slope, and after being inserted into place, it automatically resets and locks under the action of spring force; during the connection process, the front self-floating mechanism and the rear floating cylinder work together to automatically compensate for alignment errors; Step 4, opening and closing valves: The front gripper mechanism and the rear gripper mechanism release the electrolyte material pipeline or the exhaust gas pipeline. The robot rotates 90° to align the valve opening and closing mechanism with the valve. The valve opening and closing mechanism rotates 90° to open the valve and begin filling. Step 5, Filling complete: After filling is completed, the valve mechanism rotates 90° in the opposite direction to close the valve, and the robot rotates 90° in the opposite direction to return to its initial posture; Step 6, Pipe Pulling Out: Guided by the camera, the robot grips the electrolyte material pipe or exhaust gas pipe again. The pull sleeve cylinder retracts, and the axial elasticity of the front self-floating mechanism causes the front gripper mechanism to move relatively backward first. The sleeve is unlocked by pulling the sleeve release part. Then the pull sleeve cylinder continues to retract, driving the electrolyte material pipe or exhaust gas pipe to move backward, so that the quick connector is completely separated from the interface. Step 7, Pipeline return: The robot moves the electrolyte material pipeline or exhaust gas pipeline to the pipeline placement station, releases the pipeline, and completes one automatic filling cycle.

[0025] The automatic filling connector plugging and unplugging device and method for electrolyte tanks have the following beneficial effects: (1) The present invention uses a robot in conjunction with an automatic plugging and unplugging mechanism to completely replace manual operation of quick connector plugging and unplugging and valve opening and closing, so that operators do not need to contact the electrolyte tank, completely avoid the harm of harmful gases to personnel, and ensure the occupational health and safety of operators.

[0026] (2) This invention achieves full automation of the insertion, removal, and valve switching process, enabling continuous and stable operation with a filling efficiency far exceeding that of manual operation. At the same time, it frees operators from heavy repetitive labor, allowing them to engage in more valuable work and reducing the operational risks associated with human fatigue.

[0027] (3) This invention uses a camera to perform 3D visual positioning of the interface on the barrel to obtain precise position and attitude information; at the same time, through the combined action of the front-end self-floating mechanism and the rear-end floating cylinder, the alignment error is automatically compensated during the insertion and removal process. The combination of the two effectively solves the position deviation problem caused by manual welding tolerance and transportation positioning error, ensuring smooth insertion and removal, reducing wear and jamming, and avoiding the generation of metal debris.

[0028] (4) The present invention achieves the sequential action of unlocking first and then pulling out by axial elastic design of front-end self-floating mechanism, avoiding joint damage caused by forced tube pulling and extending the service life of equipment.

[0029] (5) This invention achieves a complete judgment chain from "pipeline presence confirmation" to "precise positioning guidance" and then to "pipeline type identification" through the triple cooperation of a through-beam sensor, a camera and a pressure sensor. The three judgments are interlocked, and any abnormality in any link can be detected or compensated by other links, ensuring the safety and reliability of the entire automated filling process.

[0030] (6) This invention addresses the issue that electrolyte material pipelines and exhaust gas pipelines have similar appearances but different internal structures. By using two clamping operations and pressure sensor detection, the two types of pipelines are accurately distinguished by the difference in length of the rigid connector. When the exhaust gas pipeline is detected, the clamping position is automatically adjusted to ensure that both jaws are clamped on the rigid part, thus avoiding filling accidents caused by gripping errors and improving the reliability of the system. Attached Figure Description

[0031] Figure 1 : A schematic diagram of the overall structure of an embodiment of the present invention.

[0032] Figure 2: A three-dimensional structural diagram of the automatic insertion and removal mechanism in an embodiment of the present invention.

[0033] Figure 3 : A schematic diagram of the automatic insertion and removal mechanism and the electrolyte stainless steel tank in an embodiment of the present invention.

[0034] Figure 4 : A schematic diagram of the insertion in an embodiment of the present invention.

