CN-117443896-B - Machine vision-based waste power battery disassembling equipment and control method thereof

CN117443896BCN 117443896 BCN117443896 BCN 117443896BCN-117443896-B

Abstract

The invention discloses a machine vision-based waste power battery disassembling device and a control method thereof, wherein the machine vision-based waste power battery disassembling device comprises a shell disassembling device, a battery freezing device, a battery cutting device and a controller, wherein the shell disassembling device comprises a first conveying mechanism, a first clamping assembly, a first portal frame, a second portal frame, a first camera, a bolt identification model for receiving images shot by the first camera and identifying positions of bolts on a battery cover plate according to the images, a punching assembly, a sucker assembly and a waste cover box, the battery freezing device comprises a second conveying mechanism, a freezing bin body and a dry ice nozzle for spraying dry ice to freeze a battery, the battery cutting device comprises a third conveying mechanism, a second clamping assembly, a third portal frame, a second camera, a battery identification model for receiving images shot by the second camera and identifying positions of battery cells according to the images, and the controller is respectively connected with the shell disassembling device, the battery freezing device and the battery cutting device. The invention is convenient for disassembling and recycling the cylindrical battery.

Inventors

WU QUNBIAO
Luo Jiachao
ZHANG SIPENG
FANG HAIFENG
WANG NING
WU ZHIJIE
TANG GUOHUA
QIAN ZHOUJIE

Assignees

江苏科技大学

Dates

Publication Date: 20260505
Application Date: 20231023

Claims (8)

