Disassembling device and method for open-adjustable turbine

Abstract

The application discloses a disassembling device and method for an openable turbine, which comprises a chassis, a six-axis manipulator, a truss manipulator, a movable clamp device and a flushing mechanism; the six-axis manipulator is arranged on the front side of the chassis and connected with the chassis; the truss manipulator is arranged on the rear side of the chassis and connected with the chassis; the movable clamp device is installed on the chassis platform and connected through guide rails; and the flushing mechanism is installed on the side of the chassis. The application has excellent automation effect, and the disassembling process does not need intervention of workers, so that the labor intensity and safety of the workers are reduced, and the disassembling efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of turbine technology, and specifically relates to a disassembly device and disassembly method for an adjustable turbine. Background Technology

[0002] Adjustable-aperture turbines are increasingly used in industries such as automotive engines and compressors due to their adjustable opening and boosting capabilities. An adjustable-aperture turbine mainly consists of a housing, an opening adjustment mechanism, an impeller shaft, and bearings. Turbines typically operate in high-temperature and high-pressure environments. With prolonged and intensive operation, internal components often require disassembly for repair or replacement. However, the current mainstream disassembly method relies on manual disassembly. This not only tests the experience and skills of technicians but also poses safety hazards due to the sharp impeller blades. Traditional manual disassembly is inefficient, labor-intensive, and prone to secondary damage to the turbine's internal structure. Therefore, based on the above problems, those skilled in the art need to develop a disassembly device and method for adjustable-aperture turbines. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a disassembly device and a disassembly method for an adjustable turbine. The present invention has excellent automation effect, and no human intervention is required during the disassembly process, which reduces the labor intensity and safety of workers and improves the disassembly efficiency.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A disassembly device for an adjustable turbine includes a chassis, a six-axis manipulator, a gantry manipulator, a movable clamping device, and a flushing mechanism; the six-axis manipulator is located on the front side of the chassis and connected to the chassis; the gantry manipulator is located on the rear side of the chassis and connected to the chassis; the movable clamping device is installed on the chassis platform and connected via guide rails; and the flushing mechanism is installed on the side of the chassis.

[0006] Preferably, the chassis includes a sliding guide rail mechanism, a clamp fixing mechanism, a bolt collection box, a robot arm fixing mechanism, and a sensing device;

[0007] The sliding guide rail mechanism is installed on the upper surface of the chassis's support platform;

[0008] The clamp fixing mechanism is located inside the bearing platform and is arranged symmetrically with respect to the sliding guide rail mechanism;

[0009] The bolt collection box is located on the front side of the support platform and is mounted on the chassis;

[0010] The robot arm fixing mechanism includes a circular fixing device and a truss fixing device; the circular fixing device is located on the extension line of the sliding guide mechanism; the truss fixing device is located on the rear side of the support platform and is symmetrically arranged with respect to the sliding guide mechanism.

[0011] The sensing device includes a displacement sensor and a force sensor; the displacement sensor is located in front of the sliding guide mechanism and connected to the support platform, and the force sensor is located below the clamp fixing mechanism and connected to the upper surface of the support platform.

[0012] Preferably, the six-axis robot includes a base, a robotic arm, and a robotic hand section;

[0013] The base is mounted on a circular fixing device and located below the robotic arm;

[0014] The robotic arm is interconnected with the base and the robotic hand;

[0015] The robotic arm includes a rotating connection module, a magnetic attraction module, and a screw removal module. A rotating bearing is mounted on the top of the rotating connection module to enable rotation of the robotic arm, and the rotating connection module is connected to a connecting block. The connecting block is located below the rotating bearing, and fixed frames are mirror-mounted at both ends of the connecting block. A cylinder and a sliding guide rail are mounted on the top of one side of the fixed frame, and the cylinder is connected to a slider. The sliding guide rail is located below the cylinder and is connected to the slider. The slider is located above the magnetic attraction module and is connected to the magnetic attraction module. Multiple cylinders are mounted below the magnetic attraction module, and the magnetic attraction module is connected to a magnetic chuck. The screw removal module is located on the other side of the rotating connection module and is connected to the slider and cylinders.

