A lead storage battery disassembly optimization method based on data processing

Abstract

The present application relates to intelligent disassembly and automatic control, especially to a lead storage battery disassembly optimization method based on data processing, which comprises: determining whether punching pretreatment is needed; determining punching parameters, executing punching, and adjusting the punching parameters to execute punching again after the punching is completed until the preset condition of acid discharge is met; adjusting the cutting depth compensation value during the cutting process to correct the real-time cutting depth and execute the cutting action; executing the pole group push-out with the initial push-out force, and determining the abnormal type of the push-out state and adjusting the push-out force during the push-out process; adjusting the cutting depth reference value and the cutting depth compensation reference value. The present application effectively solves the technical problems of cutting too deep to damage the pole plate and lead resources lost with plastic in the prior art due to the lack of process coordination control based on the acid discharge state through the multi-physical quantity fusion cutting depth dynamic adjustment and batch self-optimization mechanism guided by the acid discharge release channel state.

Description

Technical Field

[0001] This invention relates to the field of intelligent dismantling and automated control technology, and in particular to an optimized method for dismantling lead-acid batteries based on data processing. Background Technology

[0002] The dismantling and recycling of waste lead-acid batteries typically involves processes such as drilling for acid drainage, casing cutting, electrode removal, and material sorting. Among these, acid drainage is a crucial step throughout the entire dismantling process, and the continuous connectivity of the acid drainage pathway is a prerequisite for the smooth operation of each process. However, in existing dismantling technologies, processes such as drilling, cutting, and removal are mostly executed independently according to fixed parameters, lacking coordinated control based on the acid drainage status.

[0003] Chinese Patent Application Publication No. CN113937381A discloses a waste lead-acid battery dismantling device and its control method and fault feedback method for recycling waste lead-acid batteries. The device includes: a linear propulsion mechanism; a top cover and bottom casing cutting device; the linear propulsion mechanism pushes the waste lead-acid battery through the bottom casing cutting mechanism and the top cover cutting mechanism to cut it into a battery body, a bottom casing, and a top cover; a drilling device drills positioning holes in the battery body; a battery body positioning mechanism engages with the positioning holes to clamp the battery body; a first linear transmission device drives the cutting mechanism to cut the battery body; and a second linear transmission device drives the electrode plate ejection module to eject the electrode plates from the battery body. This solution addresses the problems of high recycling costs, complex processes, low automation, and low production efficiency in current waste lead-acid battery recycling methods.

[0004] Therefore, the existing technology has the following problems: it relies on fixed parameters to perform drilling, and does not construct an effective acid release path, which can easily lead to acid residue and corrosion of equipment and contaminants during the disassembly process; it relies on open-loop cutting control with preset trajectory and fixed parameters, and does not adjust the cutting depth in real time according to changes in acid release rate and cutting resistance, which can easily cause excessive cutting that damages the electrode plate or excessive cutting that creates a dead zone for acid release; it relies on sequential ejection control with fixed thrust, and does not adjust the ejection force according to the cutting quality and acid release status, which can easily lead to electrode plate breakage and blockage of the acid release channel during the ejection of the electrode group. Summary of the Invention

[0005] To address this, the present invention provides a data-processing-based lead-acid battery dismantling optimization method. This method utilizes a multi-physical quantity fusion cutting depth dynamic adjustment and batch self-optimization mechanism guided by the acid discharge release pathway state to overcome the technical problems in the prior art where excessive cutting damages the plates and lead resources are lost with the plastic due to the lack of process collaborative control based on the acid discharge state.

[0006] To achieve the above objectives, the present invention provides a data processing-based optimization method for dismantling lead-acid batteries, comprising:

[0007] Whether the lead-acid battery to be disassembled needs to be pre-treated by drilling is determined based on the reference value of the cutting depth. The reference value of the cutting depth is determined according to the model, residual acid content and shell bulge of the lead-acid battery to be disassembled.

[0008] In response to the need for pre-processing by drilling, the drilling parameters are determined based on the offset of the acid drain hole of the lead-acid battery to be disassembled, the model and the amount of residual acid, and the drilling is performed. After the drilling is completed, it is determined whether to adjust the drilling parameters to perform drilling again based on the acid drain efficiency, until the acid drain efficiency reaches the preset efficiency threshold or the number of adjustments reaches the preset number of adjustments.

[0009] The cutting depth compensation value is determined based on the cutting depth compensation benchmark value and the acid removal efficiency after the final drilling target is met. The cutting depth compensation value is superimposed with the cutting depth benchmark value to obtain the real-time cutting depth. During the cutting process, the cutting depth compensation value is adjusted according to the changes in cutting resistance, cutting temperature rise and acid removal rate to correct the real-time cutting depth and execute the cutting action.

[0010] The initial pushing force is determined based on the cutting depth curve, cut smoothness, and electrode exposure height obtained after cutting. The electrode group is pushed out using the initial pushing force. During the pushing process, the pushing speed is adjusted based on the deviation between the acid removal rate and the preset acid removal rate. At the same time, the abnormal type of the pushing state is determined and the pushing force is adjusted based on the changing trend of the pushing force and the pushing displacement.

[0011] Based on the plate breakage rate and ejection jamming rate obtained from batch statistics, adjust the cut-in depth benchmark value and cut-in depth compensation benchmark value for the next batch of lead-acid batteries of the same model.

[0012] Furthermore, the process of determining the cut-in depth reference value includes:

[0013] The standard entry depth is determined based on the model of the lead-acid battery to be disassembled;

[0014] The bulging compensation value is determined based on the bulging degree of the lead-acid battery casing to be disassembled;

[0015] The residual acid compensation value is determined based on the amount of residual acid in the lead-acid battery to be dismantled.

[0016] The standard cutting depth, the bulging compensation value, and the residual acid compensation value are superimposed to obtain the cutting depth reference value.

[0017] Furthermore, the process of determining whether a lead-acid battery to be disassembled requires pre-treatment by drilling, based on the cutting depth benchmark, includes:

[0018] The cutting depth reference value is compared with a preset depth threshold;

[0019] If the cutting depth reference value is greater than the preset depth threshold, it is determined that the lead-acid battery to be disassembled needs to be pre-processed by drilling.

[0020] Furthermore, the process of determining whether to adjust the drilling parameters to perform drilling again based on the acid removal efficiency, until the acid removal efficiency reaches a preset efficiency threshold or the number of adjustments reaches a preset number of adjustments, includes:

[0021] The acid removal efficiency is compared with a preset efficiency threshold.

[0022] If the acid removal efficiency is less than the preset efficiency threshold, the drilling parameters are adjusted and drilling is performed again until the acid removal efficiency is greater than or equal to the preset efficiency threshold or the preset number of adjustments is reached.

[0023] Furthermore, the process of determining the cutting depth compensation value based on the cutting depth compensation benchmark value and the acid removal efficiency after the final drilling target is achieved includes:

[0024] The acid removal deviation is determined based on the acid removal efficiency and the preset efficiency threshold.

[0025] The cutting depth compensation benchmark value is corrected based on the acid discharge deviation to obtain the cutting depth compensation value.