1. Waste power battery disassembles equipment based on machine vision, characterized by comprising: The shell disassembling device (100) comprises a first conveying mechanism (110), a first clamping assembly (150) which is arranged on the first conveying mechanism and used for clamping a battery, a first portal frame (130) and a second portal frame (160) which are sequentially erected above the first conveying mechanism (110), a first camera (140) which is arranged on the first portal frame (130) and faces the first conveying mechanism (110), a bolt recognition model which is used for receiving images shot by the first camera (140) and recognizing the positions of bolts on a battery cover plate according to the images, a punching assembly (120) which is arranged on the first portal frame and used for punching the positions of the bolts, a sucking disc assembly (170) which is arranged on the second portal frame and used for sucking the battery cover plate, and a waste cover box (180) which is used for collecting the battery cover plate; The punching assembly (120) comprises a first fixing seat (124) connected with a first portal frame (130), an upper fixing base (123) positioned on the first fixing seat, main connecting rods (122) uniformly distributed around the upper fixing base, sucking discs (121) positioned at the lower end parts of the main connecting rods, a punching cylinder body (125) positioned at the central position of the upper fixing base, a lower fixing base (128) sleeved at the front end of the punching cylinder body, a hydraulic supporting rod (126) with one end connected with the lower fixing base and the other end connected with the main connecting rods, and a punching punch (127) positioned at the end part of the punching cylinder body; A battery freezing device (200) comprising a second conveying mechanism which is in butt joint with the first conveying mechanism, a freezing bin body positioned on the second conveying mechanism, and a dry ice nozzle (230) positioned in the freezing bin body and used for spraying dry ice to freeze the battery; The battery cutting device (300) comprises a third conveying mechanism (350) which is in butt joint with the second conveying mechanism, a second clamping assembly (340) which is positioned on the third conveying mechanism and used for clamping a battery, a third portal frame (320) which is erected on the third conveying mechanism, a second camera (330) which is positioned on the third portal frame and faces the third conveying belt, a battery cell identification model which is used for receiving images shot by the second camera and identifying the position of a battery cell according to the images, and a cutter assembly (310) which is used for cutting the battery cell; The cutter assembly (310) comprises a third fixing seat (318) connected with the third portal frame, a first connecting rod (314) which is connected with the third fixing seat and is symmetrically arranged, a second connecting rod (313) and a third connecting rod (312) which are sequentially connected with the first connecting rod, a cutter (311) connected with the end part of the third connecting rod, angle adjusting connecting rods (317) with two ends respectively connected with the end parts of the left and right third connecting rods, a cutter motor (315) positioned on the third fixing seat, and an angle adjusting bolt (316) with one end connected with an output shaft of the cutter motor and the other end penetrating through the angle adjusting connecting rods; And the controller is respectively connected with the shell disassembling device (100), the battery freezing device (200) and the battery cutting device (300).
2. The machine vision-based waste power battery dismantling device as set forth in claim 1, wherein the sucker assembly (170) comprises a second fixing base (174) connected with the second portal frame, a fixing rod (173) connected with the second fixing base, and a double-layer sucker (171) connected with the fixing rod through an adjustable bolt (172).
3. The machine vision-based waste power battery disassembling device as set forth in claim 1, wherein the first clamping assembly (150) and the second clamping assembly (340) each comprise a mounting base (151), a cylinder (155) disposed on the mounting base, a push rod (154) connected to an extended end of the cylinder, a left clamping plate (152) disposed on a front end of the push rod on one side, and a right clamping plate (153) disposed on a front end of the push rod on the other side, wherein the mounting base of the first clamping assembly (150) is connected to the first conveying mechanism, and the mounting base of the second clamping assembly (340) is connected to the third conveying mechanism.
4. The machine vision-based waste power battery dismantling device as set forth in claim 1, wherein the first portal frame (130) comprises a first upright, a first cross beam arranged in parallel left and right, a first X-direction guide rail arranged on the first cross beam, a first longitudinal beam capable of moving back and forth along the first X-direction guide rail, and a first Y-direction guide rail arranged on the first longitudinal beam, wherein the punching assembly is arranged on the first Y-direction guide rail and can move back and forth along the first Y-direction guide rail.
5. The machine vision-based waste power battery disassembling device as set forth in claim 1, wherein the second portal frame (160) comprises a second upright, a second cross beam arranged in parallel left and right, a second longitudinal beam connected with the second cross beam, a second Y-shaped guide rail positioned on the second longitudinal beam, and a suction cup vertical rod capable of moving back and forth along the second Y-shaped guide rail and used for connecting the suction cup assembly.
6. The machine vision-based waste power battery dismantling device as set forth in claim 1, wherein the third portal frame (320) comprises a third upright, a third longitudinal beam arranged in parallel front and back, a third Y-direction guide rail arranged on the third longitudinal beam, a third cross beam capable of moving back and forth along the third Y-direction guide rail, a third X-direction guide rail arranged on the third cross beam, and a camera beam which is arranged on the third longitudinal beam and is used for installing a second camera, wherein the cutter assembly is arranged on the third X-direction guide rail and can move back and forth along the third X-direction guide rail.
7. The machine vision-based waste power battery disassembling device as set forth in claim 1, wherein the bolt identification model and the battery cell identification model each employ YOLOv frames, and the YOLOv frames comprise a backup assembly, a Neck assembly and a Prediction assembly.
8. A control method of the machine vision-based waste power battery dismantling device according to any one of claims 1 to 7, characterized by comprising the steps of: Starting a first conveying mechanism to convey the waste power batteries, shooting the waste power batteries conveyed by the first conveying mechanism by a first camera in real time, controlling the first conveying mechanism to pause by a controller after the waste power batteries reach the central position of a clamping assembly, clamping the waste power batteries by the action of the clamping assembly, continuously shooting the waste power batteries by the first camera, transmitting the waste power batteries to a bolt identification module, identifying and marking the positions of bolts by the bolt identification module, outputting bolt position information to the controller, controlling a punching assembly to remove bolts of an upper cover of the waste power batteries by the controller according to the bolt position information, starting the first conveying mechanism to convey the waste power batteries to the lower part of a sucker assembly, controlling the sucker assembly to absorb the upper cover of the waste power batteries, and placing a corresponding waste cover box; The waste power batteries with the upper covers removed are transported into a freezing bin body through a second conveying mechanism, the second conveying mechanism is controlled to be suspended, dry ice nozzles are controlled to spray dry ice to cool and freeze the batteries, and then the second conveying mechanism is started to convey the waste power batteries to a third conveying mechanism; The second camera shoots the frozen waste power battery on the third conveying mechanism in real time, after the frozen waste power battery reaches the center position of the clamping assembly, the controller controls the third conveying mechanism to pause, the clamping assembly acts to clamp the frozen waste power battery, the second camera continuously shoots the frozen waste power battery and transmits the frozen waste power battery to the battery cell identification module, the battery cell identification module identifies and marks the battery cell position and outputs battery cell position information to the controller, and the controller controls the cutter assembly to cut and grasp the battery cell according to the battery cell position information.