[0016] Preferably, the gantry manipulator includes a support module, a lateral movement mechanism, a hand structure, and a vertical movement device;

[0017] The support module is located above the chassis and connected to the truss fixing device; the top of the support module is equipped with a rack and a sliding guide rail, the rack is located above the sliding guide rail and is gear-driven with the transverse mechanism;

[0018] The top of the transverse mechanism is equipped with a stepper servo motor and a planetary reducer; the stepper servo motor is located above the planetary reducer and is axially arranged with the planetary reducer; the planetary reducer is coaxially connected to the transmission gear and is used to control the moving speed of the transverse mechanism.

[0019] The hand structure includes a rotating connection module, a bearing removal module, and a pneumatic chuck module. The bearing removal module is equipped with a multi-stage cylinder and an internal bearing puller. The bearing removal module is located on one side of the rotating connection module and is bolted to the rotating connection module. The pneumatic chuck module is located on the other side of the rotating connection module and is symmetrically arranged with the bearing removal module.

[0020] The vertical movement device is connected to the horizontal movement mechanism and the hand structure.

[0021] Preferably, the movable clamping device includes a movable chassis and a clamping body; a motor is provided on the front side of the movable chassis, and the motor is used to drive the movable chassis to move relative to the chassis; the clamping body is located above the movable chassis, and a cylinder is provided on the rear side of the clamping body.

[0022] Preferably, the flushing mechanism includes a water injection device, a filter plate, and a housing. The water injection device is located outside the housing and connected to the housing. The filter plate is housed inside the housing. A high-pressure nozzle is installed inside the housing.

[0023] Preferably, a circular fixing device is provided on the front side of the chassis, a six-axis robot is mounted on the circular fixing device and threadedly connected to the chassis, a truss fixing device is provided on the rear side of the chassis, a truss robot is mounted on the truss fixing device and threadedly connected to the chassis; a sliding guide rail mechanism is provided on the upper surface of the chassis; a movable clamping device is mounted on the sliding guide rail mechanism and connected to the sliding guide rail mechanism as a guide rail slider; a flushing mechanism is installed on the right side of the chassis.

[0024] Preferably, the movable clamping device is provided with a positioning boss and a clamping body. The positioning boss matches the slot of the lower outer shell, and the clamping body changes the distance of the positioning boss by means of a cylinder and a spring.

[0025] A disassembly method for a disassembly device for an adjustable turbine opening, comprising the following steps:

[0026] Step 1: Place the adjustable turbine to be disassembled on the fixture body of the movable clamping device. The cylinder pushes the fixture body to slide the positioning boss to the appropriate position to fix the lower shell of the adjustable turbine. The motor drives the movable chassis to move linearly along the sliding guide mechanism until the displacement sensor detects that the displacement value of the movable clamping device reaches the set value. The clamp fixing mechanism retracts to fix the movable clamping device to prevent shaking during disassembly.

[0027] Step 2: After the robotic arm and robotic hand of the six-axis robot are adjusted to the appropriate disassembly position, the screw disassembly module of the robotic hand disassembles the fixing bolts of the upper shell and transfers the bolts to the bolt collection box until the bolts are completely disassembled. The robotic hand is then adjusted to the magnetic suction module to attract the upper shell and separate it from the adjustable turbine. Then the robotic arm and robotic hand are adjusted to the appropriate position to place the upper shell on the clamping body in the middle.

[0028] Step 3: After the upper shell is fixed in place by the central clamp, the central movable base moves to the setting location, and the clamp fixing mechanism retracts to fix the central movable base.

[0029] Step 4: After the gantry robot's horizontal and vertical movement mechanisms are adjusted to the appropriate disassembly position, the bearing disassembly module is unfolded to the appropriate inner diameter and fixed to the inner ring of the rotating bearing in the upper housing. The movement of the multi-stage cylinder is used to separate the rotating bearing from the upper housing, and then the rotating bearing is placed on the filter plate of the flushing mechanism.

