Man-machine cooperation transformer disassembling system and method

Abstract

The invention belongs to the technical field of transformer disassembly, and provides a man-machine cooperation transformer disassembly system and method.A screw disassembly mechanical arm, an oil pumping mechanical arm, a coil disassembly mechanical arm and a sorting mechanical arm are all provided with rotating parts through adjusting mechanisms and connecting rods, and the rotating parts are provided with connectors used for being connected with various tools; according to the technical scheme, separate operation of shell disassembling, oil pumping, coil disassembling and the like is achieved on one conveying line, the situation that the current transformer is disassembled, parts are classified after disassembling, and then disassembling of the subsequent transformer is conducted is not needed, disassembling of the front transformer and disassembling of the rear transformer are not affected, and the waste transformer disassembling device can be suitable for disassembling a large batch of waste transformers; meanwhile, the weighing mechanism and the code scanning mechanism on the conveying line are combined with the sorting mechanical arm, tracking and classified management can be conducted on the whole disassembling process of transformers of different models, the problem that part management is disordered after disassembling is solved, and treatment such as later recycling is facilitated.

Description

Technical Field

[0001] The present invention belongs to the technical field of transformer disassembly, and in particular relates to a human-machine collaborative transformer disassembly system and method. Background Art

[0002] Comprehensively carrying out centralized, large-scale and refined sorting of waste power grid materials such as waste transformers will help improve the utilization rate of recycled resources, assist in the green digital transformation of the supply chain, and comprehensively improve economic, social and environmental benefits.

[0003] There are many types, large quantities and complex structures of waste transformers, which bring huge workload to the disassembly of transformers and the physical management after disassembly. Especially when disassembling waste transformers in large quantities, the current method of disassembling transformers on the same platform requires continuous flipping of the transformers to meet the needs of shell disassembly, oil extraction and coil disassembly, etc. The disassembly of the subsequent transformers can only be started after the current transformer is disassembled and the parts are classified after disassembly, which seriously affects the disassembly efficiency and is not suitable for large-scale transformer disassembly. In addition, the storage of various parts after disassembly is relatively chaotic, which is not conducive to later recycling and other treatments. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a human-machine collaborative transformer disassembly system and method, wherein a screw disassembly robot arm, an oil extraction robot arm, a power cantilever crane, a coil disassembly robot arm, a sorting robot arm and a stereoscopic warehouse are arranged near the conveyor line, each robot arm is provided with a rotating part through an adjusting mechanism and a connecting rod, and a connector for connecting various tools is provided on the rotating part, so that separate operations of shell disassembly, oil extraction and coil disassembly are realized on one conveyor line, and the disassembly of the subsequent transformer is not required after the current transformer is disassembled and the parts are classified after disassembly, and the disassembly of the previous and next transformers is not affected, which can be suitable for the disassembly of large quantities of waste transformers; at the same time, the weighing mechanism and the code scanning mechanism on the conveyor line are combined with the sorting robot arm to track and classify the entire disassembly process of transformers of different models, thereby solving the problem of chaotic management of parts after disassembly, and facilitating later recycling and other treatments.

[0005] In order to achieve the above objectives, in a first aspect, the present invention provides a human-machine collaborative transformer disassembly system, which adopts the following technical solutions:

[0006] A human-machine collaborative transformer disassembly system comprises a conveyor line, and a weighing mechanism and a code scanning mechanism arranged on the conveyor line;

[0007] A screw removal robot arm, an oil pumping robot arm, a power-assisted cantilever crane, a coil disassembly robot arm, a sorting robot arm and a three-dimensional warehouse are arranged near the conveyor line; the screw removal robot arm, the oil pumping robot arm, the coil disassembly robot arm and the sorting robot arm are all provided with rotating parts through adjusting mechanisms and connecting rods, and the rotating parts are provided with connecting heads for connecting various tools.

[0008] Furthermore, the conveyor line includes a track and an AGV cart arranged on the track; QR code labels are provided on both sides of each scrap transformer; when a work task is received, the QR code on the transformer is scanned by a mobile terminal, and after confirming that it is consistent with the task list, the AGV cart transports the transformer to the disassembly line.

