CN106684488A - Full automatic dismantling equipment and method for power battery - Google Patents
Full automatic dismantling equipment and method for power battery Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及动力电池回收处理领域，特别涉及一种动力电池全自动拆解设备和方法。The invention relates to the field of recycling and processing of power batteries, in particular to a fully automatic dismantling device and method for power batteries.
背景技术Background technique
动力电池是指具有较大电能容量和输出功率，可配置电动自行车、电动汽车、电动设备及工具驱动电源的电池。随着新能源电动汽车的蓬勃发展，动力电池市场呈现高速增长态势，与此同时，动力电池报废量日益增多，报废动力电池的回收利用成为影响到动力电池产业发展的一个重要因素。目前，国内动力电池回收行业还处于起步摸索阶段，动力电池的自动化拆解程度低，主要依靠人工进行拆解。Power battery refers to a battery with large electric energy capacity and output power, which can be equipped with electric bicycles, electric vehicles, electric equipment and tools to drive power. With the vigorous development of new energy electric vehicles, the power battery market is showing a rapid growth trend. At the same time, the amount of scrapped power batteries is increasing. The recycling of scrapped power batteries has become an important factor affecting the development of the power battery industry. At present, the domestic power battery recycling industry is still in the initial stage of exploration, and the degree of automatic dismantling of power batteries is low, mainly relying on manual dismantling.
在动力电池的拆解回收过程中，如何高效地将动力电池的保护外壳与电池基体分离是一个关键的问题，如果选择分离方法不当会造成电池短路起火甚至爆炸，并产生一定的有毒气体，人工操作存在安全隐患，此外，在手工操作的过程中，操作者容易接触到电池废液，危害健康。In the process of dismantling and recycling the power battery, how to efficiently separate the protective shell of the power battery from the battery base is a key issue. If the separation method is not selected properly, the battery will short-circuit, catch fire or even explode, and produce certain toxic gases. There are potential safety hazards in the operation. In addition, in the process of manual operation, the operator is easy to come into contact with the battery waste liquid, which is harmful to health.
因此，亟需开发出动力电池全自动拆解设备，实现动力电池环保节能、安全可靠、效率高的拆解回收。Therefore, there is an urgent need to develop fully automatic dismantling equipment for power batteries to realize environmentally friendly, energy-saving, safe, reliable and efficient dismantling and recycling of power batteries.
发明内容Contents of the invention
本发明的主要目的在于克服现有技术的缺点与不足，提供一种动力电池全自动拆解设备，该设备可以实现动力电池的自动上料、切缝、切割、分离、输送、下料等一系列自动化工艺过程。The main purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a fully automatic dismantling equipment for power batteries, which can realize automatic feeding, slitting, cutting, separation, transportation, and unloading of power batteries. A series of automated processes.
本发明的另一目的在于，提供一种基于上述动力电池全自动拆解设备的控制方法。Another object of the present invention is to provide a control method based on the above automatic dismantling equipment for power batteries.
为了达到上述第一发明目的，本发明采用以下技术方案：In order to achieve the above-mentioned first invention purpose, the present invention adopts the following technical solutions:
本发明的一种动力电池全自动拆解设备，包括机架、上料机构、电池三面环切机构、电池分解机构、电池输送机构、上料仓以及下料仓，所述上料机构、电池三面环切机构、电池分解机构、电池输送机构、上料仓以及下料仓均设置在机架上，所述上料仓位于上料机构下方；所述上料机构用于将动力电池从上料仓中夹取并送至电池三面环切机构，电池三面环切机构对动力电池进行底部切缝、上下侧面切缝以及电池头部切割工序，然后电池分解机构完成动力电池外壳与电芯的分离及下料工序，最后由下料仓收集分离后电池外壳与电芯；所述电池三面环切机构包括电池底部切缝机构、电池侧面切缝机构、以及电池头切割机构，所述电池底部切缝机构用于完成对动力电池底部外壳进行切缝工序；所述电池侧面切缝机构用于完成对动力电池的上下两个侧面的切缝工序；所述电池头切割机构用于完成对动力电池的电池头切割工序；所述电池输送机构用于实现动力电池在不同工序之间的输送。A fully automatic dismantling device for a power battery of the present invention includes a frame, a feeding mechanism, a three-sided battery cutting mechanism, a battery decomposition mechanism, a battery conveying mechanism, a feeding bin and a lowering bin, the feeding mechanism, the battery The three-sided ring cutting mechanism, the battery decomposition mechanism, the battery conveying mechanism, the upper material bin and the lower material bin are all arranged on the frame, and the upper material bin is located below the material feeding mechanism; The battery is clamped in the silo and sent to the battery three-side circumcision mechanism. The battery three-side circumcision mechanism performs bottom slits, upper and lower side slits, and battery head cutting processes on the power battery, and then the battery disassembly mechanism completes the power battery case and the battery cell. Separation and unloading process. Finally, the separated battery shell and battery cells are collected by the unloading bin; the battery three-sided circumcision mechanism includes a battery bottom slitting mechanism, a battery side slitting mechanism, and a battery head cutting mechanism. The slitting mechanism is used to complete the slitting process on the bottom shell of the power battery; the battery side slitting mechanism is used to complete the slitting process on the upper and lower sides of the power battery; the battery head cutting mechanism is used to complete the power battery. The battery head cutting process of the battery; the battery transport mechanism is used to realize the transport of power batteries between different processes.
作为优选的技术方案，所述上料机构包括Y轴机械手、Z轴机械手、夹爪装置、以及抬升装置，所述Y轴机械手由Y轴丝杠模组、Y轴电机、Y轴滑台组成，Y轴滑台由位于Y轴丝杠模组一端的Y轴电机驱动，实现Y轴滑台沿着Y轴方向移动；所述Z轴机械手位于Y轴滑台上，包括Z轴机械手和Z轴气缸，Z轴机械手由Z轴气缸驱动在Z轴方向上移动；所述夹爪装置位于Z轴机械手的滑块上，包括夹爪和夹爪气缸，所述夹爪位于Z轴机械手的下端，由夹爪气缸驱动夹爪实现张开、闭合动作；所述抬升装置由抬升板、抬升电机、抬升丝杠模组组成，抬升电机驱动抬升板沿着Z轴方向上下移动，用于将上料仓中的动力电池抬升至接近夹爪装置位置处，以减少Z轴机械手的移动行程，提升抓取效率。As a preferred technical solution, the feeding mechanism includes a Y-axis manipulator, a Z-axis manipulator, a gripper device, and a lifting device, and the Y-axis manipulator is composed of a Y-axis screw module, a Y-axis motor, and a Y-axis slide table , the Y-axis slide table is driven by a Y-axis motor located at one end of the Y-axis screw module to realize the Y-axis slide table moving along the Y-axis direction; the Z-axis manipulator is located on the Y-axis slide table, including the Z-axis manipulator and the Z-axis manipulator. Axis cylinder, the Z-axis manipulator is driven by the Z-axis cylinder to move in the Z-axis direction; the gripper device is located on the slider of the Z-axis manipulator, including the gripper and the gripper cylinder, and the gripper is located at the lower end of the Z-axis manipulator , the jaws are driven by the jaw cylinder to open and close; the lifting device is composed of a lifting plate, a lifting motor, and a lifting screw module, and the lifting motor drives the lifting plate to move up and down along the Z-axis direction for moving the upper The power battery in the hopper is raised to a position close to the gripper device to reduce the movement stroke of the Z-axis manipulator and improve the grabbing efficiency.