[0035] Figure 5 : A partially enlarged view of the cooperation between the switching valve mechanism and the valve in an embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures: 1—Automatic insertion and removal mechanism; 10—Front gripper mechanism; 11—Rear gripper mechanism; 12—Front-end self-floating mechanism; 13—Camera; 14—Unsleeving cylinder; 15—Rear-end floating cylinder; 16—Switching valve mechanism; 17—Through-beam sensor; 18—Switching valve cylinder; 2—Robot; 3—Stainless steel electrolyte tank; 31—Valve; 41—Electrolyte material pipeline; 42—Exhaust gas pipeline. Detailed Implementation

[0037] The following is combined Figures 1 to 5 The present invention will be further described as follows: Example

[0038] like Figure 1 As shown, the present invention provides an automatic filling connector insertion and removal device for electrolyte tanks, used to realize automated filling operations on electrolyte stainless steel tanks 3, including an automatic insertion and removal mechanism 1 and a robot 2. The automatic insertion and removal mechanism 1 is installed at the end of the robot 2 and is used to grip and insert / remove the electrolyte material pipeline 41 or the exhaust gas pipeline 42, and control the opening and closing of the valve 31 on the electrolyte stainless steel tank 3.

[0039] like Figure 2 As shown, the automatic insertion and removal mechanism 1 includes a front gripper mechanism 10, a rear gripper mechanism 11, a front self-floating mechanism 12, a camera 13, a sleeve removal cylinder 14, a rear floating cylinder 15, a switching valve mechanism 16, and a through-beam sensor 17.

[0040] The front gripper mechanism 10 includes a front gripper cylinder and a ferrule actuating part disposed thereon, and the rear gripper mechanism 11 is a high-torque gripper cylinder. Both are used to grip the electrolyte material pipeline 41 or the exhaust gas pipeline 42. The front gripper mechanism 10 is connected to the mounting bracket through the front self-floating mechanism 12, and the rear gripper mechanism 11 is connected to the mounting bracket through the rear floating cylinder 15.

[0041] In this embodiment, quick connectors are integrated at the ends of the electrolyte material pipeline 41 and the exhaust gas pipeline 42. These quick connectors are either male or female and are used to mate with the corresponding interface (female or male) of the valve 31 on the electrolyte stainless steel tank 3. The outer ring of the quick connector is fitted with an axially movable retaining sleeve, which controls the locking and unlocking of the connector: when the retaining sleeve is in the locked position, the connector cannot be inserted or removed; when the retaining sleeve is pulled open, the connector is in the unlocked state, allowing insertion or removal.

[0042] The cylinder body of the pull-out cylinder 14 is fixed to the mounting bracket, and its piston rod is connected to the front self-floating mechanism 12. The front self-floating mechanism 12 is connected to the front gripper mechanism 10. The front gripper mechanism 10 is used to grip the quick connector integrated into the pipeline, and has a ferrule actuating part (such as a protrusion or lever) that engages with the ferrule on the quick connector. The front self-floating mechanism 12 has axial elasticity, allowing the front gripper mechanism 10 to move axially within a certain range, while also allowing small-amplitude oscillations in the X and Y directions.

[0043] The front-end self-floating mechanism 12 includes a guide shaft, a linear bearing, and an elastic element. One end of the guide shaft is fixedly connected to the front gripper mechanism 10, and the other end is slidably inserted into the linear bearing, which is fixed to a mounting bracket. The elastic element (such as a compression spring) is sleeved on the guide shaft, located between the front gripper mechanism 10 and the linear bearing, providing axial elastic restoring force for the front gripper mechanism 10. Simultaneously, a radial clearance is provided between the guide shaft and the linear bearing, or a spherical bearing structure is used, allowing the front gripper mechanism 10 to swing slightly in the X and Y directions of the horizontal plane. This structure ensures the floating compensation capability of the front gripper mechanism 10 during insertion and removal, and also achieves the sequential action of unlocking before removal through the compression of the elastic element.

[0044] When the sleeve-pulling cylinder 14 extends, the piston rod pushes the front self-floating mechanism 12 and the front gripper mechanism 10, causing the quick connector to move forward and insert into the interface on the barrel. During the insertion process, the sleeve-pulling part on the front gripper mechanism 10 moves forward but does not contact the sleeve. The sleeve on the quick connector is automatically pushed open by the inclined surface of the interface on the barrel when it is inserted. After it is inserted into place, it automatically resets and locks under the action of the sleeve's own spring force.