[0030] Step 5: After the force sensor on the chassis detects that the force change of the movable clamping device has reached the set value, the clamping fixing mechanism releases the movable clamping device, and the movable clamping device moves towards the front of the chassis. When the displacement sensor detects that the displacement value of the movable clamping device has reached the set value, the motor of the movable clamping device stops working, and the cylinder pushes out to unlock the upper shell.

[0031] Step 6: After the six-axis robot transfers the upper housing to the rinsing mechanism, the magnetic suction module of the six-axis robot separates the opening adjustment device of the adjustable turbine from the impeller shaft and places it on the movable clamp device in the middle. The movable clamp device moves the adjustable device to the rear of the chassis, and the clamp fixing mechanism fixes the movable clamp device.

[0032] Step 7: The gantry robot uses the bearing disassembly module to disassemble the outflow opening adjustment part and the bearing of the adjustable opening device in sequence, and moves them to the appropriate position of the flushing mechanism;

[0033] Step 8: The clamp fixing mechanism is unlocked, the movable clamp device in the middle moves to the front of the chassis, the six-axis robot moves the inflow opening adjustment device to the appropriate position of the flushing mechanism, the movable clamp device on the left moves to the rear of the chassis, the gantry robot switches to the pneumatic chuck module to clamp the impeller shaft to separate it from the lower housing, and moves it to the appropriate position of the flushing mechanism.

[0034] Step 9: The movable clamping device on the left moves to the front of the chassis, the cylinder pushes the clamping body to loosen the lower shell, and the magnetic suction module of the six-axis robot moves the lower shell to the appropriate position of the rinsing mechanism.

[0035] Step 10: The water injection equipment starts working, and the high-pressure nozzle shoots out high-pressure water to clean the disassembled parts, removing substances from the surface of the parts and waste oil from the adjustable turbine.

[0036] The present invention can achieve the following beneficial effects:

[0037] 1. Compared with the traditional manual disassembly of turbines, the present invention has excellent automation effect. No staff intervention is required during the disassembly process, which reduces the labor intensity and safety of staff and improves the disassembly efficiency.

[0038] 2. This invention incorporates a magnetic suction module and a flushing mechanism. The magnetic suction module can prevent damage to the turbine components during disassembly, while the flushing mechanism washes away dirt on the turbine housing and residual oil inside. Both of these can improve the accuracy and completeness of turbine disassembly.

[0039] 3. This invention enables the six-axis robot and the gantry robot to work simultaneously without interference, thereby improving the reliability and efficiency of the disassembly device.

[0040] 4. This invention streamlines and standardizes the disassembly process, thereby improving efficiency. Attached Figure Description

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0042] Figure 1 This is a three-dimensional structural diagram of the disassembly device for the adjustable turbine of the present invention;

[0043] Figure 2 This is a three-dimensional structural diagram of the chassis of the disassembly device for the adjustable turbine of the present invention;

[0044] Figure 3 A three-dimensional structural diagram of the six-axis manipulator of the disassembly device for the adjustable turbine of the present invention;

[0045] Figure 4 This is a three-dimensional structural diagram of the gantry manipulator of the disassembly device for the adjustable turbine of the present invention;

[0046] Figure 5 This is a three-dimensional structural diagram of the movable clamp device of the disassembly apparatus for the adjustable turbine of the present invention.

[0047] In the figure: chassis 1, sliding guide rail mechanism 11, clamp fixing mechanism 12, bolt collection box 13, robot arm fixing mechanism 14, bearing platform 15, sensing device 16, circular fixing device 141, truss fixing device 142;

[0048] Six-axis robot 2, base 21, robotic arm 22, robotic hand part 23, rotating connection module 231, magnetic suction module 232, screw removal module 233, rotating bearing 2311, connecting block 2312, fixing frame 2313, cylinder 2314, sliding guide rail 2315, slider 2316, magnetic chuck 2321;

[0049] Truss robot 3, support module 31, transverse movement mechanism 32, hand structure 33, vertical movement device 34, rack 311, stepper servo motor 321, planetary reducer 322, transmission gear 323, rotating connection module 231, bearing disassembly module 331, pneumatic chuck module 332, multi-stage cylinder 3311, internal bearing puller 3312;

[0050] Movable clamping device 4, movable chassis 41, clamping body 42, motor 411, positioning boss 421, clamping body 422;