作为优选的技术方案，所述电池底部切缝机构包括底部切缝装置、第一定位装置、以及推料装置，所述底部切缝装置由底部切缝电机、砂轮、底部切缝移动电机、以及底部切缝移动平台组成，砂轮通过底部切缝电机驱动工作，底部切缝电机位于底部切缝移动平台上，底部切缝移动平台通过滑轨与机架连接，底部切缝移动电机驱动底部切缝移动平台在机架上沿着X轴方向移动，从而带动底部切缝电机、砂轮在X轴方向上移动；所述第一定位装置由第一X向定位、第一Y向定位、第一Z向定位装置组成，实现动力电池在X、Y、Z三个方向的精确定位；所述推料装置由推料板、推料气缸组成，推料板位于机架上，推料气缸驱动推料板沿着X轴方向移动，用于将完成切缝工序的动力电池推送至输送机构上。As a preferred technical solution, the battery bottom slitting mechanism includes a bottom slitting device, a first positioning device, and a pushing device, and the bottom slitting device is composed of a bottom slitting motor, a grinding wheel, a bottom slitting moving motor, and The bottom slitting mobile platform is composed of the grinding wheel driven by the bottom slitting motor. The bottom slitting motor is located on the bottom slitting mobile platform. The bottom slitting mobile platform is connected with the frame through slide rails. The bottom slitting motor drives the bottom slitting The mobile platform moves along the X-axis direction on the frame, thereby driving the bottom slitting motor and the grinding wheel to move in the X-axis direction; the first positioning device is composed of the first X-direction positioning, the first Y-direction positioning, the first Z It is composed of a positioning device to realize the precise positioning of the power battery in the three directions of X, Y and Z; the pushing device is composed of a pushing plate and a pushing cylinder, the pushing plate is located on the frame, and the pushing cylinder drives the pushing The plate moves along the X-axis direction, and is used to push the power battery that has completed the cutting process to the conveying mechanism.
作为优选的技术方案，所述电池侧面切缝机构由侧面切缝装置、第二定位装置、移动滑台组成，所述侧面切缝装置由两组结构相似的侧面切缝装置组成，所述两组侧面切缝装置分别位于动力电池的上下两侧，所述侧面切缝装置由侧面切缝电机、侧面切缝砂轮、侧面切缝电机滑台、以及侧面切缝移动电机组成，所述侧面切缝电机设置在侧面切缝电机滑台上，所述侧面切缝移动滑台通过切缝电机滑轨、切缝电机滑块与机架连接，所述侧面切缝移动电机驱动侧面切缝电机滑台沿着切缝电机滑轨移动，所述侧面切缝电机驱动侧面切缝砂轮实现对动力电池上下侧面电池外壳切缝工作；所述第二定位装置由第二X向定位、第二Y向定位、第二Z向定位装置组成，实现动力电池在X、Y、Z三个方向的精确定位及稳固；所述移动滑台由Y向移动滑台、X向移动滑台，Y向移动滑台用以实现在Y轴方向的进位、退位，便于动力电池通过侧面切缝机构，所述X向移动滑台位于Y向移动滑台上，用于辅助X向定位及动力电池的推料。As a preferred technical solution, the battery side slitting mechanism is composed of a side slitting device, a second positioning device, and a moving slide table, and the side slitting device is composed of two groups of side slitting devices with similar structures. A group of side slitting devices are respectively located on the upper and lower sides of the power battery. The side slitting devices are composed of a side slitting motor, a side slitting grinding wheel, a side slitting motor slide table, and a side slitting moving motor. The sewing motor is arranged on the side slitting motor slide table, and the side slitting moving slide table is connected with the frame through the slitting motor slide rail and the slitting motor slider, and the side slitting moving motor drives the side slitting motor slide The table moves along the sliding rail of the slitting motor, and the side slitting motor drives the side slitting grinding wheel to realize the slitting work on the upper and lower sides of the battery case of the power battery; the second positioning device is positioned by the second X direction and the second Y direction Positioning and the second Z-direction positioning device to realize the precise positioning and stability of the power battery in the X, Y, and Z directions; the mobile slide table is composed of a Y-direction mobile slide table, an X-direction mobile The table is used to realize the advance and retreat in the Y-axis direction, so that the power battery can pass through the side slit mechanism. The X-direction mobile slide is located on the Y-direction mobile slide, which is used to assist X-direction positioning and power battery push.
作为优选的技术方案，所述电池头切割机构由切割装置、第三定位装置、推料装置组成，所述切割装置由X向移动滑台、Z向移动滑台、切割砂轮、切割电机组成，所述Z向移动滑台位于X向移动滑台上，所述切割电机位于Z向移动滑台上，所述切割砂轮与切割电机连接，所述切割砂轮在X向移动滑台、Z向移动滑台的辅助下被移动至贴近电池头的位置，切割电机驱动切割砂轮实现对电池头的切割动作，所述第三定位装置由第三X向定位、第三Y向定位、第三Z向定位装置组成，实现动力电池在X、Y、Z三个方向的精确定位及稳固，所述推料装置由推料板、推料气缸组成，用于将切割好的动力电池推送至输送机构。As a preferred technical solution, the battery head cutting mechanism is composed of a cutting device, a third positioning device, and a pushing device, and the cutting device is composed of an X-direction moving slide table, a Z-direction moving slide table, a cutting grinding wheel, and a cutting motor. The Z-direction moving slide is located on the X-direction moving slide, the cutting motor is located on the Z-direction moving slide, the cutting grinding wheel is connected with the cutting motor, and the cutting grinding wheel moves on the X-direction moving slide and the Z-direction With the assistance of the sliding table, it is moved to a position close to the battery head, and the cutting motor drives the cutting wheel to realize the cutting action on the battery head. The positioning device is composed of a positioning device to realize the precise positioning and stability of the power battery in the three directions of X, Y and Z. The pushing device is composed of a pushing plate and a pushing cylinder, which is used to push the cut power battery to the conveying mechanism.
作为优选的技术方案，所述电池分解机构由上料装置、定位装置、移动装置、辅助下料装置组成，所述上料装置由挡料板、推料板、推料气缸组成，用以将输送机构上的动力电池推送至分解机构上，所述定位装置由X向定位、Y向定位、Z向定位组成，实现动力电池在X、Y、Z三个方向的精确定位及稳固，所述移动装置由X向移动滑台、Y向移动滑台组成，所述Y向移动滑台用以实现在Y轴方向的Y轴方向的进位、退位，便于动力电池通过电池分解机构，所述X向滑台用于实现X向的定位、下料，所述辅助下料装置由电芯下料口、外壳下料口组成，辅助电芯、外壳落入相应的下料仓。As a preferred technical solution, the battery decomposition mechanism is composed of a feeding device, a positioning device, a moving device, and an auxiliary unloading device, and the feeding device is composed of a baffle plate, a pushing plate, and a pushing cylinder to The power battery on the conveying mechanism is pushed to the decomposition mechanism. The positioning device is composed of X-direction positioning, Y-direction positioning, and Z-direction positioning to realize precise positioning and stability of the power battery in the X, Y, and Z directions. The moving device is composed of an X-direction mobile slide table and a Y-direction mobile slide table. The Y-direction mobile slide table is used to realize the advance and retreat in the Y-axis direction in the Y-axis direction, so that the power battery can pass through the battery decomposition mechanism. The sliding table is used to realize the positioning and blanking in the X direction. The auxiliary blanking device is composed of a battery discharge port and a casing discharge port. The auxiliary cells and the casing fall into the corresponding discharge bins.
为了达到上述第二目的，本发明采用以下技术方案：In order to achieve the above-mentioned second purpose, the present invention adopts the following technical solutions:
本发明的动力电池全自动拆解设备的方法，包括下述步骤：The method for fully automatic dismantling equipment of a power battery of the present invention comprises the following steps:
S1、上料机构将动力电池从上料仓中抓取并转移至电池底部切缝机构待切割工位；S1. The feeding mechanism grabs the power battery from the feeding bin and transfers it to the cutting station of the cutting mechanism at the bottom of the battery;
S2、电池底部切缝机构对待拆解电池进行精确定位，完成对电池的底部外壳切缝工序，并将切好缝的电池经由输送机构推送至电池侧面切缝机构；S2. The battery bottom cutting mechanism accurately positions the battery to be disassembled, completes the bottom casing cutting process of the battery, and pushes the cut battery to the battery side cutting mechanism through the conveying mechanism;
S3、切缝机构完成对电池上下两个侧面外壳切缝工序，并将切好缝的电池经由输送机构推送至电池头切割机构；S3. The seaming mechanism completes the seaming process of the upper and lower side shells of the battery, and pushes the seamed battery to the battery head cutting mechanism through the conveying mechanism;
S4、电池头切割机构完成电池头的切割分离，并将切割好电池头的电池经由输送机构推送至电池分解机构；S4. The battery head cutting mechanism completes the cutting and separation of the battery head, and pushes the battery with the cut battery head to the battery decomposition mechanism through the conveying mechanism;
S5、电池分解机构剥离电池外壳，并将电芯和外壳分别送到不同的下料仓进行回收。S5. The battery decomposition mechanism peels off the battery shell, and sends the battery cells and the shell to different feeding bins for recycling.