[0045] When the pull-out cylinder 14 retracts, due to the axial elasticity of the front self-floating mechanism 12, the front gripper mechanism 10 first moves backward a short distance relative to the mounting bracket, causing the ferrule actuating part on the front gripper mechanism 10 to contact and pull the ferrule on the quick connector, thus unlocking it. When the axial elasticity is compressed to its limit, the pull-out cylinder 14 continues to retract, and the front self-floating mechanism 12 drives the front gripper mechanism 10 and the quick connector to continue moving backward, completely separating the quick connector from the interface on the barrel. By rationally designing the position of the ferrule actuating part and the axial elastic stroke of the front self-floating mechanism 12, the sequential action of unlocking first and then pulling out is achieved.

[0046] The front-end self-floating mechanism 12 allows the front gripper mechanism 10 to swing slightly in the X and Y directions of the horizontal plane. The piston rod end of the rear floating cylinder 15 is equipped with a floating joint. Its piston rod is in a freely extendable floating state during insertion and removal. The floating joint, together with the rear gripper mechanism 11, causes it to move slightly in the horizontal direction. The two work together to ensure that the alignment error between the pipeline and the quick connector on the barrel can be automatically compensated during insertion and removal, reducing friction and jamming, and avoiding the generation of metal shavings.

[0047] To prevent the pipeline from being misplaced, a through-beam sensor 17 is installed between the front gripper mechanism 10 and the rear gripper mechanism 11 to detect whether the pipeline has been correctly placed in the gripper area. If it is not in place, the system will alarm or re-grip the pipeline.

[0048] like Figure 3 As shown, after the electrolyte stainless steel drum 3 is transferred to the filling station, its position and posture deviate, requiring precise positioning via 3D vision. Camera 13 is mounted on the mounting bracket of the automatic insertion / removal mechanism 1, with its optical axis perpendicular to the plane of the mounting bracket. It moves with robot 2 above the electrolyte stainless steel drum 3 to photograph the interface of valve 31 on the electrolyte stainless steel drum 3, obtaining its precise position and posture information. The system then performs posture compensation.

[0049] The quick connector integrated at the end of the electrolyte material pipeline 41 or the exhaust gas pipeline 42 is connected to the interface of the valve 31 on the electrolyte stainless steel tank 3.

[0050] like Figure 4 and Figure 5 As shown, the valve switching mechanism 16 is installed on one side of the automatic insertion and removal mechanism 1 and is used to control the opening and closing of the valve 31 on the electrolyte stainless steel tank 3. This mechanism includes a valve switching cylinder 18 or a valve switching motor, the output end of which has a slot to cooperate with the handle of the valve 31 and can rotate 90° to simulate the action of manually opening and closing the valve 31.

[0051] Before filling, robot 2, using camera 13, visually locates valve 31 on the container again to obtain its precise position and orientation. Then, robot 2 moves valve switching mechanism 16 to the position of valve 31, triggering valve switching cylinder 18 or valve switching motor to rotate 90° and open valve 31. After filling, valve switching cylinder 18 rotates 90° in the opposite direction to close valve 31.

[0052] The connection process for electrolyte material pipeline 41 or exhaust gas pipeline 42 is as follows: Step 1: The electrolyte stainless steel drum 3 is transferred to the filling station. The robot 2, carrying the automatic insertion and removal mechanism 1, moves to the pipeline placement station. The electrolyte material pipeline 41 and the exhaust gas pipeline 42 need to be clamped and inserted separately. The robot 2 positions the electrolyte material pipeline 41 or the exhaust gas pipeline 42 according to the visual guidance of the camera 13 and the through-beam sensor 17.