[0051] 5. Flushing mechanism. Detailed Implementation

[0052] Preferred solutions include Figures 1 to 5As shown, a disassembly device for an adjustable turbine 6 comprises a chassis 1, a six-axis manipulator 2, a gantry manipulator 3, a movable clamping device 4, and a flushing mechanism 5. The six-axis manipulator 2 is located on the front side of the chassis 1 and fixedly connected to it, used to disassemble the bolts of the adjustable turbine 6 and to adsorb and separate other components. The gantry manipulator is located on the rear side of the chassis 1 and fixedly connected to it, used to disassemble the rotating bearing and clamp and separate the impeller shaft. The movable clamping device 4 is installed in the middle and left side of the chassis platform and connected via guide rails, used to clamp and fix the upper outer shell, opening adjustment device, and lower outer shell of the adjustable turbine 6, thereby separating the internal rotating bearing and impeller shaft.

[0053] The chassis 1 is fixed and includes a sliding guide rail mechanism 11, a clamp fixing mechanism 12, a bolt collection box 13, a robot arm fixing mechanism 14, and a sensing device 16. The sliding guide rail mechanism 11 is mounted on the upper surface of the support platform 15 of the chassis 1 in a mirror arrangement. The clamp fixing mechanism 12 is located inside the support platform 15 of the chassis 1 and is symmetrically arranged with respect to the sliding guide rail mechanism 11. The bolt collection box 13 is a hollow cube and is mounted on the chassis 1 at the front of the support platform 15. The robot arm fixing mechanism 14 includes a six-axis mechanical arm. The circular fixing device 141 of the hand 2 and the truss fixing device 142 of the truss manipulator 3; the circular fixing device 141 is located on the extension line of the sliding guide mechanism 11; the truss fixing device 142 is located on the rear side of the support platform 15 and is symmetrically arranged with respect to the sliding guide mechanism 11; the sensing device 16 includes a displacement sensor and a force sensor; the displacement sensor is located on the front side of the sliding guide mechanism 11 and connected to the support platform 15, and the force sensor is located below the clamp fixing mechanism 12 and connected to the upper surface of the support platform 15;

[0054] The six-axis robotic arm 2 includes a base 21, a robotic arm 22, and a robotic hand 23. The base 21 is mounted on a circular fixing device 141 and located below the robotic arm 22. The robotic arm 22 is interconnected with the base 21 and the robotic hand 23. The robotic hand 23 includes a rotating connection module 231, a magnetic suction module 232, and a screw removal module 233. A rotating bearing 2311 is provided at the top of the rotating connection module 231 to enable rotation of the robotic hand 23 and is connected to a connecting block 2312. The connecting block 2312 is located below the rotating bearing 2311 and has mounting brackets 2313 mirror-imagely arranged at both ends. One end of the mounting bracket 2313... A cylinder 2314 and a sliding guide rail 2315 are arranged on the top side. The cylinder 2314 is connected to the slider 2316 to provide power for its movement. The sliding guide rail 2315 is located below the cylinder 2314 and is connected to the slider 2316. The slider 2316 is located above the magnetic module 232 and is connected to the magnetic module 232. Multiple cylinders 2314 are arranged below the magnetic module 232 and are connected to the magnetic suction cup 2321. The screw removal module 233 is located on the other side of the rotating connection module 231 and is connected to the slider 2316 and the cylinder 2314.

[0055] The truss manipulator 3 includes a support module 31, a lateral movement mechanism 32, a hand structure 33, and a vertical movement device 34. The support module 31 is located above the chassis 1 and connected to the truss fixing device 142. The top of the support module 31 is provided with a rack 311 and a sliding guide rail 2315. The rack 311 is located above the sliding guide rail 2315 and is geared to the lateral movement mechanism 32. The top of the lateral movement mechanism 32 is provided with a stepper servo motor 321 and a planetary reducer 322. The stepper servo motor 321 is located above the planetary reducer 322 and is axially arranged with the planetary reducer 322. Device 322 is coaxially connected to transmission gear 323 and is used to regulate the moving speed of transverse mechanism 32; the hand structure 33 includes a rotating connection module 231, a bearing disassembly module 331 and a pneumatic chuck module 332; the bearing disassembly module 331 is provided with a multi-stage cylinder 3311 and an inner bearing puller 3312, located on one side of the rotating connection module 231 and bolted to the rotating connection module 231; the pneumatic chuck module 332 is located on the other side of the rotating connection module 231 and is symmetrically arranged with the bearing disassembly module 331; the vertical movement device 34 is connected to transverse mechanism 32 and hand structure 33.