[0026] Furthermore, the process of adjusting the cutting depth compensation value based on the changes in cutting resistance, cutting temperature rise, and acid discharge rate includes:

[0027] The resistance deviation is determined based on the difference between the real-time cutting resistance and the preset reference resistance.

[0028] If the resistance deviation is greater than the preset resistance threshold, then the cutting depth compensation value is reduced.

[0029] The temperature rise deviation is determined based on the difference between the real-time cut-in temperature rise and the preset reference temperature rise;

[0030] If the temperature rise deviation is greater than the preset temperature rise threshold, then the cutting depth compensation value is reduced;

[0031] If the change in the acid removal rate is greater than a preset change threshold, then the cut depth compensation value is reduced.

[0032] Furthermore, the process of determining the initial pushing force based on the cutting depth curve, cut smoothness, and electrode exposure height obtained after cutting includes:

[0033] The uniformity index of cutting depth is determined based on the cutting depth curve.

[0034] The degree of surface defect in the cut is determined based on the cut smoothness.

[0035] The initial pushing force is determined based on the uniformity index of the cutting depth, the degree of defects on the cut surface, and the height of the exposed plate.

[0036] Furthermore, the process of adjusting the ejection speed based on the deviation between the acid removal rate and the preset acid removal rate includes:

[0037] The difference between the real-time acid removal rate and the preset acid removal rate is calculated to obtain the acid removal rate deviation;

[0038] If the acid removal rate deviation is negative and its absolute value exceeds a preset deviation threshold, and the cumulative acid removal amount is less than a preset ratio threshold for residual acid, the ejection speed is reduced.

[0039] Furthermore, the process of determining the abnormal type of the ejection state and adjusting the ejection force based on the changing trends of the ejection force and ejection displacement includes:

[0040] The thrust change and displacement change are determined based on the thrust force and thrust displacement within a preset time period;

[0041] If the change in thrust is positive and greater than the preset thrust increment threshold, and the change in displacement is less than the preset displacement increment threshold, then it is determined to be a stuck state, and the thrust is increased.

[0042] If the thrust change is negative and the decrease is greater than the preset thrust decrease threshold, it is determined to be a plate breakage state, the ejection is stopped and the fault mode is recorded.

[0043] If the change in thrust is not greater than a preset thrust increment threshold and the change in displacement is not less than a preset displacement increment threshold, then it is determined to be a normal state, and the current thrust is maintained.

[0044] Furthermore, based on the plate breakage rate and ejection jamming rate obtained from batch statistics, the process of adjusting the cutting depth benchmark value and cutting depth compensation benchmark value for the next batch of lead-acid batteries of the same model includes:

[0045] If the plate breakage rate is greater than the preset breakage threshold, the cutting depth reference value is reduced.

[0046] If the ejection jamming rate is greater than the preset jamming threshold, increase the cut-in depth reference value;

[0047] If the plate breakage rate is less than or equal to a preset breakage threshold and the ejection jamming rate is less than or equal to a preset jamming threshold, but the average change in the acid discharge rate during the entire cutting and ejection process exceeds a preset change threshold, then the cutting depth compensation benchmark value is increased.

[0048] Compared with existing technologies, the advantages of this invention are that it integrates the formation, maintenance, and protection of the acid release pathway throughout the entire process of drilling, cutting, and ejection. Real-time monitoring of acid release efficiency, rate, and cumulative acid release volume enables inter-process coordination, ensuring the acid release pathway remains unobstructed throughout the disassembly process and resolving issues of acid residue and electrode breakage caused by obstructed acid release channels. Using acid release efficiency as a feedforward input for the cutting depth compensation value, and incorporating cutting resistance deviation and cutting temperature rise deviation as real-time feedback, combined with dynamic correction of the compensation value based on acid release fluctuations, the cutting depth is adaptively adjusted according to the real-time status of the acid release pathway, maintaining pathway connectivity while avoiding excessive cutting and damage to the electrode. The invention also quantifies the compensation based on the cutting depth curve, cut smoothness, and electrode exposure height. The initial pushing force is obtained by superimposing the compensation force onto the standard pushing force. During the pushing process, the pushing state is classified into three types—stuck, broken, and normal—based on the joint judgment of the pushing force change and displacement change, and control strategies of increasing force, stopping, or maintaining are executed respectively. This allows the pushing force to be adaptively adjusted according to the actual resistance state, avoiding plate breakage or passage blockage due to improper pushing force. The cutting depth reference value and cutting depth compensation reference value are synchronously corrected based on the batch statistical results of plate breakage rate and pushing jamming rate. This allows the cutting depth reference value and cutting depth compensation reference value to gradually approach the optimal parameter combination between batches. This effectively solves the technical problem in the prior art that the lack of process collaborative control based on the acid discharge state leads to excessive cutting, damage to the plate, and loss of lead resources with plastic. Attached Figure Description

[0049] Figure 1 This is a flowchart of the lead-acid battery disassembly optimization method based on data processing in this embodiment;

[0050] Figure 2 This is a flowchart for determining the cut-in depth reference value in this embodiment;

[0051] Figure 3 This is a flowchart illustrating the adjustment of drilling parameters in this embodiment;

[0052] Figure 4 This is a flowchart illustrating the abnormal types of the ejection state and adjusting the ejection force in this embodiment. Detailed Implementation

[0053] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0054] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0055] Please see Figure 1 As shown, it is a flowchart of the lead-acid battery dismantling optimization method based on data processing in this embodiment. This embodiment provides a lead-acid battery dismantling optimization method based on data processing, including:

[0056] Step S1: Determine whether the lead-acid battery to be disassembled needs to be pre-treated by drilling based on the cutting depth reference value, so as to form an acid release channel on the casing in advance, so that the internal pressure of the battery can be released before cutting. The cutting depth reference value is determined according to the model of the lead-acid battery to be disassembled, the amount of residual acid and the bulging degree of the casing, in order to quantify the cutting difficulty of the lead-acid battery to be disassembled.

[0057] Step S2: In response to the need for pre-processing by drilling, the drilling parameters are determined based on the offset of the acid drainage hole of the lead-acid battery to be disassembled, the model and the amount of residual acid. Drilling is performed, and after drilling is completed, it is determined whether to adjust the drilling parameters to perform drilling again based on the acid drainage efficiency, until the acid drainage efficiency reaches a preset efficiency threshold or the number of adjustments reaches a preset number of adjustments, so as to form an acid drainage release path.

[0058] In this embodiment, the offset of the venting hole is determined based on the center coordinates of the venting hole of the lead-acid battery to be disassembled and the preset standard venting hole coordinates. An image of the surface of the lead-acid battery casing to be disassembled is acquired using an industrial camera. The pixel coordinates of the venting hole center in the image coordinate system are extracted using an image recognition algorithm. Based on pre-calibrated camera parameters, the pixel coordinates are converted into the spatial coordinates of the drilling device, which serve as the actual center coordinates of the venting hole. The corresponding standard venting hole center coordinates are retrieved from a preset database according to the model of the lead-acid battery to be disassembled. The difference between the actual center coordinates and the standard center coordinates in three-dimensional space is calculated to obtain the venting hole offset.