[0053] Step 2: After the electrolyte material pipeline 41 or the exhaust gas pipeline 42 is clamped and fixed by the front gripper mechanism 10 and the rear gripper mechanism 11 respectively, the pull-out cylinder 14 extends, pushing the front self-floating mechanism 12 and the front gripper mechanism 10, causing the quick connector held by the front gripper mechanism 10 to move forward and insert into the corresponding interface of the valve 31 on the electrolyte stainless steel tank 3. During the insertion process, the ferrule actuating part on the front gripper mechanism 10 moves forward but does not contact the ferrule. The ferrule on the quick connector is automatically pushed open by the inclined surface of the interface on the tank during insertion, and automatically resets and locks under the action of spring force after insertion. During the insertion process, the front self-floating mechanism 12 and the rear floating cylinder 15 provide floating compensation. During the insertion process, the front self-floating mechanism 12 and the rear floating cylinder 15 work together to allow the electrolyte material pipeline 41 or the exhaust gas pipeline 42 to automatically align during insertion, compensating for deviations within ±0.5mm, and ensuring smooth insertion.

[0054] Step 3: After the electrolyte material pipeline 41 or the exhaust gas pipeline 42 is inserted into the valve 31, the front gripper mechanism 10 and the rear gripper mechanism 11 release the electrolyte material pipeline 41 or the exhaust gas pipeline 42. The robot 2 then rotates the automatic insertion and removal mechanism 1 90° clockwise, causing the valve switching mechanism 16 to face downwards. The valve switching mechanism 16 then actuates the valve 31, rotating 90° to open the valve 31 for filling. After filling is complete, the valve switching cylinder 18 reverses its action, closing the valve 31. There can be two valves 31, one for controlling the material inlet and the other for controlling the exhaust gas outlet.

[0055] The process of pulling out the electrolyte material line 41 or the exhaust gas line 42 is as follows: Step 4: After filling is completed, robot 2 rotates the automatic insertion and removal mechanism 1 counterclockwise by 90°, and camera 13 returns to its downward position. Robot 2 uses the visual guidance of camera 13 and the positioning of the electrolyte material pipeline 41 or exhaust gas pipeline 42 by the through-beam sensor 17.

[0056] Step 5: After the electrolyte material pipeline 41 or the exhaust gas pipeline 42 is clamped and fixed by the front gripper mechanism 10 and the rear gripper mechanism 11 respectively, the pull-out cylinder 14 retracts. Due to the axial elasticity of the front self-floating mechanism 12, the front gripper mechanism 10 first moves a small distance backward relative to the mounting bracket, so that the ferrule actuating part on the front gripper mechanism 10 contacts and pulls the ferrule on the quick connector, thus unlocking it. When the axial elasticity is compressed to the limit, the pull-out cylinder 14 continues to retract, and the quick connector continues to move backward through the front self-floating mechanism 12 and the front gripper mechanism 10, so that the quick connector is completely separated from the interface corresponding to the valve 31 on the electrolyte stainless steel tank 3. After the pipeline is completely disengaged, the pull-out cylinder 14 stops. The robot 2 moves the automatic insertion and removal mechanism 1 to place the electrolyte material pipeline 41 or the exhaust gas pipeline 42 back to the pipeline placement position, completing one automatic filling cycle.

[0057] In this embodiment, the pull-out cylinder 14 drives the quick connector to move through the front self-floating mechanism 12 and the front gripper mechanism 10, and integrates the ferrule control function to realize the automated sequential operation of insertion, removal and unlocking. It has a compact structure and reliable operation. Example

[0058] Typically, both the electrolyte material pipeline 41 and the exhaust gas pipeline 42 consist of rigid connectors and flexible hoses. The length of the rigid connector in the electrolyte material pipeline 41 is greater than that in the exhaust gas pipeline 42, and the rigid connector serves as a clamping part. The images of the electrolyte material pipeline 41 and the exhaust gas pipeline 42 captured by the camera 13 are similar and difficult to distinguish.

[0059] This embodiment, based on Embodiment 1, further provides the function of automatically identifying and preventing error-proof gripping of the electrolyte material pipeline 41 and the exhaust gas pipeline 42. A first pressure sensor and a second pressure sensor are respectively installed on the front gripper mechanism 10 and the rear gripper mechanism 11 to detect the clamping force when the grippers hold the pipelines in real time.