[0056] The movable clamping device 4 includes a movable chassis 41 and a clamping body 42; a motor 411 is provided on the front side of the movable chassis 41 to drive the movable chassis 41 to move relative to the chassis 1; the clamping body 42 is located above the movable chassis 41 and is provided with a cylinder 2314 on the rear side.

[0057] The flushing mechanism 5 includes a water injection device, a filter plate, and a housing. The water injection device is located outside the housing and connected to the housing. The filter plate is housed inside the housing. A high-pressure nozzle is installed inside the housing.

[0058] 2. The functional modules of the robotic arm 23 and the hand structure 33 can be replaced and adjusted according to the tools required by the actual working conditions.

[0059] 3. A circular fixing device 141 is provided on the front side of the chassis 1. The six-axis robot 2 is installed on the circular fixing device 141 and is threadedly connected to the chassis 1. A truss fixing device 142 is provided on the rear side of the chassis 1. The truss robot 3 is installed on the truss fixing device 142 and is threadedly connected to the chassis 1. A sliding guide rail mechanism 11 is provided on the upper surface of the chassis 1. The movable clamping device 4 is installed on the sliding guide rail mechanism 11 and is connected to the sliding guide rail mechanism 11 as a guide rail slider. The flushing mechanism 5 is installed on the right side of the chassis 1.

[0060] 4. The movable clamping device 4 is provided with a positioning boss 421 and a clamping body 422. The positioning boss 421 matches the slot of the lower outer shell. The clamping body 422 can change the distance of the positioning boss 421 through the cylinder 2314 and the spring to meet the requirements of the adjustable opening turbine 6.

[0061] 5. The bearing disassembly module 331 can automatically adjust the gripper distance to match bearings of different sizes.

[0062] 6. The movable clamping device 4 is designed to prevent interference between the six-axis robot 2 and the gantry robot 3 during operation and to limit the movement space of the six-axis robot 2 and the gantry robot 3. It adopts a linear slide rail structure.

[0063] 7. The method for disassembling an adjustable turbine, characterized by comprising the following steps:

[0064] Step 1: Place the adjustable turbine 6 to be disassembled on the clamping body 422 of the movable clamping device 4. The cylinder 2314 pushes the clamping body 422 to slide the positioning boss 421 to a suitable position to fix the lower shell of the adjustable turbine 6. The motor 411 drives the movable chassis 41 to move linearly along the sliding guide mechanism 11 until the displacement sensor detects that the displacement value of the movable clamping device 4 has reached the set value. The clamp fixing mechanism 12 retracts to fix the movable clamping device 4 to prevent shaking during disassembly.

[0065] Step 2: After the robotic arm 22 and robotic hand 23 of the six-axis robotic arm 2 are adjusted to the appropriate disassembly position, the screw disassembly module 233 of the robotic hand 23 disassembles the fixing bolts of the upper shell and transfers the bolts to the bolt collection box 13 until the bolts are completely disassembled. The robotic hand 23 is then adjusted to the magnetic suction module 232 to attract the upper shell and separate it from the opening adjustable turbine 6. Then the robotic arm 22 and robotic hand 23 are adjusted to the appropriate position to place the upper shell on the clamping body 422 in the middle.

[0066] Step 3: After the outer shell is fixed to the middle clamp body 422, the middle movable chassis 41 is moved to the setting location, and the clamp fixing mechanism 12 retracts to fix the middle movable chassis 41.