[0059] In this embodiment, the drilling parameters include the drilling position coordinates, drilling depth, and drilling angle.

[0060] In this embodiment, the acid drain hole offset is used to correct the drilling position. The acid drain hole offset is determined based on the center coordinates of the acid drain hole of the lead-acid battery to be disassembled and a preset standard acid drain hole coordinate. Specifically, the actual coordinates of the center of the acid drain hole are collected by an industrial camera and compared with the standard coordinates retrieved from the database according to the model to obtain the difference. The standard drilling position coordinates are retrieved from the preset database according to the model. The coordinate components of the acid drain hole offset are inverted to obtain the drilling position offset compensation amount. The standard drilling position coordinates are added to the corresponding coordinate components of the drilling position offset compensation amount to obtain the corrected drilling position coordinates.

[0061] In this embodiment, the standard drilling depth and standard drilling angle are retrieved from a preset database according to the battery model. The residual acid amount is used to determine the depth compensation value and angle compensation value. When the residual acid amount exceeds a preset residual acid threshold, it indicates that there is a large amount of residual acid inside the battery, requiring a larger drainage channel to ensure smooth acid drainage. Therefore, a depth compensation value needs to be added to the standard drilling depth, and the drilling angle is adjusted to improve the drainage path. The depth compensation value and the angle compensation value are both positively correlated with the residual acid amount, and both compensation values ​​are configured with saturation limits. The standard drilling depth is added to the depth compensation value to obtain the actual drilling depth; the standard drilling angle is added to the angle compensation value to obtain the actual drilling angle.

[0062] In this embodiment, the acid drainage efficiency is determined based on the ratio of the acid drainage rate to the preset acid drainage rate. After drilling is completed, the acid drainage rate is collected by a flow sensor installed on the acid drainage collection pipeline. The collected acid drainage rate is divided by the preset acid drainage rate to obtain the acid drainage efficiency.

[0063] In this embodiment, the preset acid removal rate is retrieved from a preset database based on the model of the lead-acid battery to be disassembled.

[0064] In this embodiment, the preset efficiency threshold is determined based on the statistical distribution of acid drainage efficiency of lead-acid batteries of the same model under standard drilling conditions. The lower quartile of the normal acid drainage efficiency distribution or the lowest acceptable acid drainage efficiency value calibrated by process experiments is taken. If it is less than this value, it indicates that the flow capacity of the acid drainage channel is insufficient and additional drilling is required.

[0065] In this embodiment, the preset number of adjustments is determined based on the statistical proportion of the same type of battery that meets the acid removal efficiency standard under multiple drilling operations. The number of times when the standard ratio reaches the preset requirement and the standard ratio tends to saturate after the number of times is increased is selected as the upper limit value.

[0066] Step S3: Determine the cutting depth compensation value based on the cutting depth compensation benchmark value and the acid drainage efficiency after the final drilling target is met. Determine the real-time cutting depth based on the cutting depth compensation value and the cutting depth benchmark value. During the cutting process, adjust the cutting depth compensation value according to the changes in cutting resistance, cutting temperature rise and acid drainage rate, thereby correcting the real-time cutting depth and performing the cutting action to maintain the connectivity of the acid drainage release path.

[0067] In this embodiment, the cutting depth compensation reference value is the initial setting value for cutting depth compensation. This reference value is retrieved from a preset database based on the model of the lead-acid battery to be disassembled.

[0068] Step S4: Determine the initial pushing force based on the cutting depth curve, cut flatness and electrode plate exposure height obtained after cutting. Use the initial pushing force to perform the electrode group pushing action. During the pushing process, determine the abnormal type of the pushing state based on the changing trend of the pushing force and pushing displacement, and adjust the pushing force to avoid blocking the acid release pathway during the electrode group pushing process.

[0069] In this embodiment, during the cutting process, the cutting depth of the tool is detected in real time by a displacement sensor or a laser rangefinder. The current cutting depth value is recorded according to a preset sampling period, and the value is associated with the corresponding cutting path position and stored. After the cutting is completed, curve data of the cutting depth changing with the cutting path position is generated.

[0070] Step S5: Based on the plate breakage rate and ejection jamming rate obtained from batch statistics, adjust the cut-in depth benchmark value and cut-in depth compensation benchmark value for the next batch of lead-acid batteries of the same model.

[0071] By integrating the formation, maintenance, and protection of the acid discharge release pathway throughout the entire process of drilling, cutting, and ejection, the acid discharge efficiency, cutting resistance, cutting temperature rise, and the amplitude of acid discharge rate changes are incorporated into the real-time adjustment of the cutting depth compensation value. Simultaneously, the cutting depth curve, cut smoothness, and electrode plate exposure height are used to determine the initial ejection force, and the changing trends of ejection force and ejection displacement are used to identify and adjust anomalies in the ejection state. This forms a complete control chain from drilling to cutting to ejection to batch feedback, achieving continuous connectivity of the acid discharge release pathway throughout the disassembly process. Furthermore, based on batch statistics of electrode plate breakage rate and ejection jamming rate, the cutting depth benchmark value and cutting depth compensation benchmark value for the next batch of lead-acid batteries of the same model are synchronously corrected. This allows the cutting depth benchmark value and cutting depth compensation benchmark value to gradually approach the optimal parameter combination between batches, forming a continuously self-optimizing closed-loop control.

[0072] Please see Figure 2 As shown, it is a flowchart for determining the cut-in depth reference value in this embodiment.

[0073] Specifically, the process of determining the cut-in depth baseline value includes:

[0074] The standard entry depth is determined based on the model of the lead-acid battery to be disassembled;

[0075] The bulging compensation value is determined based on the bulging degree of the lead-acid battery casing to be disassembled;

[0076] The residual acid compensation value is determined based on the amount of residual acid in the lead-acid battery to be dismantled.

[0077] The standard cutting depth, the bulging compensation value, and the residual acid compensation value are superimposed to obtain the cutting depth reference value.

[0078] In this embodiment, the model number is used to retrieve the corresponding casing thickness parameters from a preset database. The standard cutting depth is the sum of the casing thickness and a preset safety margin, where the preset safety margin is used to allow the cutting tool to penetrate the casing and enter the electrode area, while avoiding excessive cutting depth that could damage the electrode plates. The value of the preset safety margin is determined based on the gap height between the top of the electrode group and the inner wall of the casing for this battery model.

[0079] In this embodiment, the casing bulge is the amount of protrusion of the casing surface relative to the standard external dimensions. Three-dimensional point cloud data of the battery casing's outer surface is acquired using a 3D vision measurement device. The measured point cloud is compared with a standard external model of the same battery model to obtain the maximum protrusion height on each side of the casing, which is taken as the casing bulge. The bulge compensation value increases with the increase of the casing bulge, and the bulge compensation value is configured with a saturation limit. When the casing bulge is less than a first bulge threshold, the bulge compensation value is zero; when the casing bulge is greater than or equal to the first bulge threshold and less than a second bulge threshold, the bulge compensation value increases linearly with the bulge; when the casing bulge is greater than or equal to the second bulge threshold, the bulge compensation value remains at a preset maximum value. The first and second bulge thresholds are determined based on statistical results of the casing bulge of the same type of lead-acid battery. The first threshold is taken as the upper limit of the bulge of most normally used batteries, and the second threshold is taken as the inflection point in the bulge-compensation value response curve where the compensation effect tends to saturate.