作为优选的技术方案，步骤S2具体为：As a preferred technical solution, step S2 is specifically:
电池底部切缝机构的定位装置对动力电池实行定位，底部切缝移动电机驱动底部切缝移动平台沿着X轴方向移动，直至砂轮与动力电池的底部外壳接触，底部切缝电机驱动砂转动，实现对动力电池的底部外壳切缝动作，底部外壳切缝工序完成后，底部切缝电机停止转动，底部切缝移动电机驱动底部切缝移动平台回到初始位置，定位装置回到初始位置，释放电池，推料板气缸驱动推料板将动力电池推送至输送机构上后复位，输送机构将动力电池输送至电池侧面切缝机构。The positioning device of the battery bottom slitting mechanism positions the power battery. The bottom slitting moving motor drives the bottom slitting mobile platform to move along the X-axis direction until the grinding wheel contacts the bottom shell of the power battery, and the bottom slitting motor drives the sand to rotate. Realize the slitting action of the bottom shell of the power battery. After the slitting process of the bottom shell is completed, the bottom slitting motor stops rotating, and the bottom slitting moving motor drives the bottom slitting moving platform to return to the initial position, and the positioning device returns to the initial position. Battery, pushing plate The cylinder drives the pushing plate to push the power battery to the conveying mechanism and reset it, and the conveying mechanism conveys the power battery to the battery side cutting mechanism.
作为优选的技术方案，步骤S3具体为：As a preferred technical solution, step S3 is specifically:
电池侧面切缝机构的Y向滑台沿着Y轴方向向动力电池方向移动，X、Y向定位实现动力电池在X轴、Y轴方向的精确定位后，Z向定位气缸驱动Z向定位块向下运动，压住动力电池，侧面切缝电机驱动侧面切缝砂轮向动力电池方向移动至砂轮与电池外壳接触，侧面切缝电机、X向滑台电机或气缸同时动作，在X向滑台带着动力电池移动的同时，侧面切缝砂轮对动力电池上下侧面外壳进行切缝动作。切缝完成后，Z向定位、Y向定位恢复初始位置，Y向滑台恢复初始位置，同时，X向活动气缸驱动X向活动夹板助推被完成侧面切缝工序的电池向输送机构移动，输送机构将动力电池输送至电池头切割机构；The Y-sliding table of the battery side cutting mechanism moves along the Y-axis direction to the direction of the power battery, and the X- and Y-direction positioning realizes the precise positioning of the power battery in the X-axis and Y-axis directions, and the Z-direction positioning cylinder drives the Z-direction positioning block Move down, press the power battery, the side slitting motor drives the side slitting grinding wheel to move towards the power battery until the grinding wheel contacts the battery case, the side slitting motor, the X-sliding table motor or the cylinder move simultaneously, and the X-sliding table While moving with the power battery, the side slit grinding wheel slits the upper and lower side shells of the power battery. After the slit is completed, the Z-direction positioning and Y-direction positioning return to the initial position, and the Y-direction sliding table returns to the initial position. At the same time, the X-direction movable cylinder drives the X-direction movable splint to help the battery that has completed the side slit process move to the conveying mechanism. The conveying mechanism conveys the power battery to the battery head cutting mechanism;
电池头切割机构的X向定位气缸、Y向定位气缸分别驱动X向定位板、Y向定位板实现对动力电池在XY两个方向的定位，在实现XY向定位的同时，X向定位板、Y向定位板沿着轴向转动至贴紧动力电池的外壳，Z向定位气缸驱动Z向定位块向下运动至贴紧动力电池外壳，X向滑台电机驱动X向滑台向动力电池方向移动，从而带动砂轮移动至动力电池上方，电池头切割电机工作，驱动砂轮转动，同时Z向移动电机驱动砂轮向下运动，实现电池头切割动作，电池头落入切割完成后，砂轮停止工作，Z向滑台、X向滑台复位，定位装置回到初始位置，推料气缸驱动推料板将切割好的电池推送至输送机构，输送机构将电池输送至分解机构。The X-direction positioning cylinder and Y-direction positioning cylinder of the battery head cutting mechanism respectively drive the X-direction positioning plate and the Y-direction positioning plate to realize the positioning of the power battery in the XY two directions. While realizing the X-Y direction positioning, the X-direction positioning plate, The Y-direction positioning plate rotates along the axial direction until it is close to the casing of the power battery, the Z-direction positioning cylinder drives the Z-direction positioning block to move down to close to the power battery casing, and the X-direction sliding table motor drives the X-direction sliding table to the direction of the power battery Move, so as to drive the grinding wheel to move to the top of the power battery. The battery head cutting motor works to drive the grinding wheel to rotate. At the same time, the Z-direction moving motor drives the grinding wheel to move downward to realize the cutting action of the battery head. After the battery head falls into the cutting and the cutting is completed, the grinding wheel stops working. The Z-direction sliding table and X-direction sliding table reset, the positioning device returns to the initial position, the pushing cylinder drives the pushing plate to push the cut battery to the conveying mechanism, and the conveying mechanism conveys the battery to the decomposition mechanism.
作为优选的技术方案，步骤S5具体为：As a preferred technical solution, step S5 is specifically:
电池分解机构的上料装置将电池从输送机构上转移至待分解工位，Y向移动滑台气缸驱动Y向移动滑台向动力电池方向移动至贴近动力电池位置，Y向定位气缸驱动Y向定位块实现对动力电池的Y轴方向定位，X向定位气缸驱动X向活动定位块向动力电池方向移动至X向活动定位块的前端分别超过动力电池的左右两侧外壳，此时，位于Y向移动滑台上的两个X向固定定位块合拢，X向移动滑台气缸驱动X向移动滑台向X向固定定位块方向移动，从而带动X向活动定位块向X向固定定位块移动直至X向活动定位块的锯齿进入到电芯中，Z向定位气缸驱动Z向定位块向下运动至Z向定位块的锥状头进入到动力电池上表面的切缝中并紧紧压住电芯，Y向移动滑台气缸驱动Y向移动滑台向初始位置移动至两个X向固定定位块之间的距离超过动力电池的宽度，动力电池的外壳在X向活动定位块的锯齿以及Z向定位块对电芯的压紧作用下，外壳与电芯分离，通过外壳下料口落入到外壳下料仓中，Z向定位气缸驱动Z向定位块复位到初始位置，X向定位气缸驱动X向活动定位块向拆解工位的中心位置移动，X向滑台沿着X轴方向向电芯下料口方向移动，在X向活动定位块的推动下，电芯沿着电芯下料口落入电芯下料仓中，X向滑台复位至初始位置。The feeding device of the battery disassembly mechanism transfers the battery from the conveying mechanism to the station to be disassembled. The cylinder of the Y-direction moving slide drives the Y-direction moving slide to move to the position close to the power battery, and the Y-direction positioning cylinder drives the Y-direction. The positioning block realizes the positioning of the power battery in the Y-axis direction, and the X-direction positioning cylinder drives the X-direction movable positioning block to move toward the power battery until the front ends of the X-direction movable positioning block respectively exceed the left and right sides of the power battery. The two X-direction fixed positioning blocks on the moving slide are closed, and the X-direction moving slide cylinder drives the X-direction moving slide to move towards the X-direction fixed positioning block, thereby driving the X-direction movable positioning block to move to the X-direction fixed positioning block Until the sawtooth of the X-direction movable positioning block enters the battery cell, the Z-direction positioning cylinder drives the Z-direction positioning block to move down until the conical head of the Z-direction positioning block enters the slit on the upper surface of the power battery and presses it tightly The battery cell, the cylinder of the Y-direction moving slide drives the Y-direction moving slide to the initial position until the distance between the two X-direction fixed positioning blocks exceeds the width of the power battery. Under the pressing effect of the Z-direction positioning block on the battery cell, the shell is separated from the battery cell, and falls into the shell lowering bin through the shell discharge port. The Z-direction positioning cylinder drives the Z-direction positioning block to reset to the initial position, and the X-direction positioning The cylinder drives the X-direction movable positioning block to move to the center of the disassembly station, and the X-direction sliding table moves along the X-axis direction to the direction of the cell discharge port. Pushed by the X-direction movable positioning block, the cell moves along the battery The core discharge port falls into the cell discharge bin, and the X-direction sliding table is reset to the initial position.