[0067] Step 4: After the horizontal movement mechanism 32 and vertical movement device 34 of the gantry robot 3 are adjusted to the appropriate disassembly position, the bearing disassembly module 331 is unfolded to the appropriate inner diameter and fixed to the inner ring of the rotating bearing in the upper housing. The rotating bearing is separated from the upper housing by the movement of the multi-stage cylinder, and then the rotating bearing is placed on the filter plate of the flushing mechanism 5.

[0068] Step 5: After the force sensor on the chassis 1 detects that the force change of the movable clamping device 4 has reached the set value, the clamp fixing mechanism 12 releases the movable clamping device 4, and the movable clamping device 4 moves towards the front of the chassis 1. When the displacement sensor detects that the displacement value of the movable clamping device 4 has reached the set value, the motor 411 of the movable clamping device 4 stops working, and the cylinder 2314 pushes out to unlock the upper shell.

[0069] Step 6: After the six-axis robot 2 transfers the upper housing to the rinsing mechanism 5, the magnetic suction module 232 of the six-axis robot 2 separates the opening adjustment device of the adjustable turbine 6 from the impeller shaft and places it on the movable clamping device 4 in the middle. The movable clamping device 4 fixes the adjustable opening device to move to the rear side of the chassis 1, and the clamping fixing mechanism 12 fixes the movable clamping device 4.

[0070] Step 7: The gantry robot 3 uses the bearing disassembly module 331 to disassemble the outflow opening adjustment part of the opening adjustable device and the bearing in sequence, and moves them to the appropriate position of the flushing mechanism 5.

[0071] Step 8: The clamp fixing mechanism 12 is unlocked, the movable clamp device 4 in the middle moves to the front of the chassis 1, the six-axis robot 2 moves the inflow opening adjustment device to the appropriate position of the flushing mechanism 5, the movable clamp device 4 on the left moves to the rear of the chassis 1, the gantry robot 3 switches to the pneumatic chuck module 332 to clamp the impeller shaft to separate it from the lower housing, and moves it to the appropriate position of the flushing mechanism 5.

[0072] Step 9: The movable clamping device 4 on the left moves to the front of the chassis 1, the cylinder 2314 pushes the clamping body 422 to release the lower shell, and the magnetic suction module 232 of the six-axis robot 2 transfers the lower shell to the appropriate position of the rinsing mechanism 5.

[0073] Step 10: The water injection equipment starts working, and the high-pressure nozzle shoots out high-pressure water to clean the disassembled parts, removing substances from the surface of the parts and waste oil from the adjustable turbine 6.