[0080] In this embodiment, the residual acid amount is obtained by weighing. A weighing sensor acquires the total weight of the battery to be disassembled. Based on the battery model, the standard weight of the empty casing for that model is retrieved from a preset database. The difference between the total weight and the standard empty casing weight is the residual acid amount. The residual acid compensation value increases with the increase of the residual acid amount, and this compensation value is configured with a saturation limit. When the residual acid amount is less than a first residual acid threshold, the residual acid compensation value is zero; when the residual acid amount is greater than or equal to the first residual acid threshold and less than a second residual acid threshold, the residual acid compensation value increases linearly with the residual acid amount; when the residual acid amount is greater than or equal to the second residual acid threshold, the residual acid compensation value remains at a preset maximum value. The setting of the first and second residual acid thresholds is based on statistical and experimental analysis of the residual acid amount distribution and the required size of the acid drainage channel for the same model of lead-acid batteries. The first threshold is taken as the lower quantile of the statistical distribution of residual acid amount in waste batteries, serving as the benchmark for determining whether acid drainage compensation needs to be initiated; the second threshold is taken as the inflection point in the residual acid amount-compensation value response curve where the compensation effect tends to saturate.

[0081] In this embodiment, the standard cutting depth, bulging compensation value, and residual acid compensation value are superimposed to obtain the benchmark cutting depth value. These three components correspond to the shell structure constraint, deformation geometry constraint, and drainage function constraint, respectively. The standard cutting depth ensures the tool can penetrate the shell and enter the pole group region; its value is determined by the shell thickness. The bulging compensation value compensates for the deformed area of ​​the shell; the greater the deformation, the longer the actual cutting distance between the inner and outer walls of the shell, and the larger the compensation value. The residual acid compensation value ensures the drainage channel has sufficient flow area; the greater the residual acid, the larger the required channel cross-sectional area, and the correspondingly, the deeper the cutting depth needs to be increased. The three physical constraints are independent of each other, and each compensation value is in length dimension, consistent with the dimension of the standard cutting depth. Therefore, a linear superposition method is used to determine the benchmark value.

[0082] Specifically, the process of determining whether a lead-acid battery to be disassembled requires pre-treatment by drilling, based on the cutting depth benchmark, includes:

[0083] The cutting depth reference value is compared with a preset depth threshold;

[0084] If the cutting depth reference value is greater than the preset depth threshold, it is determined that the lead-acid battery to be disassembled needs to be pre-treated by drilling in order to form an acid release channel on the casing in advance, so that the internal pressure of the battery can be released before cutting, thereby reducing the risk of plate breakage due to sudden pressure change during the cutting process.

[0085] If the cut depth reference value is not greater than the preset depth threshold, then it is determined that no hole preprocessing is required, and the cut action is performed directly.

[0086] By comparing the cutting depth reference value with the preset depth threshold, the drilling preprocessing is only initiated when the cutting difficulty reaches a certain level, avoiding unnecessary steps and simplifying the process while ensuring cutting safety.

[0087] Please see Figure 3 As shown, it is a flowchart of adjusting the drilling parameters in this embodiment.

[0088] Specifically, the process of determining whether to adjust the drilling parameters to re-perform drilling based on the acid removal efficiency, until the acid removal efficiency reaches a preset efficiency threshold or the number of adjustments reaches a preset number of adjustments, includes:

[0089] The acid removal efficiency is compared with a preset efficiency threshold.

[0090] If the acid removal efficiency is less than the preset efficiency threshold, the drilling parameters are adjusted and drilling is performed again until the acid removal efficiency is greater than or equal to the preset efficiency threshold or the preset number of adjustments is reached.

[0091] In this embodiment, the acid drainage efficiency is compared with a preset efficiency threshold. If the acid drainage efficiency is less than the preset efficiency threshold, it indicates that the current acid drainage release pathway has insufficient flow capacity. At this time, the drilling parameters are adjusted and drilling is performed again. Specifically, it is determined whether the current drilling depth is less than the preset upper limit: if so, the drilling depth is increased first; if the current drilling depth has reached the preset upper limit, the drilling angle is increased. The adjustment amount for each adjustment is determined based on the deviation between the acid drainage efficiency and the preset efficiency threshold. The larger the deviation, the larger the adjustment amount, but the single adjustment amount does not exceed the preset maximum adjustment amount. After each adjustment, the acid drainage rate is re-detected and the acid drainage efficiency is updated. The above steps are repeated until the acid drainage efficiency is not less than the preset efficiency threshold or the number of adjustments reaches the preset number of adjustments. The preset upper limit of the depth is determined based on the casing thickness of the lead-acid battery to be disassembled. Based on the standard drilling depth, a redundancy of no more than 50% of the casing thickness is added to the standard drilling depth to ensure that the drilling depth is sufficient to penetrate the casing and expand the acid drainage channel, while avoiding contact with the internal plates after penetrating the casing.

[0092] After drilling is completed, the acid removal efficiency is monitored in real time and compared with a preset efficiency threshold. When the acid removal efficiency is lower than the preset threshold, the drilling parameters are automatically adjusted and drilling is performed again until the acid removal efficiency reaches the standard or the maximum number of adjustments is reached. This closed-loop feedback mechanism ensures that the acid removal release path is effectively formed before entering the cutting process, avoiding insufficient acid removal caused by fixed drilling parameters that cannot adapt to individual battery conditions. This allows the cutting tool to operate in a fully acid-removed state during the subsequent cutting process, fundamentally reducing the risk of acid splashing corroding equipment and plate breakage. At the same time, it provides a prerequisite guarantee for the continuous connection of the acid removal release path throughout the cutting process, which helps to reduce the amount of residual lead in the plastic and improve the purity of recycled lead. In addition, the preset number of adjustments prevents unlimited adjustments due to extreme abnormalities of individual batteries from affecting the production line cycle time, ensuring both acid removal quality and production efficiency.

[0093] Specifically, the process of determining the cutting depth compensation value based on the cutting depth compensation benchmark value and the acid drainage efficiency after the final drilling target is achieved includes:

[0094] The acid removal deviation is determined based on the acid removal efficiency and the preset efficiency threshold.

[0095] The cutting depth compensation benchmark value is corrected based on the acid discharge deviation to obtain the cutting depth compensation value.

[0096] In this embodiment, the difference between the preset efficiency threshold and the actual acid removal efficiency is calculated to obtain the acid removal deviation, which is used to quantify the degree of deviation between the actual acid removal state and the expected acid removal state after the current battery is drilled.