本发明与现有技术相比，具有如下优点和有益效果：Compared with the prior art, the present invention has the following advantages and beneficial effects:
1、本发明自动化程度高，电池头、电芯和外壳等材料自动分类，废气、粉尘主动收集，废弃环保回收，拆解效率高。1. The invention has a high degree of automation, automatic classification of materials such as battery heads, battery cells, and casings, active collection of waste gas and dust, environmentally friendly recycling of waste, and high disassembly efficiency.
2、本发明主要工艺部位采用全封闭式外罩，有效地隔绝设备内部噪声和粉尘，保护人员和设备的安全，降低了切割的危险性。2. The main process part of the present invention adopts a fully enclosed outer cover, which effectively isolates the noise and dust inside the equipment, protects the safety of personnel and equipment, and reduces the danger of cutting.
3、本发明适用性广，可适用于不同型号规格的动力电池的自动拆解，适于批量化生产。3. The present invention has wide applicability, can be applied to the automatic dismantling of power batteries of different models and specifications, and is suitable for mass production.
4、本发明在动力电池的底部、上下侧面分别切缝，有利于电池外壳与电芯的分离。4. The present invention makes slits on the bottom and upper and lower sides of the power battery, which is beneficial to the separation of the battery shell and the battery cell.
5、本发明采用一体化、集成化设计，节省了空间，提高了拆解效率。5. The present invention adopts an integrated and integrated design, which saves space and improves disassembly efficiency.
附图说明Description of drawings
图1是本发明设备的整体结构示意图；Fig. 1 is the overall structural representation of equipment of the present invention;
图2是本发明上料机构的立体图；Fig. 2 is a perspective view of the feeding mechanism of the present invention;
图3是本发明电池底部切缝机构的立体图；Fig. 3 is a perspective view of the battery bottom slit mechanism of the present invention;
图4是本发明电池侧面切缝机构的立体图；Fig. 4 is a perspective view of the battery side slitting mechanism of the present invention;
图5是本发明电池头切割机构的立体图；Fig. 5 is a perspective view of the battery head cutting mechanism of the present invention;
图6是本发明电池分解机构的立体图；Fig. 6 is a perspective view of the battery disassembly mechanism of the present invention;
图7(a)是本发明机架的立体图1；Fig. 7 (a) is the perspective view 1 of frame of the present invention;
图7(b)是本发明机架的立体图2；Fig. 7 (b) is the perspective view 2 of frame of the present invention;
图8是本实施例的工艺流程图。Fig. 8 is a process flow diagram of this embodiment.
其中：in:
图1：1为机架，2为上料机构，3为电池底部切缝机构，4为电池侧面切缝机构，5为电池头切割机构，6为电池分解机构，7为电池输送机构，8为上料仓，9为除尘装置，10为净化装置，11为动力电池。Figure 1: 1 is the frame, 2 is the feeding mechanism, 3 is the battery bottom cutting mechanism, 4 is the battery side cutting mechanism, 5 is the battery head cutting mechanism, 6 is the battery disassembly mechanism, 7 is the battery conveying mechanism, 8 For feeding bin, 9 is a dust removal device, 10 is a purification device, and 11 is a power battery.
图2：201为抬升板，202为抬升电机，203为抬升丝杠模组，204为Y轴丝杠模组，205为Y轴电机，206为Y轴滑台，207为Z轴机械手，208为Z轴气缸，209为夹爪，210为夹爪气缸。Figure 2: 201 is the lifting plate, 202 is the lifting motor, 203 is the lifting screw module, 204 is the Y-axis screw module, 205 is the Y-axis motor, 206 is the Y-axis sliding table, 207 is the Z-axis manipulator, 208 Is the Z-axis cylinder, 209 is the jaw, and 210 is the jaw cylinder.
图3：301为底部切缝电机，302为砂轮，303为底部切缝移动电机，304为X向定位推板，305为Y向定位固定推板，306为Y向定位活动推板，307为Y向定位气缸，308为Z向下压板，309为Z向下压气缸，310为推料板，311为推料气缸，30为动力电池。Figure 3: 301 is the bottom slitting motor, 302 is the grinding wheel, 303 is the bottom slitting moving motor, 304 is the X-direction positioning push plate, 305 is the Y-direction positioning fixed push plate, 306 is the Y-direction positioning movable push plate, 307 is Y direction positioning cylinder, 308 is a Z downward pressing plate, 309 is a Z downward pressing cylinder, 310 is a pushing plate, 311 is a pushing cylinder, and 30 is a power battery.
图4：401为侧面切缝电机，402为侧面切缝砂轮，403为侧面切缝电机滑台，404为切缝电机滑轨，405为切缝电机滑块，406为侧面切缝移动电机，407为Y向活动夹板，408为Y向活动气缸，409为Y向固定夹板，410为Z向定位块，411为X向固定夹板，412为X向活动夹板，413为X向活动气缸，414为Y向滑台，415为X向滑台。Figure 4: 401 is the side slitting motor, 402 is the side slitting grinding wheel, 403 is the side slitting motor slide table, 404 is the slitting motor slide rail, 405 is the slitting motor slider, 406 is the side slitting moving motor, 407 is a Y-direction movable splint, 408 is a Y-direction movable cylinder, 409 is a Y-direction fixed splint, 410 is a Z-direction positioning block, 411 is an X-direction fixed splint, 412 is an X-direction movable splint, 413 is an X-direction movable cylinder, 414 It is a Y-direction slide table, and 415 is an X-direction slide table.
图5:501为X向滑轨，502为X向滑块，503为X向滑台，504为Z向滑块，505为Z向滑台，506为Z向移动电机，507为电池头切割电机，508为砂轮，509为Y向定位板，510为Y向定位气缸，511为X向定位板，512为X向定位气缸，513为Z向定位块，514为Z向定位气缸，515为推料板，516为推料气缸。Figure 5: 501 is the X-direction slide rail, 502 is the X-direction slider, 503 is the X-direction slide table, 504 is the Z-direction slide block, 505 is the Z-direction slide table, 506 is the Z-direction moving motor, 507 is the battery head cutting Motor, 508 is the grinding wheel, 509 is the Y direction positioning plate, 510 is the Y direction positioning cylinder, 511 is the X direction positioning plate, 512 is the X direction positioning cylinder, 513 is the Z direction positioning block, 514 is the Z direction positioning cylinder, 515 is Pushing material plate, 516 is pushing material cylinder.
图6:601为挡料板，602为推料板，603为推料气缸，604为X向活动定位块，605为X向固定定位块，606为X向定位连接块，607为X向定位滑块，608为X向定位导轨，609为X向定位气缸，610为Y向定位块，611为Y向定位气缸，612为X向移动滑台，613为X向移动滑台气缸，614为X向移动滑台导轨，615为Y向移动滑台，616为Y向移动滑块，617为Y向移动滑台导轨，618为Y向移动滑台气缸，619为Z向定位块，620为Z向定位气缸，621为电芯下料口，622为外壳下料口，1为机架，11为动力电池。Figure 6: 601 is the baffle plate, 602 is the pusher plate, 603 is the pusher cylinder, 604 is the X-direction movable positioning block, 605 is the X-direction fixed positioning block, 606 is the X-direction positioning connection block, 607 is the X-direction positioning Slider, 608 is the X direction positioning guide rail, 609 is the X direction positioning cylinder, 610 is the Y direction positioning block, 611 is the Y direction positioning cylinder, 612 is the X direction moving slide table, 613 is the X direction moving slide table cylinder, 614 is X-direction mobile slide guide rail, 615 is Y-direction mobile slide table, 616 is Y-direction mobile slide block, 617 is Y-direction mobile slide table guide rail, 618 is Y-direction mobile slide table cylinder, 619 is Z-direction positioning block, 620 is Z-direction positioning cylinder, 621 is the discharge port of the electric core, 622 is the discharge port of the casing, 1 is the frame, and 11 is the power battery.
图7(a)～(b)：1为机架，12为防护外罩，13为观察窗，14为HMI，15为电池头下料仓，16为外壳下料仓，17为电芯下料仓，18为控制柜。Figure 7(a)～(b): 1 is the frame, 12 is the protective cover, 13 is the observation window, 14 is the HMI, 15 is the battery head unloading bin, 16 is the shell unloading bin, 17 is the battery unloading Storehouse, 18 is a control cabinet.