[0074] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A disassembly method for a disassembly device for an adjustable turbine, characterized in that: The disassembly device includes a chassis (1), a six-axis manipulator (2), a truss manipulator (3), a movable clamping device (4) on the left and in the middle, and a rinsing mechanism (5); the six-axis manipulator (2) is located on the front side of the chassis (1) and connected to the chassis (1); the truss manipulator (3) is located on the rear side of the chassis (1) and connected to the chassis (1); the movable clamping device (4) is installed on the chassis platform and connected by a guide rail; and the rinsing mechanism (5) is installed on the side of the chassis (1). The chassis (1) includes a sliding guide rail mechanism (11) on the left and in the middle, a clamp fixing mechanism (12), a bolt collection box (13), a robot arm fixing mechanism (14), and a sensing device (16). The sliding guide mechanism (11) is installed on the upper surface of the support platform (15) of the chassis (1); The clamp fixing mechanism (12) is located inside the bearing platform (15) and is arranged symmetrically with respect to the sliding guide mechanism (11); The bolt collection box (13) is located on the front side of the support platform (15) and mounted on the chassis (1); The robot arm fixing mechanism (14) includes a circular fixing device (141) and a truss fixing device (142); the circular fixing device (141) is located on the extension line of the sliding guide mechanism (11); the truss fixing device (142) is located on the rear side of the support platform (15) and is symmetrically arranged relative to the sliding guide mechanism (11). The sensing device (16) includes a displacement sensor and a force sensor; the displacement sensor is located in front of the sliding guide mechanism (11) and connected to the support platform (15), and the force sensor is located below the clamp fixing mechanism (12) and connected to the upper surface of the support platform (15). The disassembly method includes the following steps: Step 1: Place the adjustable turbine (6) to be disassembled on the clamping body (422) of the movable clamping device (4) on the left. The cylinder (2314) pushes the clamping body (422) to make the positioning boss (421) slide to the appropriate position to fix the lower shell of the adjustable turbine (6). The motor (411) drives the movable chassis (41) to move linearly along the sliding guide mechanism (11) until the displacement sensor detects that the displacement value of the movable clamping device (4) reaches the set value. The clamp fixing mechanism (12) retracts to fix the movable clamping device (4) to prevent shaking during disassembly. Step 2: After the robotic arm (22) and robotic hand (23) of the six-axis robotic arm (2) are adjusted to the appropriate disassembly position, the screw disassembly module (233) of the robotic hand (23) disassembles the fixing bolts of the upper shell and transfers the bolts to the bolt collection box (13) until the bolts are completely disassembled. The robotic hand (23) is adjusted to the magnetic suction module (232) to separate the upper shell from the adjustable turbine (6). Then the robotic arm (22) and robotic hand (23) are adjusted to the appropriate position to place the upper shell on the clamping body (422) in the middle. Step 3: After the upper shell is fixed by the middle clamp body (422), the middle movable chassis (41) moves to the setting location, and the clamp fixing mechanism (12) retracts to fix the middle movable chassis (41); Step 4: After the lateral movement mechanism (32) and vertical movement device (34) of the gantry manipulator (3) are adjusted to the appropriate disassembly position, the bearing disassembly module (331) is unfolded to the appropriate inner diameter and fixed to the inner ring of the rotating bearing in the upper housing. The rotating bearing is separated from the upper housing by the movement of the multi-stage cylinder, and then the rotating bearing is placed on the filter plate of the flushing mechanism (5). Step 5: After the force sensor on the chassis (1) detects that the force change of the movable clamp device (4) in the middle reaches the set value, the clamp fixing mechanism (12) releases the movable clamp device (4), and the movable clamp device (4) moves towards the front of the chassis (1). When the displacement sensor detects that the displacement value of the movable clamp device (4) reaches the set value, the motor (411) of the movable clamp device (4) stops working, and the cylinder (2314) pushes out to unlock the upper shell. Step 6: After the six-axis robot (2) transfers the upper shell to the flushing mechanism (5), the magnetic suction module (232) of the six-axis robot (2) separates the opening adjustment device of the opening adjustable turbine (6) from the impeller shaft and places it on the movable clamp device (4) in the middle. The movable clamp device (4) fixes the opening adjustable device to move to the rear side of the chassis (1), and the clamp fixing mechanism (12) fixes the movable clamp device (4). Step 7: The gantry robot (3) uses the bearing disassembly module (331) to disassemble the outflow opening adjustment part of the opening adjustable device and the bearing in sequence, and move them to the appropriate position of the flushing mechanism (5); Step 8: The clamp fixing mechanism (12) is unlocked, the movable clamp device (4) in the middle is moved to the front of the chassis (1), the six-axis robot (2) moves the inflow opening adjustment device to the appropriate position of the flushing mechanism (5), the movable clamp device (4) on the left is moved to the rear of the chassis (1), the gantry robot (3) is switched to the pneumatic chuck module (332) to clamp the impeller shaft to separate it from the lower housing, and moves it to the appropriate position of the flushing mechanism (5); Step 9: The movable clamp device (4) on the left moves to the front of the chassis (1), the cylinder (2314) pushes the clamp body (422) to release the lower shell, and the magnetic suction module (232) of the six-axis manipulator (2) transfers the lower shell to the appropriate position of the rinsing mechanism (5). Step 10: The water injection device of the flushing mechanism (5) starts to work, and the high-pressure nozzle shoots out high-pressure water to clean the disassembled parts, removing the substances on the surface of the parts and the waste oil in the adjustable turbine (6).