[0009] Furthermore, the screw removal robot arm includes a first base, a first vertical rod arranged on the first base, a first adjustment mechanism arranged on the first vertical rod, a first adjustment rod arranged on the first adjustment mechanism, a first rotating member arranged on the first adjusting rod, a first connecting joint arranged on the first rotating member, and a pneumatic wrench arranged on the first connecting joint.

[0010] Further, the oil pumping mechanical arm includes a second base, a second vertical rod arranged on the second base, a second adjustment mechanism arranged on the second vertical rod, a second adjustment rod arranged on the second adjustment mechanism, a second rotating member arranged on the second adjustment rod, a second connecting joint arranged on the second rotating member, and an oil pumping pipe arranged on the second connecting joint;

[0011] The second adjusting mechanism includes a first turntable on the second vertical rod, a first piston arranged on the first turntable, a first telescopic rod arranged on the first piston, and a first connecting column arranged on the first turntable; the second adjusting rod includes a first connecting rod and a third connecting rod hinged to the first connecting column; one end of the first connecting rod is hinged to the first telescopic rod, and the other end is hinged to the second rotating member; the third connecting rod is hinged to the second rotating member, and a second connecting rod is hinged between the first connecting rod and the third connecting rod.

[0012] Furthermore, the power-assisted cantilever crane includes a vertical beam, a horizontal beam arranged on the vertical beam, and a crane arranged on the horizontal beam, wherein the crane is provided with a hook via a rope.

[0013] Further, the coil disassembly robot arm includes a third base, a third vertical rod arranged on the third base, a third adjustment mechanism arranged on the third vertical rod, a third adjustment rod arranged on the third adjustment mechanism, a third rotating member arranged on the third adjusting rod, a third connecting joint arranged on the third rotating member, and a hydraulic shear and a pneumatic tool arranged on the third connecting joint;

[0014] The third adjustment mechanism includes a second turntable on the third vertical rod, a second piston arranged on the second turntable, a second telescopic rod arranged on the second piston, and a second connecting column arranged on the second turntable; the third adjustment rod includes a fourth connecting rod and a sixth connecting rod hinged to the second connecting column; one end of the fourth connecting rod is hinged to the second telescopic rod, and the other end is hinged to the third rotating member; the sixth connecting rod is hinged to the third rotating member, and a fifth connecting rod is hinged between the fourth connecting rod and the sixth connecting rod.

[0015] Further, the coil disassembly robot arm includes a fourth base, a fourth vertical rod arranged on the fourth base, a fourth adjustment mechanism arranged on the fourth vertical rod, a fourth adjustment rod arranged on the fourth adjustment mechanism, a fourth rotating member arranged on the fourth adjusting rod, a fourth connecting joint arranged on the fourth rotating member, and a pneumatic clamp arranged on the fourth connecting joint;

[0016] The fourth adjustment mechanism includes a third turntable on the fourth vertical rod, a third piston arranged on the third turntable, a third telescopic rod arranged on the third piston, and a third connecting column arranged on the third turntable; the fourth adjustment rod includes a seventh connecting rod and a ninth connecting rod hinged to the third connecting column; one end of the seventh connecting rod is hinged to the third telescopic rod, and the other end is hinged to the fourth rotating member; the ninth connecting rod is hinged to the fourth rotating member, and an eighth connecting rod is hinged between the seventh connecting rod and the ninth connecting rod.

[0017] Furthermore, the stereoscopic warehouse includes a stacker, which includes a traveling mechanism, a column arranged on the traveling mechanism, a support rod arranged on the column, and a hopper arranged on the support rod through a lifting thread; the lifting thread is connected to a lifting motor.

[0018] Furthermore, a maintenance platform and an electric control cabinet are provided on the support rod.