[0060] In this embodiment, the function of the sleeve-pulling cylinder 14 is exactly the same as in Embodiment 1; it is only used to control the unlocking and locking of the quick connector sleeve and does not participate in pipeline identification. Pipeline type identification is achieved by the robot 2 driving the automatic insertion and extraction mechanism 1 to perform two clamping operations on the same pipeline at different positions.

[0061] The electrolyte material pipeline 41 and the exhaust gas pipeline 42 have the same structure as in Embodiment 1, both including rigid joints and flexible hoses. The length of the first rigid joint of the electrolyte material pipeline 41 is greater than the length of the first rigid joint of the exhaust gas pipeline 42.

[0062] Based on the above structure, the automatic insertion and removal process in this embodiment is as follows: After the electrolyte stainless steel drum 3 is transferred to the filling station, robot 2, carrying the automatic insertion and removal mechanism 1, moves to the pipeline placement station. Guided by the vision of camera 13 and positioned by the through-beam sensor 17, robot 2 performs two clamping operations on the pipeline: (1) First gripping (full-length gripping): Robot 2 aligns the front gripper mechanism 10 and the rear gripper mechanism 11 with the rigid connector of the pipeline, respectively, and grips the electrolyte material pipeline 41 or the exhaust gas pipeline 42. The controller reads the detection value P1 of the first pressure sensor and the detection value P2 of the second pressure sensor and records it.

[0063] (2) Second clamping (offset clamping): Robot 2 returns the pipeline to its original position, and then moves the automatic insertion and removal mechanism 1 backward according to the preset offset d. This offset d is greater than the length of the rigid connector of the exhaust gas pipeline 42 but less than the length of the rigid connector of the electrolyte material pipeline 41. Thus, for the exhaust gas pipeline 42, the rear gripper mechanism 11 will clamp the flexible hose part; for the electrolyte material pipeline 41, the rear gripper mechanism 11 will still clamp the rigid connector part. After clamping the pipeline again, the controller reads the detection value P1' of the first pressure sensor and the detection value P2' of the second pressure sensor and records it.

[0064] (3) Judgment logic: The controller first determines whether the readings of each pressure sensor in the two clamping operations are both greater than the effective clamping threshold. If any reading is less than the effective clamping threshold, the clamping operation is determined to have failed and the clamping operation is re-executed.

[0065] After confirming effective clamping, the controller compares the pressure values ​​from the two clamping operations: Calculate the pressure difference ΔP1 = |P1 - P2| before and after the first clamping. Calculate the pressure difference ΔP2 during the second clamping process: ΔP2 = |P1' - P2'|. If ΔP1 ≤ ε and ΔP2 ≤ ε, where ε is a preset threshold, it indicates that the grippers are clamped on the hard part after both clamping operations, and the pipeline is determined to be the electrolyte material pipeline 41; if ΔP1 ≤ ε but ΔP2 > ε, it indicates that the grippers are clamped on the soft part after the second clamping operation, and the pipeline is determined to be the exhaust gas pipeline 42.

[0066] If the pipe is identified as exhaust gas line 42, the controller records the line type, and robot 2 returns the line to its original position. During subsequent normal operations, robot 2 will clamp the line using a full-length clamping method (i.e., the first clamping position) for insertion and removal. If the pipe is identified as electrolyte material line 41, the process proceeds directly to the next step.

[0067] In this embodiment, the through-beam sensor 17, camera 13, and pressure sensor work together: First, the through-beam sensor 17 confirms the pipeline is in place, preventing the camera from taking blank shots; then, the camera 13 accurately locates the pipeline position, guiding the robot 2 to accurately grasp it; finally, the pipeline type is determined by comparing the pressure sensor data from the two grasps. These three layers of judgment are interconnected, and any abnormality in any stage can be detected or compensated for by the other stages, ensuring the safety and reliability of the entire automated filling process.