[0097] In this embodiment, when the actual acid drainage efficiency is less than the preset efficiency threshold, the acid drainage deviation is negative, indicating that the flow capacity of the acid drainage release pathway is less than the expected level. The cutting depth compensation value needs to be increased based on the baseline value during insertion, and the compensation increment increases with the increase of the absolute value of the deviation. When the actual acid drainage efficiency is not less than the preset efficiency threshold, the acid drainage deviation is zero or positive, indicating that the flow capacity of the acid drainage release pathway has reached the expected level. The cutting depth compensation value is equal to the baseline value or only needs to be corrected by a minimum based on the baseline value during insertion. Through the above deviation quantification and segmented compensation mechanism, the cutting depth compensation value can be adaptively adjusted according to the actual effect of the acid drainage state after drilling.

[0098] In this embodiment, when the acid discharge deviation is negative, meaning the actual acid discharge efficiency is less than the preset efficiency threshold, it indicates that the current battery's acid discharge release pathway flow capacity is less than expected. In this case, the cut-in depth compensation value should be increased by a compensation increment based on the cut-in depth compensation benchmark value. The compensation increment is determined by multiplying the absolute value of the acid discharge deviation by a preset compensation coefficient; the product is the compensation increment. The larger the absolute value of the deviation, the larger the compensation increment. The compensation coefficient is pre-calibrated through process experiments for different battery models and stored in a database. The cut-in depth compensation value is the sum of the cut-in depth compensation benchmark value and the compensation increment. When the acid discharge deviation is positive or zero, meaning the actual acid discharge efficiency is not less than the preset efficiency threshold, it indicates that the acid discharge release pathway flow capacity has reached the expected level. In this case, the compensation increment is zero, and the cut-in depth compensation value is equal to the cut-in depth compensation benchmark value.

[0099] In this embodiment, the preset efficiency threshold is determined based on the statistical distribution of acid removal efficiency of lead-acid batteries of the same model under standard drilling conditions, and the median or average value of the normal acid removal efficiency distribution is taken as the reference value of acid removal efficiency for this model of battery.

[0100] In this embodiment, the cut-in depth reference value and the cut-in depth compensation value are added together, and the sum is the real-time cut-in depth.

[0101] By correcting the cutting depth compensation value based on the deviation between the acid drainage efficiency and the preset efficiency threshold, the compensation amount is adapted to the current acid drainage state during cutting, thereby avoiding the compression or blockage of the passage during cutting due to insufficient flow capacity of the acid drainage channel. The adaptive correction of the cutting depth compensation value provides a starting benchmark for the dynamic adjustment in the subsequent cutting process.

[0102] Specifically, the process of adjusting the cutting depth compensation value based on the changes in cutting resistance, cutting temperature rise, and acid discharge rate includes:

[0103] The resistance deviation is determined based on the difference between the cutting resistance and the preset reference resistance, reflecting the mechanical response when the acid discharge path is compressed.

[0104] The temperature rise deviation is determined based on the difference between the cutting temperature rise and the preset reference temperature rise, reflecting the change in the contact state between the tool and the housing or electrode group.

[0105] If the resistance deviation is greater than a preset resistance threshold, or the temperature rise deviation is greater than a preset temperature rise threshold, or the change in the acid discharge rate is greater than a preset change threshold, the cutting depth compensation value is reduced.

[0106] In this embodiment, during the cutting process, the cutting resistance, cutting temperature rise, and acid drainage rate are continuously monitored at a preset sampling frequency. The differences between the cutting resistance and the preset reference resistance, the differences between the cutting temperature rise and the preset reference temperature rise, and the change range of the acid drainage rate are calculated respectively. When the resistance deviation is greater than a preset resistance threshold, or the temperature rise deviation is greater than a preset temperature rise threshold, or the change range of the acid drainage rate is greater than a preset change threshold, the cutting depth compensation value is reduced by a first preset step size, and the reduced compensation value is superimposed on the cutting depth reference value to obtain the updated real-time cutting depth. After each adjustment, the new compensation value is kept unchanged, and the above three physical quantities continue to be monitored. If the triggering condition still exists after a preset stabilization period, the first preset step size is reduced again, and so on, gradually decreasing until the triggering condition is eliminated or the cutting depth compensation value reaches a preset lower limit. When the changes in resistance deviation, temperature rise deviation, and acid discharge rate all return to their respective threshold ranges, the current compensation value is maintained and monitoring continues. If all deviations remain within the threshold range for a preset confirmation time during subsequent monitoring, the cut-in depth compensation value is gradually increased in units of the first preset step size until it returns to the value before adjustment. After each increase, the preset stabilization time is waited before the next increase is executed.

[0107] In this embodiment, the preset reference resistance is the stable resistance value of the battery model under normal cutting conditions, which is obtained by collecting the average resistance value during the stable phase through cutting experiments.

[0108] In this embodiment, the preset reference temperature rise is the stable temperature rise value of the battery model under normal cutting conditions, which is obtained by collecting the average temperature rise during the stable phase through cutting experiments.

[0109] In this embodiment, the preset resistance threshold is obtained by adding the preset reference resistance and the safety margin, and the safety margin is determined experimentally based on the strength of the shell material.

[0110] In this embodiment, the preset temperature rise threshold is obtained by adding the preset reference temperature rise and the safety margin, and the safety margin is determined experimentally based on the heat resistance performance of the shell.

[0111] In this embodiment, the preset change threshold is the maximum change range of the acid excretion rate under normal acid excretion conditions, which is obtained by collecting the upper limit of the normal fluctuation range through acid excretion experiments.

[0112] Specifically, the process of determining the initial pushing force based on the cutting depth curve, cut smoothness, and electrode exposure height obtained after cutting includes:

[0113] The uniformity index of cutting depth is determined based on the cutting depth curve.

[0114] The degree of surface defect in the cut is determined based on the cut smoothness.

[0115] The initial pushing force is determined based on the uniformity index of the cutting depth, the degree of defects on the cut surface, and the height of the exposed plate.

[0116] In this embodiment, the cut depth uniformity index is calculated based on the depth values ​​of each sampling point on the cut depth curve. Specifically, the depth values ​​of all sampling points on the cut depth curve are extracted, and their standard deviation is calculated as the cut depth uniformity index.

[0117] In this embodiment, the cut smoothness is obtained through a visual inspection device. After the cut is completed, an industrial camera captures an image of the cut edge of the housing, and an image processing algorithm extracts the contour curve of the cut edge. The contour curve is compared with the corresponding ideal contour line, and the shortest distance from each sampling point on the contour curve to the ideal contour line is calculated as the contour deviation value of each sampling point. The contour deviation values ​​of all sampling points constitute a deviation value sequence, and the average value of the sequence is calculated and used as the cut smoothness value.

[0118] In this embodiment, the degree of surface defects reflects the micro-geometric state of the casing cut. The greater the flatness deviation, the rougher the cut, and the more obvious the burrs and protrusions. The cut flatness value is compared with a preset flatness threshold to determine the degree of surface defects. If the cut flatness value is greater than the preset flatness threshold, the degree of surface defects is determined to be high; if the cut flatness value is not greater than the preset flatness threshold, the degree of surface defects is determined to be low. The preset flatness threshold is determined based on the statistical distribution of cut flatness of batteries of the same model under normal cutting conditions. The upper limit of the normal flatness distribution is taken, for example, the mean plus two standard deviations or the upper quartile, as the boundary standard for determining whether the degree of surface defects significantly affects the determination.