2. The disassembly method of the disassembly device for an adjustable turbine according to claim 1, characterized in that: The six-axis manipulator (2) includes a base (21), a robotic arm (22), and a manipulator part (23); The base (21) is mounted on the circular fixing device (141) and located below the robotic arm (22); The robotic arm (22) is interconnected with the base (21) and the robotic hand (23); The robotic arm (23) includes a rotating connection module (231), a magnetic suction module (232), and a screw removal module (233). A rotating bearing (2311) is mounted on the top of the rotating connection module (231) to enable rotation of the robotic arm (23). The rotating connection module (231) is connected to a connecting block (2312). The connecting block (2312) is located below the rotating bearing (2311), and fixed frames (2313) are mirror images of both ends of the connecting block (2312). A cylinder (2314) and a sliding guide rail (231) are mounted on the top of one side of the fixed frame (2313). 5) The cylinder (2314) is connected to the slider (2316); the sliding guide rail (2315) is located below the cylinder (2314) and is connected to the slider (2316); the slider (2316) is located above the magnetic module (232) and is connected to the magnetic module (232); multiple cylinders (2314) are provided below the magnetic module (232), and the magnetic module (232) is connected to the magnetic chuck (2321); the screw removal module (233) is located on the other side of the rotating connection module (231) and is connected to the slider (2316) and the cylinder (2314).

3. The disassembly method of the disassembly device for an adjustable turbine according to claim 1, characterized in that: The gantry manipulator (3) includes a support module (31), a transverse mechanism (32), a hand structure (33), and a vertical movement device (34). The support module (31) is located above the chassis (1) and connected to the truss fixing device (142); the top of the support module (31) is provided with a rack (311) and a sliding guide rail (2315), the rack (311) is located above the sliding guide rail (2315) and is gear-driven with the transverse mechanism (32); The top of the transverse mechanism (32) is provided with a stepper servo motor (321) and a planetary reducer (322); the stepper servo motor (321) is located above the planetary reducer (322) and is axially arranged with the planetary reducer (322); the planetary reducer (322) is coaxially connected with the transmission gear (323) and is used to control the moving speed of the transverse mechanism (32); The hand structure (33) includes a rotating connection module (231), a bearing removal module (331), and a pneumatic chuck module (332); the bearing removal module (331) is equipped with a multi-stage cylinder (3311) and an inner bearing puller (3312), the bearing removal module (331) is located on one side of the rotating connection module (231) and is bolted to the rotating connection module (231); the pneumatic chuck module (332) is located on the other side of the rotating connection module (231) and is symmetrically arranged with the bearing removal module (331); The vertical movement device (34) is connected to the horizontal movement mechanism (32) and the hand structure (33).

4. The disassembly method of the disassembly device for an adjustable turbine according to claim 1, characterized in that: The movable clamp device (4) includes a movable chassis (41) and a clamp body (42); a motor (411) is provided on the front side of the movable chassis (41), and the motor (411) is used to drive the movable chassis (41) to move relative to the chassis (1); the clamp body (42) is located above the movable chassis (41), and a cylinder (2314) is provided on the rear side of the clamp body (42).

5. The disassembly method of the disassembly device for an adjustable turbine according to claim 1, characterized in that: The flushing mechanism (5) includes a water injection device, a filter plate and a housing. The water injection device is located on the outside of the housing and connected to the housing. The filter plate is housed inside the housing. A high-pressure nozzle is installed inside the housing.

6. The disassembly method of the disassembly device for an adjustable turbine according to claim 3, characterized in that: A circular fixing device (141) is provided on the front side of the chassis (1). A six-axis robot (2) is installed on the circular fixing device (141) and is threadedly connected to the chassis (1). A truss fixing device (142) is provided on the rear side of the chassis (1). A truss robot (3) is installed on the truss fixing device (142) and is threadedly connected to the chassis (1). A sliding guide rail mechanism (11) is provided on the upper surface of the chassis (1). A movable clamping device (4) is installed on the sliding guide rail mechanism (11) and is connected to the sliding guide rail mechanism (11) as a guide rail slider. A flushing mechanism (5) is installed on the right side of the chassis (1).

7. The disassembly method of the disassembly device for an adjustable turbine according to claim 1, characterized in that: The movable clamping device (4) is provided with a positioning boss (421) and a clamping body (422). The positioning boss (421) matches the slot of the lower outer shell. The clamping body (422) changes the distance of the positioning boss (421) through a cylinder (2314) and a spring.

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