[0068] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the implementation of the present invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. An automatic filling connector plugging and unplugging device for an electrolyte tank, characterized in that, include: Robot (2), which controls the movement and angle of automatic plugging and unplugging mechanism (1); An automatic insertion and removal mechanism (1) is installed at the execution end of the robot (2) to grip, insert and remove the electrolyte material pipeline (41) or the exhaust gas pipeline (42), and control the opening and closing of the valve (31) on the electrolyte stainless steel tank (3); The automatic insertion and removal mechanism (1) includes a mounting bracket, and a front gripper mechanism (10), a rear gripper mechanism (11), a front self-floating mechanism (12), a camera (13), a sleeve removal cylinder (14), a rear floating cylinder (15), a switching valve mechanism (16), and a through-beam sensor (17) disposed on the mounting bracket. The front gripper mechanism (10) includes a front gripper cylinder and a ferrule actuating part disposed thereon, for gripping the electrolyte material pipeline (41) or the exhaust gas pipeline (42) and actuating the ferrule on the quick connector; the rear gripper mechanism (11) is a gripper cylinder, for gripping the electrolyte material pipeline (41) or the exhaust gas pipeline (42). The front gripper mechanism (10) is connected to the mounting bracket via the front self-floating mechanism (12), and the rear gripper mechanism (11) is connected to the mounting bracket via the rear floating cylinder (15). The front self-floating mechanism (12) has axial elasticity, allowing the front gripper mechanism (10) to move axially and to swing in the X and Y directions of the horizontal plane; The cylinder body of the pull-out cylinder (14) is fixed to the mounting bracket, and its piston rod is connected to the front self-floating mechanism (12); The ferrule actuation part on the front gripper mechanism (10) is used to engage with the ferrule on the quick connector integrated at the end of the electrolyte material pipeline (41) or the exhaust gas pipeline (42); The camera (13) is mounted on the mounting bracket and is used to take pictures and locate the interface on the electrolyte stainless steel tank (3); The through-beam sensor (17) is disposed between the front gripper mechanism (10) and the rear gripper mechanism (11) and is used to detect whether the electrolyte material pipeline (41) or the exhaust gas pipeline (42) is in place; The switching valve mechanism (16) is installed on one side of the automatic plugging and unplugging mechanism (1) and is used to control the opening and closing of the valve (31).

2. The automatic electrolyte tank filling connector plugging and unplugging device according to claim 1, characterized in that: When the pull-out cylinder (14) extends, it drives the front gripper mechanism (10) to move the electrolyte material pipeline (41) or the exhaust gas pipeline (42) forward to insert into the interface; when the pull-out cylinder (14) retracts, it uses the axial elasticity of the front self-floating mechanism (12) to make the front gripper mechanism (10) move relatively backward first, and pulls the sleeve to unlock through the sleeve release part, and then drives the electrolyte material pipeline (41) or the exhaust gas pipeline (42) to continue to move backward to pull out.

3. The automatic filling connector plugging and unplugging device for electrolyte tanks according to claim 1, characterized in that: The piston rod of the rear floating cylinder (15) is in a freely extendable floating state during the insertion and removal process. In conjunction with the floating joint set between it and the rear gripper mechanism (11), the rear gripper mechanism (11) is allowed to move slightly in the horizontal direction, and together with the front self-floating mechanism (12), it compensates for the alignment error during the insertion and removal process.

4. The automatic electrolyte tank filling connector plugging and unplugging device according to claim 1, characterized in that: The camera (13) is mounted on the mounting bracket, with its optical axis perpendicular to the plane of the mounting bracket, and is used for 3D visual positioning of the interface of the valve (31) on the electrolyte stainless steel tank (3).

5. The automatic electrolyte tank filling connector plugging and unplugging device according to claim 1, characterized in that: The valve switching mechanism (16) includes a valve switching cylinder (18) or a valve switching motor, the output end of which has a slot that cooperates with the handle of the valve (31) and can rotate 90°.

6. The automatic electrolyte tank filling connector plugging and unplugging device according to claim 1, characterized in that: The ends of the electrolyte material pipeline (41) and the tail gas pipeline (42) are respectively integrated with quick connectors, and the outer ring of the quick connector is fitted with an axially movable ferrule.

7. The automatic filling connector plugging and unplugging device for electrolyte tanks according to claim 1, characterized in that: The robot (2) can rotate 90°, which drives the automatic insertion and removal mechanism (1) to switch between insertion and removal posture and valve switching posture.