[0119] In this embodiment, the standard pushing force is retrieved from a preset database based on the model of the lead-acid battery to be disassembled. The standard pushing force is the reference pushing force of the same model battery under ideal cutting conditions.

[0120] In this embodiment, the cut depth uniformity index reflects the consistency of the cut depth along the path. The larger the index, the greater the depth fluctuation, the more inconsistent the separation degree between the pole group and the shell, the higher the risk of off-center loading during push-out, and the larger the required compensation value. The product of the cut depth uniformity index and the preset first proportional coefficient is calculated to obtain the first compensation value, which is used to add the additional thrust required to overcome the uneven separation on the basis of the standard push-out force.

[0121] In this embodiment, the degree of surface defect of the cut reflects the roughness of the cut edge. The higher the index, the rougher the cut, the greater the frictional resistance during push-out, and the greater the required compensation value. The product of the degree of surface defect of the cut and a preset second proportional coefficient is calculated to obtain the second compensation value, which is used to add the additional thrust required to overcome the extra frictional resistance on the basis of the standard push-out force.

[0122] In this embodiment, the exposed height of the electrode plate reflects the effectiveness of the contact between the ejection tool and the electrode plate. The lower the exposed height, the smaller the contact area, the more difficult it is for the ejection tool to effectively push the electrode group, and the greater the required compensation value. The difference between the standard exposed height of the electrode plate and the measured exposed height of the electrode plate is calculated, and this difference is multiplied by a preset third proportional coefficient to obtain a third compensation value, which is used to add the additional thrust required to overcome insufficient contact on the basis of the standard ejection force.

[0123] In this embodiment, the standard push force is added to the first compensation value, the second compensation value, and the third compensation value to obtain the initial push force.

[0124] In this embodiment, the first proportional coefficient is the average change in push-out resistance when the uniformity of the cutting depth index changes by a unit amount, the second proportional coefficient is the average change in push-out resistance when the degree of surface defect of the cut changes by a unit amount, and the third proportional coefficient is the average change in push-out resistance when the exposed height of the electrode plate changes by a unit amount. Each coefficient is obtained by linear fitting of multiple sets of calibration experimental data of the same type of battery.

[0125] By quantifying the uniformity of the cutting depth, the degree of surface defects of the cut, and the exposed height of the electrode plate into compensation values ​​and incorporating them into the adaptive control of the ejection force, the protection of the acid release pathway is transformed from passive adaptation to active adaptation, thus protecting the acid release pathway while ensuring the smooth ejection of the electrode group.

[0126] Specifically, the process of adjusting the exhaust speed based on the deviation between the acid removal rate and the preset acid removal rate includes:

[0127] The difference between the real-time acid removal rate and the preset acid removal rate is calculated to obtain the acid removal rate deviation;

[0128] If the acid discharge rate deviation is negative and its absolute value exceeds the preset deviation threshold and the cumulative acid discharge amount is less than the preset proportion threshold of the residual acid amount, it indicates that the acid liquid has not been discharged and the decrease in acid discharge rate is caused by the pressure on the acid discharge release passage. Therefore, the discharge speed should be reduced to alleviate the passage compression.

[0129] If the acid drainage rate deviation is negative and its absolute value exceeds the preset deviation threshold, and the cumulative acid drainage amount is not less than the preset ratio threshold of the residual acid amount, it indicates that the acid solution has been basically drained, the decrease in the acid drainage rate is a normal end to acid drainage, and the current discharge speed remains unchanged.

[0130] In this embodiment, after each reduction in the ejection speed, the deviation of the acid removal rate and the cumulative acid removal amount are continuously monitored. If the deviation has not recovered and the cumulative acid removal amount is still less than the preset proportional threshold, the second preset step size is reduced again after waiting for a second preset stabilization period. This process is repeated gradually until the deviation recovers to the preset deviation threshold range, the cumulative acid removal amount reaches the preset proportional threshold, or the ejection action is completed. When the acid removal rate deviation recovers to the preset deviation threshold range and remains stable for a second preset stabilization period, the ejection speed is gradually increased with the same second preset step size. After each increase, the preset stabilization period is waited for until the initial ejection speed is recovered.

[0131] In this embodiment, the preset deviation threshold is determined based on the fluctuation range of the acid discharge rate of the same type of battery under normal discharge conditions. The upper limit of the normal fluctuation range is taken as the dividing standard for judging whether the acid discharge rate has abnormally decreased due to the pressure on the passage.

[0132] In this embodiment, the preset ratio threshold is determined based on the ratio distribution of the cumulative acid discharge amount to the residual acid amount of the same type of battery at the end of normal acid discharge. The lower limit of the ratio at the end of acid discharge for most normal batteries is taken as the dividing standard for judging whether the acid has been basically discharged.

[0133] In this embodiment, the second preset step size is determined through calibration experiments and is used to control the magnitude of each speed adjustment to prevent system oscillation or secondary damage to the acid drainage pathway due to excessive single changes.

[0134] In this embodiment, the second preset stabilization time is used to control the interval of each adjustment, preventing frequent adjustments due to instantaneous fluctuations. Each parameter is pre-calibrated through process experiments to match the adjustment of the ejection speed with the actual state of the acid discharge release path, thus avoiding blockage caused by excessive ejection speed squeezing the path and avoiding impact on production line efficiency due to excessively reduced speed.

[0135] By introducing a dual judgment mechanism of acid discharge rate deviation and cumulative acid discharge volume during the ejection process, the ejection speed adjustment can accurately distinguish between two physical conditions: passage pressure and acid evacuation. This allows for timely reduction of the ejection speed when the passage is pressured to alleviate compression, prevent passage blockage and acid residue, and avoids unnecessary speed reductions when the acid is evacuated, ensuring production line efficiency and achieving a balance between acid discharge passage protection and production efficiency. The acid discharge passage remains unobstructed during ejection, allowing acid and debris to be discharged smoothly, providing a low-lead-content material basis for subsequent sorting processes, thereby improving the purity of recycled lead.

[0136] Please see Figure 4 As shown, this is a flowchart of determining the abnormal type of the ejection state and adjusting the ejection force in this embodiment.

[0137] Specifically, the process of determining the abnormal type of the ejection state and adjusting the ejection force based on the changing trends of the ejection force and ejection displacement includes:

[0138] The thrust change and displacement change are determined based on the thrust force and thrust displacement within a preset time period;

[0139] If the change in thrust is positive and greater than a preset thrust increment threshold, and the change in displacement is less than a preset displacement increment threshold, it indicates that the pole group's displacement in the thrust direction is increasing slowly or even stagnating, while the thrust continues to rise. The pole group is stuck in the casing and cannot slide out normally, which is determined to be a stuck state. To overcome the stuck resistance, the thrust is increased by a third preset step, and then the changes in thrust and displacement are monitored. If the stuck state continues, the third preset step is increased again until the displacement begins to increase or reaches a preset safety upper limit.