[0019] In order to achieve the above objectives, in a second aspect, the present invention further provides a human-machine collaborative transformer disassembly method, which adopts the following technical solution:

[0020] A human-machine collaborative transformer disassembly method, using the human-machine collaborative transformer disassembly system as described in the first aspect, comprising:

[0021] When the waste transformer is transported on the conveyor line, the weighing mechanism and the code scanning mechanism are used to weigh and scan to obtain information respectively; the waste transformer is disassembled by the screw disassembly robot arm, the oil pumping robot arm, the coil disassembly robot arm and the sorting robot arm.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention creatively proposes a human-machine collaborative transformer disassembly system, wherein a screw disassembly robot arm, an oil pumping robot arm, a power-assisted cantilever crane, a coil disassembly robot arm, a sorting robot arm and a stereoscopic warehouse are arranged near a conveyor line; the screw disassembly robot arm, the oil pumping robot arm, the coil disassembly robot arm and the sorting robot arm are all provided with rotating parts through an adjusting mechanism and a connecting rod, and a connecting head for connecting various tools is provided on the rotating parts, so that separate operations of shell disassembly, oil pumping and coil disassembly, etc. are realized on one conveyor line, and there is no need to complete the disassembly of the current transformer and the classification of the parts after disassembly before disassembling the subsequent transformer, and the disassembly of the previous and next transformers is not affected, which solves the problem of disassembly of large quantities of waste transformers and improves the disassembly efficiency of large quantities of waste transformers; at the same time, the weighing mechanism and the code scanning mechanism on the conveyor line, combined with the sorting robot arm, can track and classify the entire disassembly process of transformers of different models, solves the problem of chaotic management of parts after disassembly, and is conducive to later recycling and other treatments.

[0024] The present invention creatively proposes a human-machine collaborative transformer disassembly method. During the transportation of the waste transformer on the conveyor line, the weighing mechanism and the code scanning mechanism are used to weigh and scan and obtain information respectively; the waste transformer is disassembled by the screw disassembly robot arm, the oil pumping robot arm, the coil disassembly robot arm and the sorting robot arm, which solves the problem of disassembling large quantities of waste transformers and improves the disassembly efficiency of large quantities of waste transformers. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0026] Figure 1 This is a schematic diagram of a production line according to Embodiment 1 of the present invention;

[0027] Figure 2 This is a schematic diagram of a screw removal robot arm according to Embodiment 1 of the present invention;

[0028] Figure 3 This is a schematic diagram of an oil pumping mechanical arm according to Embodiment 1 of the present invention;

[0029] Figure 4 This is a schematic diagram of a power-assisted cantilever crane according to Embodiment 1 of the present invention;

[0030] Figure 5 This is a schematic diagram of a coil disassembly robot arm according to Embodiment 1 of the present invention;

[0031] Figure 6 This is a schematic diagram of a sorting robot arm according to Embodiment 1 of the present invention;

[0032] Figure 7 This is a schematic diagram of a stacker according to Embodiment 1 of the present invention;

[0033] Figure 8 This is a schematic diagram of a three-dimensional shelf according to Embodiment 1 of the present invention;

[0034] Fig. 9 This is a work flow chart of Example 1 of the present invention;

[0035] Among them, 1. conveyor line; 101. track; 102. AGV trolley; 2. weighing mechanism; 3. code scanning mechanism; 4. screw removal robot arm; 401. first base; 402. first vertical rod; 403. first adjustment mechanism; 404. first adjustment rod; 405. first rotating part; 406. first connecting joint; 407. pneumatic wrench; 5. oil pumping robot arm; 501. second base; 502. second vertical rod; 503. second adjustment mechanism; 5031. first turntable; 5032. first piston ; 5033, first telescopic rod; 5034, first connecting column; 504, second adjusting rod; 5041, first connecting rod; 5042, second connecting rod; 5043, third connecting rod; 505, second rotating member; 506, second connecting joint; 507, pumping pipe; 6, auxiliary cantilever crane; 601, vertical beam; 602, horizontal beam; 603, aerial crane; 604, rope; 605, hook; 7, coil disassembly robot arm; 701, third base; 702, third vertical rod; 703, third adjusting machine 7031, second turntable; 7032, second piston; 7033, second telescopic rod; 7034, second connecting column; 704, third adjusting rod; 7041, fourth connecting rod; 7042, fifth connecting rod; 7043, sixth connecting rod; 705, third rotating member; 706, third connecting joint; 707, hydraulic shears; 708, pneumatic tools; 8, sorting robot arm; 801, fourth base; 802, fourth vertical rod; 803, fourth adjusting mechanism; 8031, third turntable; 803 2. The third piston; 8033. The third telescopic rod; 8034. The third connecting column; 804. The fourth adjusting rod; 8041. The seventh connecting rod; 8042. The eighth connecting rod; 8043. The ninth connecting rod; 805. The fourth rotating member; 806. The fourth connecting joint; 807. The pneumatic clamp; 9. The three-dimensional warehouse; 901. The walking mechanism; 902. The column; 903. The supporting rod; 904. The hopper; 905. The lifting motor; 906. The lifting thread; 907. The maintenance platform; 908. The electric control cabinet. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0038] Embodiment 1:

[0039] like Figure 1As shown, this embodiment provides a human-machine collaborative transformer disassembly system, including a conveyor line 1, a weighing mechanism 2, a code scanning mechanism 3, a screw removal robot arm 4, an oil pumping robot arm 5, a power-assisted cantilever crane 6, a coil disassembly robot arm 7, a sorting robot arm 8 and a stereoscopic warehouse 9.

[0040] Specifically, a screw removal robot arm 4, an oil extraction robot arm 5, an auxiliary cantilever crane 6, a coil disassembly robot arm 7, a sorting robot arm 8 and a three-dimensional warehouse 9 are arranged near the conveyor line, so that separate operations such as shell disassembly, oil extraction and coil disassembly are realized on one conveyor line. There is no need to complete the disassembly of the current transformer and sort the parts after disassembly before disassembling the subsequent transformer. The disassembly of the previous and next transformers is not affected, and it can be suitable for the disassembly of large quantities of waste transformers. At the same time, the weighing mechanism 2 and the code scanning mechanism 3 on the conveyor line 1, combined with the sorting robot arm 8, can track and classify the entire disassembly process of transformers of different models, solve the problem of chaotic management of parts after disassembly, and is conducive to later recycling and other treatments.

[0041] Optional, such as Figure 1 As shown, the conveyor line 1 includes a track 101 and an AGV trolley 102 arranged on the track 101; the AGV trolley 102 is used to transport the waste transformers to various workstations such as weighing, code scanning, screw removal and oil extraction. Two sides of each waste transformer are provided with a QR code label; when receiving a work task, the QR code on the transformer is scanned by a mobile terminal, and after confirming that it is consistent with the task list, the AGV trolley 102 transports the transformer to the disassembly line.

[0042] Optionally, the track 101 includes a loading conveyor line and a unloading conveyor line; wherein the loading conveyor line is used for loading waste transformers; and the unloading conveyor line is used for unloading waste transformers. Optionally, the weighing mechanism 2 is used to weigh the disassembled materials; optionally, the weighing mechanism 2 can be a floor scale or a weight scale. The code scanning mechanism 3 is used to scan the label code on the waste transformer to record the information of the disassembled materials.

[0043] like Figure 2 As shown, optionally, the screw removal robot arm 4 includes a first base 401, a first vertical rod 402 arranged on the first base 401, a first adjusting mechanism 403 arranged on the first vertical rod 402, a first adjusting rod 404 arranged on the first adjusting mechanism 403, a first rotating member 405 arranged on the first adjusting rod 404, a first connecting joint 406 arranged on the first rotating member 405, and a pneumatic wrench 407 arranged on the first connecting joint 406.

[0044] It can be understood that the first adjustment mechanism 403 includes a rotating disk realized by components such as bearings, and an angle adjustment member that can realize angle adjustment, which is the same as the adjustment mechanism in the oil pumping robot arm 5; the first rotating member 405 can be set as a bearing or other component; the pneumatic wrench 407 can be set on the first connecting joint 406 by means of bolts or other connection methods; the pneumatic wrench 407 can adopt conventional technology, which will not be described in detail here.

[0045] There is an operator in the disassembly conveyor line work area, who can use the pneumatic wrench 407 with the assistance of the screw removal robot 4 to remove the top bolts of the oil-type transformer. After removing the screws on one side, the workbench rotates and then removes the screws on the other side. If the screws are rusted or cannot be removed, a nut breaker can be used to break them. After the screws are removed, the transformer cover is lifted with the hook of the intelligent driving crane or the power-assisted cantilever crane 6 to ensure that the transformer is completely separated from top to bottom.