具体实施方式detailed description
下面结合实施例及附图对本发明作进一步详细的描述，但本发明的实施方式不限于此。The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
实施例Example
如图1所示，本实施例动力电池全自动拆解设备，包括机架1、上料机构2、电池底部切缝机构3、电池侧面切缝机构4、电池头切割机构5、电池分解机构6、电池输送机构7、上料仓8、除尘装置9、净化装置10。动力电池全自动拆解设备可实现动力电池的上料、底部切割、侧面切割、电池头切割、电池分解、下料等一系列自动化工艺过程，同时配备除尘装置、净化装置，去除整个工艺过程中所产生的粉尘、废气等。As shown in Figure 1, the fully automatic dismantling equipment for power batteries in this embodiment includes a frame 1, a feeding mechanism 2, a battery bottom slitting mechanism 3, a battery side slitting mechanism 4, a battery head cutting mechanism 5, and a battery disassembly mechanism 6. Battery conveying mechanism 7, feeding bin 8, dust removal device 9, and purification device 10. The power battery automatic dismantling equipment can realize a series of automatic processes such as power battery loading, bottom cutting, side cutting, battery head cutting, battery decomposition, and unloading. At the same time, it is equipped with a dust removal device and a purification device to remove generated dust, exhaust gas, etc.
本实施例中，上料机构的结构图参见图2，上料机构主要由Y轴机械手、Z轴机械手207、夹爪装置、抬升装置组成，以完成将待拆解动力电池从上料仓中转移到电池底部切缝机构3的动作。Y轴机械手包括Y轴丝杠模组204、Y轴电机205、Y轴滑台206，Y轴滑台由位于Y轴丝杠模组一端的Y轴电机驱动。Z轴机械手位于Y轴滑台上，Z轴机械手由Z轴气缸208驱动实现在Z轴机械手在Z轴方向上的移动。夹爪装置位于Z轴机械手的滑块上，夹爪装置包括夹爪209、夹爪气缸210，夹爪位于Z轴机械手的下端，由夹爪气缸驱动夹爪实现张开、闭合动作。抬升装置包括抬升板201、抬升电机202、抬升丝杆模组203，抬升丝杠模组与Y轴机械手呈垂直方向布置，抬升板设置在抬升丝杠模组的底端，抬升丝杠模组由抬升电机驱动，以实现抬升板在Z轴方向上的移动，减少Z轴机械手的移动行程，提高上料效率。In this embodiment, the structural diagram of the feeding mechanism is shown in Figure 2. The feeding mechanism is mainly composed of a Y-axis manipulator, a Z-axis manipulator 207, a gripper device, and a lifting device to complete the removal of the power battery to be disassembled from the feeding bin. Transfer to the action of the battery bottom slitting mechanism 3. The Y-axis manipulator includes a Y-axis screw module 204, a Y-axis motor 205, and a Y-axis slide 206, and the Y-axis slide is driven by a Y-axis motor positioned at one end of the Y-axis screw module. The Z-axis manipulator is located on the Y-axis slide table, and the Z-axis manipulator is driven by the Z-axis cylinder 208 to move the Z-axis manipulator in the Z-axis direction. The gripper device is located on the slider of the Z-axis manipulator. The gripper device includes a gripper 209 and a gripper cylinder 210. The gripper is located at the lower end of the Z-axis manipulator. The gripper is driven by the gripper cylinder to open and close. The lifting device includes a lifting plate 201, a lifting motor 202, and a lifting screw module 203. The lifting screw module and the Y-axis manipulator are arranged in a vertical direction. The lifting plate is arranged at the bottom of the lifting screw module, and the lifting screw module Driven by the lifting motor to realize the movement of the lifting plate in the Z-axis direction, reduce the moving stroke of the Z-axis manipulator, and improve the feeding efficiency.
本实施例中，电池底部切缝机构的结构图参见图3，电池底部切缝机构主要由底部切缝装置、第一定位装置、推料装置三大部分组成，其中底部切缝装置实现对动力电池底部外壳进行切缝工作，底部切缝装置包括底部切缝电机301、砂轮302、底部切缝移动电机303、底部切缝移动平台，砂轮通过底部切缝电机驱动工作，底部切缝电机位于底部切缝移动平台上，底部切缝移动平台通过滑轨与机架1连接，底部切缝移动电机驱动底部切缝移动平台在机架上沿着X轴方向移动，从而带动底部切缝电机、砂轮在X轴方向上移动。第一定位装置实现动力电池在在X、Y、Z三个轴向定位，保证在切缝工作中，动力电池11不晃动，第一定位装置包括第一X向定位、Y向定位、Z向定位装置，其中第一X向定位装置由X向定位推板304、X项定位气缸组成，X向定位气缸驱动X向定位推板沿着X向移动。第一Y向定位装置由Y向定位固定推板305、Y向定位活动推板、Y向定位气缸307组成，其中第一Y向定位固定推板固定安装在机架上，第一Y向定位活动推板位于Y向定位固定推板的对侧，由第一Y向定位气缸驱动其沿着Y轴方向移动。第一Z向定位装置由Z向下压板308、Z向下压气缸组成，其中Z向下压板位于Y向定位固定推板一侧，Z向下压气缸驱动Z向下压板沿着Z轴方向移动。推料装置是将以完成底部切缝工序的动力电池推送至输送机构上，推送装置包括推料板310、推料气缸311，推料板位于机架上，推料气缸驱动推料板沿着X轴方向移动。In this embodiment, see Figure 3 for the structural diagram of the battery bottom slitting mechanism. The battery bottom slitting mechanism is mainly composed of three parts: the bottom slitting device, the first positioning device, and the pushing device. The bottom casing of the battery is used for slitting work. The bottom slitting device includes a bottom slitting motor 301, a grinding wheel 302, a bottom slitting moving motor 303, and a bottom slitting moving platform. The grinding wheel is driven by the bottom slitting motor, and the bottom slitting motor is located at the bottom On the slitting mobile platform, the bottom slitting mobile platform is connected with the frame 1 through slide rails, and the bottom slitting mobile motor drives the bottom slitting mobile platform to move along the X-axis direction on the frame, thereby driving the bottom slitting motor and the grinding wheel Move in the X-axis direction. The first positioning device realizes the positioning of the power battery in the three axial directions of X, Y and Z to ensure that the power battery 11 does not shake during the cutting work. The first positioning device includes the first X-direction positioning, Y-direction positioning, and Z-direction positioning. The positioning device, wherein the first X-direction positioning device is composed of an X-direction positioning push plate 304 and an X-item positioning cylinder, and the X-direction positioning cylinder drives the X-direction positioning push plate to move along the X direction. The first Y-direction positioning device is composed of a Y-direction positioning fixed push plate 305, a Y-direction positioning movable push plate, and a Y-direction positioning cylinder 307, wherein the first Y-direction positioning fixed push plate is fixedly installed on the frame, and the first Y-direction positioning The movable push plate is located on the opposite side of the fixed push plate in the Y direction, and is driven by the first Y direction positioning cylinder to move along the Y axis. The first Z-direction positioning device is composed of a Z downward pressing plate 308 and a Z downward pressing cylinder, wherein the Z downward pressing plate is located on the side of the fixed push plate in the Y direction, and the Z downward pressing cylinder drives the Z downward pressing plate along the Z axis direction move. The pushing device is to push the power battery to complete the bottom cutting process to the conveying mechanism. The pushing device includes a pushing plate 310 and a pushing cylinder 311. The pushing plate is located on the frame, and the pushing cylinder drives the pushing plate along the Move in the X-axis direction.