[0140] If the change in thrust is negative and the decrease is greater than the preset thrust decrease threshold, it indicates that the electrode plate has broken during the ejection process. The sudden drop in resistance at the moment of breakage leads to a sudden decrease in thrust. At this time, it is determined that the electrode plate is broken. The ejection should be stopped immediately and the fault mode should be recorded to avoid further ejection that could aggravate lead paste shedding and passage blockage.

[0141] If the change in thrust is not greater than the preset thrust increment threshold and the change in displacement is not less than the preset displacement increment threshold, it indicates that the thrust and displacement maintain a normal correspondence, the ejection process is smooth, and the pole group is in a normal sliding state. At this time, maintain the current thrust force and continue to execute the ejection action until the pole group is completely ejected.

[0142] In this embodiment, the preset safety upper limit is determined based on the rated thrust of the ejection device and the maximum ejection force that the lead-acid battery casing to be disassembled can withstand. The smaller of the two values ​​is taken as the safety upper limit to limit the range of thrust increase in the stuck state.

[0143] In this embodiment, the third preset step size is pre-calibrated and stored in the database through process experiments for different battery models. It is used to control the magnitude of each thrust increase and prevent equipment impact or plate breakage due to excessive single increase.

[0144] In this embodiment, the preset displacement increment threshold is determined based on the statistical distribution of displacement changes of batteries of the same model under normal deployment conditions. The lower limit of the normal distribution is taken, for example, the mean minus two standard deviations or the lower quartile, as the boundary standard distinguishing between normal displacement growth and displacement stagnation. Similarly, the preset thrust reduction threshold is determined based on the statistical distribution of thrust changes of batteries of the same model under normal deployment conditions. The lower limit of the normal distribution is taken, for example, the mean minus two standard deviations or the lower quartile, as the boundary standard distinguishing between normal thrust fluctuations and a sudden drop in thrust caused by plate breakage.

[0145] In this embodiment, the preset thrust increment threshold is determined based on the statistical distribution of thrust changes of the same type of battery under normal ejection conditions. The upper limit of the normal distribution is taken as the boundary standard to distinguish between normal thrust fluctuations and the onset of jamming. The preset thrust decrease threshold is determined based on the statistical distribution of thrust changes of the same type of battery under normal ejection conditions. The lower limit of the normal distribution is taken as the boundary standard to distinguish between normal thrust fluctuations and a sudden drop in thrust caused by plate breakage.

[0146] In this embodiment, the preset displacement increment threshold is determined based on the statistical distribution of displacement changes of the same type of battery under normal ejection conditions. The lower limit of the normal distribution is taken as the dividing standard for distinguishing between normal displacement growth and displacement stagnation.

[0147] By monitoring the thrust and displacement changes in real time during the ejection process, the ejection status is classified into three states: jammed, fragmented, and normal, enabling the identification and handling of anomalies during the ejection process. Specifically, in the jammed state, the thrust is gradually increased until the displacement increases or reaches the safety limit; in the fragmented state, ejection is immediately stopped and the fault mode is recorded; in the normal state, the current thrust is maintained and ejection continues, allowing the ejection force to adaptively adjust according to the actual resistance, preventing insufficient thrust from preventing the electrode group from detaching or excessive thrust from causing electrode plate fragmentation and blockage of the acid discharge pathway.

[0148] Specifically, the process of adjusting the cutting depth benchmark value and cutting depth compensation benchmark value for the next batch of lead-acid batteries of the same model, based on the plate breakage rate and ejection jamming rate obtained from batch statistics, includes:

[0149] If the plate breakage rate is greater than the preset breakage threshold, the cutting depth reference value is reduced.

[0150] If the ejection jamming rate is greater than the preset jamming threshold, increase the cut-in depth reference value;

[0151] If the plate breakage rate is less than or equal to a preset breakage threshold and the ejection jamming rate is less than or equal to a preset jamming threshold, but the average change in the acid discharge rate during the entire cutting and ejection process exceeds a preset change threshold, then the cutting depth compensation benchmark value is increased.

[0152] In this embodiment, in batch statistics, the electrode plate breakage rate refers to the percentage of electrode plates that break during the disassembly process of this batch out of the total number of electrode plates in this batch; the ejection jamming rate refers to the percentage of ejection jamming times that occur during the disassembly process of this batch out of the total number of ejections in this batch.

[0153] In this embodiment, the plate breakage rate is a direct consequence of excessive cutting depth during the cutting process. If the plate breakage rate exceeds a preset breakage threshold, it indicates that when the cutting depth is too large, the cutting tool damages the internal plates while penetrating the casing, causing the plates to break during subsequent ejection, indicating a systematic deviation in the current cutting depth benchmark. The difference between the plate breakage rate and the preset breakage threshold is calculated, and this difference is multiplied by a preset fourth proportional coefficient to obtain the adjustment step size. The preset breakage threshold is determined based on the statistical distribution of plate breakage rates of the same type of battery under normal cutting conditions, with the upper limit of the normal distribution used as the judgment criterion.

[0154] In this embodiment, the ejection jamming rate is a direct consequence of insufficient cutting depth. When the cutting depth is too small, the casing is not completely cut open, and there are still unsevered connection points between the electrode group and the casing. During ejection, the electrode group gets stuck and cannot be smoothly ejected. A jamming rate greater than a preset jamming threshold indicates a systematic deviation in the current cutting depth benchmark. If the ejection jamming rate is higher than the preset jamming threshold, the difference between the ejection jamming rate and the preset jamming threshold is calculated. This difference is multiplied by a preset fifth proportional coefficient to obtain the adjustment step size. The preset jamming threshold is determined based on the statistical distribution of the jamming rate of the same type of battery under normal ejection conditions, and the upper limit of the normal distribution is taken as the dividing standard for distinguishing between normal ejection and abnormal jamming.

[0155] In this embodiment, when both the plate breakage rate and the ejection jamming rate do not exceed their respective thresholds, it indicates that the cutting depth is neither too large nor too small. However, if the average change in the acid drainage rate during the entire cutting and ejection process exceeds the preset change threshold, it indicates that there is a hidden obstruction in the acid drainage release path during the entire disassembly process, and the acid drainage rate fluctuates greatly. This suggests that the flow capacity of the acid drainage channel is unstable, and it may have been subjected to intermittent compression or disturbance during the cutting or ejection process, but not to the extent that it would cause plate breakage or ejection jamming. The cutting depth compensation benchmark value is increased to improve the overall depth compensation during the cutting process, thereby enhancing the anti-interference ability and connectivity stability of the acid drainage release path throughout the cutting process. The difference between the average change in the acid drainage rate and the preset change threshold is calculated, and this difference is multiplied by the preset sixth proportional coefficient to obtain the adjustment step size. The preset change threshold is determined based on the statistical distribution of the change in the acid drainage rate of the same model of battery under normal disassembly conditions, and the upper limit of the normal distribution is taken as the judgment standard.