Description

Machine vision-based waste power battery disassembling equipment and control method thereof Technical Field The invention relates to the field of lithium battery recovery, in particular to a machine vision-based waste power battery disassembling device and a control method thereof. Background The new energy automobile industry develops very rapidly, but along with the continuous expansion of the electric automobile market scale, the power battery of the new energy automobile is scrapped, and in theory, valuable metal elements such as nickel, cobalt, manganese, lithium salt and the like can be disassembled from the retired power battery, and the materials can be applied to the manufacturing of the new battery. However, if a large number of retired batteries are not properly recovered and disposed of, serious safety hazards are formed and the environment is polluted. For retired power cells, disassembly recovery and echelon utilization are two complementary methods widely accepted in the industry. The disassembly of waste power batteries in the current market is mainly divided into two types of traditional manual disassembly and mechanical disassembly. The conventional manual disassembly is to disassemble the battery and recover the material through manual operation, which generally requires a lot of manpower and time, is low in efficiency and has a certain safety risk. The mechanical disassembly method can effectively improve the disassembly efficiency and safety, reduce human intervention, but may require specific equipment and technology for different types of batteries. For example, the common battery types in new energy vehicles are cylindrical batteries and blade batteries, and there are some differences in structure among the cylindrical batteries, which are one of the most commonly used battery types at present, and the cylindrical batteries have a cylindrical shape, similar to the common pen-shaped batteries. Cylindrical batteries are typically composed of one or more battery cells, and in vehicles it is common to achieve the desired voltage and capacity by connecting multiple battery cells in series. Blade battery-blade battery is also known as a thin battery or a corrugated paper battery, and its outer shape is a flat rectangle or blade-like shape. The design of the blade battery allows stacking the cells together and making electrical connection through the current collector plates. Therefore, there is a need to solve the above-mentioned problems. Disclosure of Invention The invention aims at providing a machine vision-based waste power battery disassembling device for disassembling and recycling cylindrical batteries. The second object of the invention is to provide a control method of waste power battery dismantling equipment based on machine vision. The invention discloses a machine vision-based waste power battery disassembling device for achieving the purposes, which comprises: The shell disassembling device comprises a first conveying mechanism, a clamping assembly, a first portal frame, a second portal frame, a first camera, a bolt identification model, a punching assembly, a sucking disc assembly and a waste cover box, wherein the clamping assembly is arranged on the first conveying mechanism and used for clamping a battery; The battery freezing device comprises a second conveying mechanism, a freezing bin body and a dry ice nozzle, wherein the second conveying mechanism is in butt joint with the first conveying mechanism, the freezing bin body is positioned on the second conveying mechanism, and the dry ice nozzle is positioned in the freezing bin body and used for spraying dry ice to freeze the battery; The battery cutting device comprises a third conveying mechanism, a clamping assembly, a third portal frame, a second camera, a battery cell identification model and a cutter assembly, wherein the third conveying mechanism is in butt joint with the second conveying mechanism, the clamping assembly is positioned on the third conveying mechanism and used for clamping a battery, the third portal frame is arranged on the third conveying mechanism, the second camera is positioned on the third portal frame and faces the third conveying belt, the battery cell identification model is used for receiving images shot by the second camera and identifying the position of a battery cell according to the images, and the cutter assembly is used for cutting the battery cell; and the controller is connected with the shell disassembling device, the battery freezing device and the battery cutting device respectively. The punching assembly comprises a first fixing seat connected with the first portal frame, an upper fixing base arranged on the first fixing seat, main connecting rods uniformly distributed around the upper fixing base, a sucker arranged at the lower end part of the main connecting rods, a punching cylinder body arranged at the central position of the upper fixing base, a lower fixing base sleev