本实施例中，电池侧面切缝机构的结构图参见图4，电池侧面切缝机构主要由侧面切缝装置、第二定位装置、移动滑台组成，其中，侧面切缝装置实现对动力电池上下两个侧面的切缝工序，侧面切缝装置由两组结构类似的侧面切缝装置组成，分别位于动力电池放置平台的上、下两侧。每组侧面切缝装置包括侧面切缝电机401、侧面切缝砂轮402、侧面切缝电机滑台403、切缝电机滑轨404、切缝电机滑块405、侧面切缝移动电机406，侧面切缝电机位于侧面切缝电机滑台上，驱动侧面切缝砂轮转动，侧面切缝电机滑台通过切缝电机滑轨、切缝电机滑块与机架连接，侧面切缝移动电机驱动侧面切缝电机滑台沿着Z轴方向移动，从而带动侧面切缝砂轮在Z轴方向上移动。移动滑台用以实现在Y轴方向的进位、退位，便于动力电池的输送，移动滑台包括X向滑台415、Y向滑台414，X向滑台通过X向滑块、X向滑轨与机架连接，Y向滑台位于X向滑台上，通过Y向滑块、Y向滑轨与X滑台连接，可以通过电机或者气缸分别驱动X向滑台、Y向滑台分别在X轴、Y轴方向移动。第二定位装置用以实现动力电池在侧面切缝机构上的精确定位，同时保证动力电池在切缝工艺流程中稳固不移动，第二定位装置包括第二X向定位、第二Y向定位、第二Z向定位装置，其中第二X向定位装置由X向固定夹板411、X向活动夹板412、X向活动气缸413组成，X向固定夹板、X向活动夹板、X向活动气缸均位于Y向滑台上，X向活动气缸驱动X向活动夹板沿着X轴方向移动；第二Y向定位由Y向活动夹板407、Y向活动气缸408、为Y向固定夹板409组成，Y向固定夹板位于Y向滑台上，Y向活动夹板、Y向活动气缸位于机架上，Y向活动气缸驱动Y向活动夹板沿着Y轴方向移动；第二Z向定位由Z向定位块410、Z向定位气缸组成，Z向定位块、Z向定位气缸位于Y向滑台上。In this embodiment, the structural diagram of the battery side slitting mechanism is shown in Figure 4. The battery side slitting mechanism is mainly composed of a side slitting device, a second positioning device, and a moving slide. Two side slitting processes, the side slitting device consists of two sets of side slitting devices with similar structures, which are respectively located on the upper and lower sides of the power battery placement platform. Each group of side slitting devices includes a side slitting motor 401, a side slitting grinding wheel 402, a side slitting motor slide 403, a slitting motor slide rail 404, a slitting motor slide block 405, a side slitting moving motor 406, and a side slitting motor 406. The sewing motor is located on the side slitting motor slide table, driving the side slitting grinding wheel to rotate, the side slitting motor slide table is connected with the frame through the slitting motor slide rail and the slitting motor slider, and the side slitting moving motor drives the side slitting The motor slide table moves along the Z-axis direction, thereby driving the side slit grinding wheel to move along the Z-axis direction. The moving slide table is used to realize the advance and retreat in the Y-axis direction, which is convenient for the transportation of the power battery. The mobile slide table includes the X-direction slide table 415 and the Y-direction slide table 414. The rail is connected to the frame, and the Y-direction slide is located on the X-direction slide. It is connected with the X slide through the Y-direction slide and the Y-direction slide. The X-direction slide and the Y-direction slide can be driven by the motor or the cylinder respectively. Move in the X-axis and Y-axis directions. The second positioning device is used to realize the precise positioning of the power battery on the side slitting mechanism, and at the same time ensure that the power battery is stable and does not move during the slitting process. The second positioning device includes the second X-direction positioning, the second Y-direction positioning, The second Z-direction positioning device, wherein the second X-direction positioning device is composed of X-direction fixed splint 411, X-direction movable splint 412, and X-direction movable cylinder 413. The X-direction fixed splint, X-direction movable splint, and X-direction movable cylinder are all located at On the Y-direction slide table, the X-direction movable cylinder drives the X-direction movable splint to move along the X-axis direction; the second Y-direction positioning is composed of the Y-direction movable splint 407, the Y-direction movable cylinder 408, and the Y-direction fixed splint 409. The fixed splint is located on the Y-direction slide table, the Y-direction movable splint and the Y-direction movable cylinder are located on the frame, and the Y-direction movable cylinder drives the Y-direction movable splint to move along the Y-axis direction; the second Z-direction positioning is performed by the Z-direction positioning block 410 , Z-direction positioning cylinder, Z-direction positioning block and Z-direction positioning cylinder are located on the Y-direction slide table.
本实施例中，电池头切割机构的结构图参见图5，电池头切割机构主要由切割装置、第三定位装置和推料装置组成。其中，切割装置用以实现对动力电池的电池头的切割，切割装置包括X向滑轨501、X向滑块502、X向滑台503、Z向滑块504、Z向滑台505、Z向移动电机506、电池头切割电机507、508为砂轮，X向滑台通过X向滑轨、X向滑块与机架连接，X向滑台电机驱动X向滑台沿着X轴方向移动，Z向滑台位于X向滑台上，两者之间通过Z向滑块、Z向滑轨连接，电池头切割电机位于Z向滑台上，电池头切割电机驱动砂轮转动，在X向滑台的一端设置有Z向移动电机，用以驱动Z向滑台沿着Z轴方向移动，从而带动电池头切割电机、砂轮沿着Z轴方向移动；第三定位装置用来将待切割动力电池精确地定位在电池头切割机构的动力电池工位，且保证动力电池在切割的过程中不会移动，第三定位装置包括第三X向定位、第三Y向定位、第三Z向定位装置，其中第三X向定位包括X向定位板511、X向定位气缸512，X向定位气缸驱动X向定位板沿着X轴方向移动，X向定位板可沿着其轴向进行旋转，第三Y向定位装置包括509为Y向定位板，510为Y向定位气缸，Y向定位气缸驱动Y向定位板沿着Y轴方向移动，Y向定位板可沿着其轴向进行旋转，第三Z向定位装置包括Z向定位块513、Z向定位气缸514，Z向定位气缸驱动Z向定位块沿着Z轴方向移动；推料装置用来实现将切割好的动力电池推送至输送机构上，推料装置包括推料板515、推料气缸516，推料气缸驱动推料板沿着Y轴方向移动。In this embodiment, refer to FIG. 5 for the structural diagram of the battery head cutting mechanism. The battery head cutting mechanism is mainly composed of a cutting device, a third positioning device and a pushing device. Among them, the cutting device is used to realize the cutting of the battery head of the power battery, and the cutting device includes an X-direction slide rail 501, an X-direction slide block 502, an X-direction slide table 503, a Z-direction slide block 504, a Z-direction slide table 505, and a Z-direction slide table 505. The moving motor 506 and the battery head cutting motors 507 and 508 are grinding wheels. The X-direction sliding table is connected with the frame through the X-direction slide rail and the X-direction sliding block. The X-direction sliding table motor drives the X-direction sliding table to move along the X-axis direction , the Z-sliding table is located on the X-sliding table, and the two are connected by the Z-sliding block and the Z-sliding rail. The battery head cutting motor is located on the Z-sliding table, and the battery head cutting motor drives the grinding wheel to rotate. One end of the slide table is provided with a Z-direction moving motor, which is used to drive the Z-direction slide table to move along the Z-axis direction, thereby driving the battery head cutting motor and the grinding wheel to move along the Z-axis direction; the third positioning device is used to move the power to be cut The battery is accurately positioned on the power battery station of the battery head cutting mechanism, and the power battery is guaranteed not to move during the cutting process. The third positioning device includes the third X-direction positioning, the third Y-direction positioning, and the third Z-direction positioning. The device, wherein the third X-direction positioning includes an X-direction positioning plate 511 and an X-direction positioning cylinder 512, the X-direction positioning cylinder drives the X-direction positioning plate to move along the X-axis direction, and the X-direction positioning plate can rotate along its axial direction, The third Y-direction positioning device includes 509 as a Y-direction positioning plate, 510 as a Y-direction positioning cylinder, and the Y-direction positioning cylinder drives the Y-direction positioning plate to move along the Y-axis direction, and the Y-direction positioning plate can rotate along its axial direction. The third Z-direction positioning device includes a Z-direction positioning block 513 and a Z-direction positioning cylinder 514. The Z-direction positioning cylinder drives the Z-direction positioning block to move along the Z-axis direction; the pushing device is used to push the cut power battery to the conveyor Mechanistically, the pushing device includes a pushing plate 515 and a pushing cylinder 516, and the pushing cylinder drives the pushing plate to move along the Y-axis direction.