[0046] like Figure 3 As shown, optionally, the oil pumping mechanical arm 5 is used to collect transformer oil and assist the operator to complete the oil pumping of the transformer. The oil pumping mechanical arm 5 includes a second base 501, a second vertical rod 502 arranged on the second base 501, a second adjustment mechanism 503 arranged on the second vertical rod 502, a second adjustment rod 504 arranged on the second adjustment mechanism 503, a second rotating member 505 arranged on the second adjustment rod 504, a second connecting joint 506 arranged on the second rotating member 505, and an oil pumping pipe 507 arranged on the second connecting joint 506; the oil pumping pipe 507 can adopt conventional technology and will not be described in detail here.

[0047] The second adjusting mechanism 503 includes a first rotating disk 5031 on the second vertical rod 502, a first piston 5032 arranged on the first rotating disk 5031, a first telescopic rod 5033 arranged on the first piston 5032, and a first connecting column 5034 arranged on the first rotating disk 5031; the second adjusting rod 504 includes a first connecting rod 5041 and a third connecting rod 5043 hinged to the first connecting column 5034; one end of the first connecting rod 5041 is hinged to the first telescopic rod 5033, and the other end is hinged to the second rotating member 505; the third connecting rod 5043 is hinged to the second rotating member 505, and a second connecting rod 5042 is hinged between the first connecting rod 5041 and the third connecting rod 5043.

[0048] The operator inserts the oil extraction pipeline of the oil extraction mechanical arm 5 into the transformer and starts the oil extraction. There is a transformer waste oil recovery pipeline under the mechanical arm, which can collect the waste oil and directly transport it to the oil storage tank. The oil pump adopts a high-power pneumatic diaphragm pump with a filter device on the top, which can complete the rapid oil extraction work and accurately measure the oil extraction volume.

[0049] like Figure 4 As shown, optionally, the power-assisted cantilever crane 6 includes a vertical beam 601 , a horizontal beam 602 arranged on the vertical beam 601 , and an overhead crane 603 arranged on the horizontal beam 602 , wherein the overhead crane 603 is provided with a hook 605 via a rope 604 .

[0050] After the oil is pumped out, the power-assisted cantilever crane 6 puts the transformer back on the transformer housing, and transports it to the waiting position in the coil disassembly area through the conveyor line 1. The power-assisted cantilever crane 6 transports the transformer cover and windings to the disassembly platform for disassembly.

[0051] like Figure 5 As shown, optionally, the coil disassembly robot 7 includes a third base 701, a third vertical rod 702 arranged on the third base 701, a third adjustment mechanism 703 arranged on the third vertical rod 702, a third adjustment rod 704 arranged on the third adjustment mechanism 703, a third rotating member 705 arranged on the third adjusting rod 704, a third connecting joint 706 arranged on the third rotating member 705, and a hydraulic shear 707 and a pneumatic tool 708 arranged on the third connecting joint 706; the hydraulic shear 707 and the pneumatic tool 708 can adopt conventional technology, which will not be described in detail here.

[0052] The third adjusting mechanism 703 includes a second turntable 7031 on the third vertical rod 702, a second piston 7032 arranged on the second turntable 7031, a second telescopic rod 7033 arranged on the second piston 7032, and a second connecting column 7034 arranged on the second turntable 7031; the third adjusting rod 704 includes a fourth connecting rod 7041 and a sixth connecting rod 7043 hinged to the second connecting column 7034; one end of the fourth connecting rod 7041 is hinged to the second telescopic rod 7033, and the other end is hinged to the third rotating member 705; the sixth connecting rod 7043 is hinged to the third rotating member 705, and a fifth connecting rod 7042 is hinged between the fourth connecting rod 7041 and the sixth connecting rod 7043.

[0053] There is an operator in the coil disassembly area, who can use the hydraulic shears 707 and pneumatic tools 708 on the coil disassembly robot 7 to cut and break the connecting copper wires, connecting screws and screws under the transformer cover to ensure that the transformer cover is separated from other structures.