8. The automatic filling connector plugging and unplugging device for electrolyte tanks according to claim 1, characterized in that: The through-beam sensor (17) is used to confirm whether the electrolyte material pipeline (41) or the exhaust gas pipeline (42) is within the gripper's gripping area before gripping. If it is not in place, the system will alarm or re-grip.

9. The automatic electrolyte tank filling connector plugging and unplugging device according to any one of claims 1 to 8, characterized in that: The front gripper mechanism (10) and the rear gripper mechanism (11) are respectively equipped with a first pressure sensor and a second pressure sensor; the robot (2) drives the automatic insertion and removal mechanism (1) to perform two gripping operations at different positions on the same electrolyte material pipeline (41) or the same exhaust gas pipeline (42). The controller first determines whether the readings of each pressure sensor in the two gripping operations are greater than the effective gripping threshold. If any reading is less than the effective gripping threshold, the gripping operation is determined to be unsuccessful and the gripping operation is re-executed. After confirming effective gripping, the controller determines the pipeline type based on the pressure difference between the two gripping operations: if the pressure difference between the two gripping operations is less than the preset threshold, it is determined to be an electrolyte material pipeline (41); if the pressure difference of the first gripping operation is less than the preset threshold and the pressure difference of the second gripping operation is greater than the preset threshold, it is determined to be an exhaust gas pipeline (42).

10. A method for inserting and unplugging an automatic filling connector for an electrolyte tank, applied to the automatic filling connector insertion and unplugging device for an electrolyte tank as described in any one of claims 1 to 9, characterized in that, Includes the following steps: Step 1, Visual positioning of the barrel interface: The robot (2) carrying the automatic plugging and unplugging mechanism (1) moves to the top of the electrolyte stainless steel barrel (3). The camera (13) takes a picture of the interface of the valve (31) on the electrolyte stainless steel barrel (3) to obtain accurate position and posture information. The system performs posture compensation. Step 2, Pipeline visual positioning and gripping: The robot (2) moves to the pipeline placement station, and the camera (13) takes pictures of the electrolyte material pipeline (41) or the exhaust gas pipeline (42) for positioning. Combined with the detection of the through-beam sensor (17), the pipeline is gripped by the front gripper mechanism (10) and the rear gripper mechanism (11). Step 3, Pipeline insertion: The sleeve cylinder (14) extends, pushing the front self-floating mechanism (12) and the front gripper mechanism (10) to move the quick connector held by the front gripper mechanism (10) forward and insert it into the interface corresponding to the valve (31) on the electrolyte stainless steel tank (3); during the insertion process, the sleeve moving part on the front gripper mechanism (10) moves forward but does not contact the sleeve, and the sleeve on the quick connector is automatically pushed open by the interface slope. After insertion, it automatically resets and locks under the action of spring force; during the insertion process, the front self-floating mechanism (12) and the rear floating cylinder (15) work together to automatically compensate for the alignment error; Step 4, opening and closing valves: The front gripper mechanism (10) and the rear gripper mechanism (11) release the electrolyte material pipeline (41) or the exhaust gas pipeline (42). The robot (2) rotates 90° to align the valve opening and closing mechanism (16) with the valve (31). The valve opening and closing mechanism (16) rotates 90° to open the valve (31) for filling. Step 5, Filling complete: After filling is completed, the valve switch mechanism (16) rotates 90° in the opposite direction to close the valve (31), and the robot (2) rotates 90° in the opposite direction to restore the initial posture; Step 6, Pipe Pulling Out: The robot (2) grabs the electrolyte material pipeline (41) or the exhaust gas pipeline (42) again according to the guidance of the camera (13). The pull sleeve cylinder (14) retracts, and the front gripper mechanism (10) moves backward relative to each other by using the axial elasticity of the front self-floating mechanism (12). The sleeve is unlocked by pulling the sleeve through the sleeve push part. Then the pull sleeve cylinder (14) continues to retract, driving the electrolyte material pipeline (41) or the exhaust gas pipeline (42) to move backward, so that the quick connector is completely separated from the interface. Step 7, Pipeline return: The robot (2) moves the electrolyte material pipeline (41) or the exhaust gas pipeline (42) to the pipeline placement station, releases the pipeline, and completes one automatic filling cycle.

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