本实施例中，电池分解机构的结构图参见图6，电池分解机构主要由上料装置、第四定位装置、移动装置、辅助下料装置组成，第四定位装置、移动装置成对称布置，其中上料装置用以实现将输送装置上的动力电池转移到分解工位处，上料装置包括挡料板601、推料板602、推料气缸603，挡料板位于输送装置的一端，阻止动力电池继续前行，推料气缸驱动推料板沿着X轴方向移动，从而将动力电池从输送装置上转移到分解工位处。移动装置可实现X轴方向、Y轴方向移动，在X轴方向移动便于X轴方向定位及下料，在Y轴方向定位，移动装置包括，X向移动滑台612、X向移动滑台气缸613、X向移动滑台导轨614、Y向移动滑台615、Y向移动滑块616、Y向移动滑台导轨617、Y向移动滑台气缸618，X向移动滑台位于Y向移动滑台上，通过X向移动滑台导轨、X向移动滑块与Y向移动滑台连接，X向移动滑台气缸位于X向移动滑台的一端，驱动X向移动滑台沿着X轴方向移动，Y向移动滑台位于机架1上，通过Y向移动滑块、Y向移动滑台导轨与机架连接，Y向移动滑台气缸驱动Y向移动滑台沿着Y轴方向移动。第四定位装置实现对待拆解的动力电池在XYZ三个轴向的定位及在X轴方向的外壳拆解，X向定位包括X向活动定位块604、X向固定定位块605、X向定位连接块606、X向定位滑块607、X向定位导轨608、X向定位气缸609，X向固定定位块位于Y向移动滑台上，X向活动定位块位于X向移动滑台上，通过X向定位连接块、X向定位滑块、X向定位导轨与X向移动滑台连接，X向定位气缸与X向定位连接块连接，驱动X向活动定位块沿着Y轴方向移动，X向定位块一侧带有锯齿，在实现动力电池X轴方向定位的同时，定位块锯齿插入电芯中，便于电池外壳的拆解，Y向定位包括Y向定位块610、Y向定位气缸611，Y向定位块、Y向定位气缸位于X向移动滑台上，Y向定位气缸驱动Y向定位块沿着Y轴方向移动。Z向定位包括Z向定位块619、Z向定位气缸620，Z向定位块、Z向定位气缸位于机架上，Z向定位块的底部呈锥状。辅助下料装置包括电芯下料口621、外壳下料口622，两者均位于机架上，在下料口的下方设置有下料仓，其中电芯下料口位于动力电池拆解工位的前端，外壳下料口位于动力电池拆解工位的侧端。In this embodiment, see Figure 6 for the structural diagram of the battery disassembly mechanism. The battery disassembly mechanism is mainly composed of a feeding device, a fourth positioning device, a moving device, and an auxiliary unloading device. The fourth positioning device and the moving device are symmetrically arranged, wherein The feeding device is used to transfer the power battery on the conveying device to the decomposition station. The feeding device includes a material blocking plate 601, a material pushing plate 602, and a material pushing cylinder 603. The material blocking plate is located at one end of the conveying device to prevent power The battery continues to move forward, and the pushing cylinder drives the pushing plate to move along the X-axis direction, thereby transferring the power battery from the conveying device to the decomposition station. The moving device can move in the X-axis direction and the Y-axis direction, and the movement in the X-axis direction is convenient for positioning and cutting in the X-axis direction, and positioning in the Y-axis direction. 613, X-direction mobile slide guide 614, Y-direction mobile slide 615, Y-direction mobile slide 616, Y-direction mobile slide guide 617, Y-direction mobile slide cylinder 618, X-direction mobile slide is located on Y-direction mobile slide On the stage, the X-direction moving slide guide rail, the X-direction moving slider and the Y-direction moving slide are connected, and the X-direction moving slide cylinder is located at one end of the X-direction moving slide, driving the X-direction moving slide along the X-axis direction Movement, the Y-moving slide is located on the frame 1, connected with the frame through the Y-moving slider and the Y-moving slide guide rail, and the Y-moving slide cylinder drives the Y-moving slide to move along the Y-axis direction. The fourth positioning device realizes the positioning of the power battery to be disassembled in the three axes of XYZ and the disassembly of the shell in the direction of the X axis. The X direction positioning includes the X direction movable positioning block 604, the X direction fixed positioning block 605, and the X direction positioning block. The connecting block 606, the X-direction positioning slider 607, the X-direction positioning guide rail 608, and the X-direction positioning cylinder 609, the X-direction fixed positioning block is located on the Y-direction mobile slide table, and the X-direction movable positioning block is located on the X-direction mobile slide table. The X-direction positioning connection block, the X-direction positioning slider, the X-direction positioning guide rail are connected with the X-direction moving slide table, the X-direction positioning cylinder is connected with the X-direction positioning connection block, and the X-direction movable positioning block is driven to move along the Y-axis direction, and the X-direction positioning block moves along the Y-axis direction. There are serrations on the side of the positioning block. While positioning the power battery in the X-axis direction, the serrations of the positioning block are inserted into the battery cell to facilitate the disassembly of the battery case. The Y-direction positioning includes the Y-direction positioning block 610 and the Y-direction positioning cylinder 611. , The Y-direction positioning block and the Y-direction positioning cylinder are located on the X-direction moving slide table, and the Y-direction positioning cylinder drives the Y-direction positioning block to move along the Y-axis direction. The Z-direction positioning includes a Z-direction positioning block 619 and a Z-direction positioning cylinder 620. The Z-direction positioning block and the Z-direction positioning cylinder are located on the frame, and the bottom of the Z-direction positioning block is conical. The auxiliary unloading device includes a cell unloading port 621 and a casing unloading port 622, both of which are located on the frame, and a feeding bin is set below the unloading port, wherein the cell unloading port is located at the power battery dismantling station The front end of the battery case, the shell discharge port is located at the side end of the power battery disassembly station.
本实施例中，机架的结构图参见图7(a)、(b)，机架1的四侧分别设置有下料仓、上料仓，下料仓主要包括电池头下料仓15、外壳下料仓16、电芯下料仓17。防护罩12位于机架1的上方，防护外罩最大限度地隔绝粉尘和噪声，保护人员和设备的安全。防护外罩12的四面设置有观察窗13，用于人工观察设备内部的运转情况。HMI(人机界面)14设置在防护外罩12上，控制柜18设置在防护外罩12上，在防护外罩18的顶部设置有抽气孔，用以连接外部废气处理系统。In this embodiment, the structural diagram of the frame is shown in Fig. 7 (a), (b). The four sides of the frame 1 are respectively provided with a lower hopper and an upper hopper, and the lower hopper mainly includes the battery head lower hopper 15, Shell lower silo 16, battery lower silo 17. The protective cover 12 is located above the frame 1, and the protective cover can isolate dust and noise to the greatest extent, and protect the safety of personnel and equipment. Four sides of the protective cover 12 are provided with observation windows 13 for manual observation of the internal operation of the device. HMI (Human-Machine Interface) 14 is arranged on protective cover 12, and control cabinet 18 is arranged on protective cover 12, and the top of protective cover 18 is provided with suction hole, in order to connect external waste gas treatment system.
本实施例中，输送机构主要完成动力电池在各个操作机构之间的传输，电池输送机构7包括输送带或输送辊、输送电机，由输送电机驱动输送带或输送辊运转，从而实现动力电池的输送工序。In this embodiment, the conveying mechanism mainly completes the transmission of the power battery between various operating mechanisms. The battery conveying mechanism 7 includes a conveying belt or a conveying roller, and a conveying motor. Delivery process.
如图8所示，本实施例的工作过程是：As shown in Figure 8, the working process of the present embodiment is:
1、上料机构的Y轴机械手、Z轴机械手及抬升装置对上料仓中待抓取的动力电池进行定位，夹爪装置气缸动作，驱动夹爪抓取上料仓中的动力电池，Y轴电机驱动Y轴滑台向电池底部切缝机构移动，到位后，夹爪气缸动作，夹爪松开被夹住的动力电池，动力电池被释放到电池底部切缝机构的带切缝工位。Y轴机械手、夹爪装置回到初始上料位置。1. The Y-axis manipulator, Z-axis manipulator and lifting device of the feeding mechanism position the power battery to be grabbed in the feeding bin, and the cylinder of the gripper device moves to drive the gripper to grab the power battery in the feeding bin, Y The axis motor drives the Y-axis sliding table to move to the battery bottom slitting mechanism. When it is in place, the gripper cylinder moves, the grippers release the clamped power battery, and the power battery is released to the battery bottom slitting mechanism with a slitting station. . The Y-axis manipulator and gripper device return to the initial feeding position.