[0156] By using batch statistics to obtain plate breakage rate and ejection jamming rate, a closed-loop self-optimization mechanism is established to feed back end-point quality to source parameters. A high breakage rate indicates excessive penetration, so the penetration depth benchmark value is reduced; a high jamming rate indicates insufficient penetration, so the penetration depth benchmark value is increased; when both are normal but the average change in acid discharge rate exceeds a threshold, it indicates a hidden obstruction in the acid discharge pathway, so the penetration depth compensation benchmark value is increased. These three situations correspond to three fault modes: excessively large penetration depth benchmark value, excessively small penetration depth benchmark value, and hidden obstruction in the acid discharge pathway. Each mode is independently corrected for different parameter dimensions, so that the penetration depth benchmark value and penetration depth compensation benchmark value gradually approach the optimal value across batches, achieving system self-optimization.

[0157] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A data processing-based optimization method for dismantling lead-acid batteries, characterized in that, include: Whether the lead-acid battery to be disassembled needs to be pre-treated by drilling is determined based on the reference value of the cutting depth. The reference value of the cutting depth is determined according to the model, residual acid content and shell bulge of the lead-acid battery to be disassembled. In response to the need for pre-drilling, the drilling parameters are determined based on the offset of the acid drainage hole of the lead-acid battery to be disassembled, the model and the amount of residual acid. Based on the acid drainage efficiency obtained after drilling, it is determined whether to adjust the drilling parameters to perform drilling again in order to form an acid drainage release path. The real-time cutting depth is determined based on the cutting depth reference value and the acid drainage efficiency for cutting. During the cutting process, the real-time cutting depth is adjusted according to the obtained cutting resistance, cutting temperature rise and acid drainage rate change to maintain the first connected state of the acid drainage release pathway. The initial push force is determined based on the first connectivity state obtained after the cut is completed, so as to perform the pole group push. The second connectivity state of the acid release pathway is determined based on the changes in push force, push displacement and acid discharge rate during the push process, so as to adjust the current push force. The cut-in depth benchmark value for the next batch of lead-acid batteries of the same model is adjusted based on the number of instabilities in the first and second connected states obtained from batch statistics.

2. The lead-acid battery dismantling optimization method based on data processing according to claim 1, characterized in that, The process of determining the cut-in depth reference value includes: The standard entry depth is determined based on the model of the lead-acid battery to be disassembled; The bulging compensation value is determined based on the bulging degree of the lead-acid battery casing to be disassembled; The residual acid compensation value is determined based on the amount of residual acid in the lead-acid battery to be dismantled. The standard cutting depth, the bulging compensation value, and the residual acid compensation value are superimposed to obtain the cutting depth reference value.

3. The lead-acid battery dismantling optimization method based on data processing according to claim 2, characterized in that, The process of determining whether a lead-acid battery to be disassembled requires pre-treatment by drilling based on the cutting depth benchmark includes: The cutting depth reference value is compared with a preset depth threshold; If the cutting depth reference value is greater than the preset depth threshold, it is determined that the lead-acid battery to be disassembled needs to be pre-processed by drilling.

4. The lead-acid battery dismantling optimization method based on data processing according to claim 1, characterized in that, The process of determining whether to adjust drilling parameters based on acid removal efficiency includes: The acid removal efficiency is compared with a preset efficiency threshold. If the acid removal efficiency is less than the preset efficiency threshold, the drilling parameters are adjusted and drilling is performed again until the acid removal efficiency is greater than or equal to the preset efficiency threshold or the preset number of adjustments is reached.

5. The lead-acid battery dismantling optimization method based on data processing according to claim 1, characterized in that, The process of determining the cutting depth compensation value based on the cutting depth compensation benchmark value and the acid drainage efficiency after the final drilling target is achieved includes: The acid removal deviation is determined based on the acid removal efficiency and the preset efficiency threshold. The cutting depth compensation benchmark value is corrected based on the acid discharge deviation to obtain the cutting depth compensation value.

6. The lead-acid battery dismantling optimization method based on data processing according to claim 1, characterized in that, The process of adjusting the cutting depth compensation value based on the changes in cutting resistance, cutting temperature rise, and acid discharge rate includes: The resistance deviation is determined based on the difference between the real-time cutting resistance and the preset reference resistance. If the resistance deviation is greater than the preset resistance threshold, then the cutting depth compensation value is reduced. The temperature rise deviation is determined based on the difference between the real-time cut-in temperature rise and the preset reference temperature rise; If the temperature rise deviation is greater than the preset temperature rise threshold, then the cutting depth compensation value is reduced; If the change in the acid removal rate is greater than a preset change threshold, then the cut depth compensation value is reduced.

7. The lead-acid battery dismantling optimization method based on data processing according to claim 6, characterized in that, The process of determining the initial pushing force based on the cutting depth curve, cut smoothness, and electrode exposure height obtained after cutting includes: The uniformity index of cutting depth is determined based on the cutting depth curve. The degree of surface defect in the cut is determined based on the cut smoothness. The initial pushing force is determined based on the uniformity index of the cutting depth, the degree of defects on the cut surface, and the height of the exposed plate.

8. The lead-acid battery dismantling optimization method based on data processing according to claim 1, characterized in that, The process of adjusting the exhaust speed based on the deviation between the acid removal rate and the preset acid removal rate includes: The difference between the real-time acid removal rate and the preset acid removal rate is calculated to obtain the acid removal rate deviation; If the acid removal rate deviation is negative and its absolute value exceeds a preset deviation threshold, and the cumulative acid removal amount is less than a preset ratio threshold for residual acid, the ejection speed is reduced.

9. The lead-acid battery dismantling optimization method based on data processing according to claim 1, characterized in that, The process of determining the abnormal type of the ejection state and adjusting the ejection force based on the changing trends of the ejection force and ejection displacement includes: The thrust change and displacement change are determined based on the thrust force and thrust displacement within a preset time period; If the change in thrust is positive and greater than the preset thrust increment threshold, and the change in displacement is less than the preset displacement increment threshold, then it is determined to be a stuck state, and the thrust is increased. If the thrust change is negative and the decrease is greater than the preset thrust decrease threshold, it is determined to be a plate breakage state, the ejection is stopped and the fault mode is recorded. If the change in thrust is not greater than a preset thrust increment threshold and the change in displacement is not less than a preset displacement increment threshold, then it is determined to be a normal state, and the current thrust is maintained.

10. The lead-acid battery dismantling optimization method based on data processing according to claim 1, characterized in that, The process of adjusting the cutting depth benchmark value and cutting depth compensation benchmark value for the next batch of lead-acid batteries of the same model, based on the plate breakage rate and ejection jamming rate obtained from batch statistics, includes: If the plate breakage rate is greater than the preset breakage threshold, the cutting depth reference value is reduced. If the ejection jamming rate is greater than the preset jamming threshold, increase the cut-in depth reference value; If the plate breakage rate is less than or equal to a preset breakage threshold and the ejection jamming rate is less than or equal to a preset jamming threshold, but the average change in the acid discharge rate during the entire cutting and ejection process exceeds a preset change threshold, then the cutting depth compensation benchmark value is increased.

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