2、电池底部切缝机构的定位装置对动力电池实行定位，底部切缝移动电机驱动底部切缝移动平台沿着X轴方向移动，直至砂轮与动力电池的底部外壳接触，底部切缝电机驱动砂转动，实现对动力电池的底部外壳切缝动作，底部外壳切缝工序完成后，底部切缝电机停止转动，底部切缝移动电机驱动底部切缝移动平台回到初始位置，定位装置回到初始位置，释放电池，推料板气缸驱动推料板将动力电池推送至输送机构上后复位，输送机构将动力电池输送至电池侧面切缝机构。2. The positioning device of the battery bottom slit mechanism performs positioning on the power battery. The bottom slit moving motor drives the bottom slit moving platform to move along the X-axis direction until the grinding wheel contacts the bottom shell of the power battery, and the bottom slit motor drives the sander. Rotate to realize the slitting action of the bottom shell of the power battery. After the slitting process of the bottom shell is completed, the bottom slitting motor stops rotating, the bottom slitting moving motor drives the bottom slitting mobile platform to return to the initial position, and the positioning device returns to the initial position , release the battery, the pusher plate cylinder drives the pusher plate to push the power battery to the conveying mechanism and reset it, and the conveying mechanism conveys the power battery to the battery side slit mechanism.
3、电池侧面切缝机构的Y向滑台沿着Y轴方向向动力电池方向移动，X、Y向定位实现动力电池在X轴、Y轴方向的精确定位后，Z向定位气缸驱动Z向定位块向下运动，压住动力电池，侧面切缝电机驱动侧面切缝砂轮向动力电池方向移动至砂轮与电池外壳接触，侧面切缝电机、X向滑台电机或气缸同时动作，在X向滑台带着动力电池移动的同时，侧面切缝砂轮对动力电池上下侧面外壳进行切缝动作。切缝完成后，Z向定位、Y向定位恢复初始位置，Y向滑台恢复初始位置，同时，X向活动气缸驱动X向活动夹板助推被完成侧面切缝工序的电池向输送机构移动，输送机构将动力电池输送至电池头切割机构。3. The Y-direction sliding table of the battery side cutting mechanism moves along the Y-axis direction to the direction of the power battery, and the X- and Y-direction positioning realizes the precise positioning of the power battery in the X-axis and Y-axis directions, and the Z-direction positioning cylinder drives the Z-direction The positioning block moves downward to press the power battery, the side slitting motor drives the side slitting grinding wheel to move towards the power battery until the grinding wheel contacts the battery case, the side slitting motor, the X-direction sliding table motor or the cylinder move simultaneously, and move in the X-direction While the slide table is moving with the power battery, the side slit grinding wheel performs slit action on the upper and lower side shells of the power battery. After the slit is completed, the Z-direction positioning and Y-direction positioning return to the initial position, and the Y-direction sliding table returns to the initial position. At the same time, the X-direction movable cylinder drives the X-direction movable splint to help the battery that has completed the side slit process move to the conveying mechanism. The conveying mechanism conveys the power battery to the battery head cutting mechanism.
4、电池头切割机构的X向定位气缸、Y向定位气缸分别驱动X向定位板、Y向定位板实现对动力电池在XY两个方向的定位，在实现XY向定位的同时，X向定位板、Y向定位板沿着轴向转动至贴紧动力电池的外壳，Z向定位气缸驱动Z向定位块向下运动至贴紧动力电池外壳，X向滑台电机驱动X向滑台向动力电池方向移动，从而带动砂轮移动至动力电池上方，电池头切割电机工作，驱动砂轮转动，同时Z向移动电机驱动砂轮向下运动，实现电池头切割动作，电池头落入切割完成后，砂轮停止工作，Z向滑台、X向滑台复位，定位装置回到初始位置，推料气缸驱动推料板将切割好的电池推送至输送机构，输送机构将电池输送至分解机构。4. The X-direction positioning cylinder and Y-direction positioning cylinder of the battery head cutting mechanism respectively drive the X-direction positioning plate and the Y-direction positioning plate to realize the positioning of the power battery in the XY direction. While realizing the XY direction positioning, the X direction positioning The plate and the Y-direction positioning plate rotate along the axial direction until they are close to the casing of the power battery, the Z-direction positioning cylinder drives the Z-direction positioning block to move down to close to the power battery casing, and the X-direction sliding table motor drives the X-direction sliding table to the power The battery moves in the direction to drive the grinding wheel to move above the power battery. The battery head cutting motor works to drive the grinding wheel to rotate. At the same time, the Z-direction moving motor drives the grinding wheel to move downward to realize the cutting action of the battery head. After the battery head falls into the cutting and the cutting is completed, the grinding wheel stops. Work, the Z-direction sliding table and X-direction sliding table reset, the positioning device returns to the initial position, the pushing cylinder drives the pushing plate to push the cut battery to the conveying mechanism, and the conveying mechanism conveys the battery to the decomposition mechanism.
5、电池分解机构的上料装置将电池从输送机构上转移至待分解工位，Y向移动滑台气缸驱动Y向移动滑台向动力电池方向移动至贴近动力电池位置，Y向定位气缸驱动Y向定位块实现对动力电池的Y轴方向定位，X向定位气缸驱动X向活动定位块向动力电池方向移动至X向活动定位块的前端分别超过动力电池的左右两侧外壳，此时，位于Y向移动滑台上的两个X向固定定位块合拢，X向移动滑台气缸驱动X向移动滑台向X向固定定位块方向移动，从而带动X向活动定位块向X向固定定位块移动直至X向活动定位块的锯齿进入到电芯中，Z向定位气缸驱动Z向定位块向下运动至Z向定位块的锥状头进入到动力电池上表面的切缝中并紧紧压住电芯，Y向移动滑台气缸驱动Y向移动滑台向初始位置移动至两个X向固定定位块之间的距离超过动力电池的宽度，动力电池的外壳在X向活动定位块的锯齿以及Z向定位块对电芯的压紧作用下，外壳与电芯分离，通过外壳下料口落入到外壳下料仓中，Z向定位气缸驱动Z向定位块复位到初始位置，X向定位气缸驱动X向活动定位块向拆解工位的中心位置移动，X向滑台沿着X轴方向向电芯下料口方向移动，在X向活动定位块的推动下，电芯沿着电芯下料口落入电芯下料仓中，X向滑台复位至初始位置。5. The feeding device of the battery disassembly mechanism transfers the battery from the conveying mechanism to the station to be disassembled, and the Y-direction moving slide cylinder drives the Y-direction moving slide table to move towards the power battery to the position close to the power battery, and the Y-direction positioning cylinder drives The Y-direction positioning block realizes the Y-axis positioning of the power battery, and the X-direction positioning cylinder drives the X-direction movable positioning block to move towards the power battery until the front ends of the X-direction movable positioning block respectively exceed the left and right sides of the power battery. At this time, The two X-direction fixed positioning blocks on the Y-direction moving slide are closed, and the X-direction moving slide cylinder drives the X-direction moving slide to move to the X-direction fixed positioning block, thereby driving the X-direction movable positioning block to X-direction fixed positioning The block moves until the sawtooth of the X-direction movable positioning block enters the battery cell, and the Z-direction positioning cylinder drives the Z-direction positioning block to move down until the conical head of the Z-direction positioning block enters the slit on the upper surface of the power battery and tightens Press the battery, the cylinder of the Y-direction moving slide drives the Y-direction moving slide to the initial position until the distance between the two X-direction fixed positioning blocks exceeds the width of the power battery, and the shell of the power battery is in the X-direction movable positioning block. Under the pressing effect of the sawtooth and the Z-direction positioning block on the battery cell, the shell and the battery cell are separated, and fall into the shell lower bin through the shell discharge port, and the Z-direction positioning cylinder drives the Z-direction positioning block to reset to the initial position, X The positioning cylinder drives the X-direction movable positioning block to move to the center of the dismantling station, and the X-direction sliding table moves along the X-axis direction to the battery discharge port. Under the push of the X-direction movable positioning block, the battery moves along the The battery discharge port falls into the battery discharge bin, and the X-direction sliding table is reset to the initial position.
上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.
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