[0054] After the dismantling is completed, the transformer upper cover is put back on the shell by the auxiliary cantilever crane 6 to complete the dismantling of the transformer coil.

[0055] like Figure 6 As shown, optionally, the sorting robot arm 8 includes a fourth base 801, a fourth vertical rod 802 arranged on the fourth base 801, a fourth adjusting mechanism 803 arranged on the fourth vertical rod 802, a fourth adjusting rod 804 arranged on the fourth adjusting mechanism 803, a fourth rotating member 805 arranged on the fourth adjusting rod 804, a fourth connecting joint 806 arranged on the fourth rotating member 805, and a pneumatic clamp 807 arranged on the fourth connecting joint 806; the pneumatic clamp 807 can adopt conventional technology, which will not be described in detail here.

[0056] The fourth adjusting mechanism 803 includes a third rotating disk 8031 ​​on the fourth vertical rod 802, a third piston 8032 arranged on the third rotating disk 8031, a third telescopic rod 8033 arranged on the third piston 8032, and a third connecting column 8034 arranged on the third rotating disk 8031; the fourth adjusting rod 804 includes a seventh connecting rod 8041 and a ninth connecting rod 8043 hinged to the third connecting column 8034; one end of the seventh connecting rod 8041 is hinged to the third telescopic rod 8033, and the other end is hinged to the fourth rotating member 805; the ninth connecting rod 8043 is hinged to the fourth rotating member 805, and an eighth connecting rod 8042 is hinged between the seventh connecting rod 8041 and the ninth connecting rod 8043.

[0057] There is an operator in the sorting work area, who can use the pneumatic clamp 807 on the sorting robot 8 to pick up the silicon steel sheets and coils removed from the transformer in sequence and place them in the corresponding material frame. The remaining worthless materials will be transported along the steel belt to the worthless material recovery box.

[0058] like Figure 7 and Figure 8 As shown, optionally, the stereoscopic warehouse 9 includes a stacker, which includes a walking mechanism 901, a column 902 arranged on the walking mechanism 901, a support rod 903 arranged on the column 902, and a hopper 904 arranged on the support rod 903 through a lifting line 906, and the lifting line 906 is connected to a lifting motor 905. A maintenance platform 907 and an electric control cabinet 908 are arranged on the column 902. The hopper 904 is used to hold the disassembled parts of the transformer, which can be realized by conventional technology.

[0059] The stereoscopic warehouse 9 is mainly used for the classified storage and management of transformer parts after disassembly. The shell, coil, silicon steel sheet and worthless materials removed from the same transformer are placed in different recycling boxes, and the recycling box is a hopper 904. In some other embodiments, the stacking robot is equipped with a code scanning sensor and a weighing sensor, which can weigh various materials separately when forking, scan the QR code on the recycling box for binding, and upload the information. The stereoscopic warehouse will bind the QR code of the steel pallet with the storage location code, which will be uniformly planned and placed by the warehouse management system. An oil drain bin is provided at the bottom of the material box for storing coils and silicon steel sheets, which can store the oil seeping from the coils and silicon steel sheets.

[0060] like Fig. 9 As shown, the working process or principle of this embodiment is:

[0061] S1, Transformer online:

[0062] Each scrap transformer has a unique QR code label on both sides of the equipment. When receiving a work task, the staff scans the QR code on the transformer through a mobile terminal to confirm that it is consistent with the task list. Then, the staff uploads the fixed QR code on the loading tray to the background to complete the assembly of the transformer and the tray. When the AGV receives the background instruction, it can start to transport the transformer tray to the online area of ​​the disassembly assembly line and send information to the dispatching system. After the AGV receives the instruction that the transformer has been put online, it can return to wait for the next online task according to the task list.

[0063] S2. Transformer housing decomposition:

[0064] When the backend prompts that the transformer is in place in the online area, the automatic conveyor line moves forward and moves the transformer to the automatic weighing position. After the transformer arrives at the automatic weighing position, the code scanning module automatically detects the QR code on the tray, and the system automatically obtains the weight information and photo information of the transformer and uploads them to the backend.

[0065] After weighing and taking photos, the conveyor line continued to move and transported the transformer to the shell disassembly area. The staff used the electric wrench and tapping machine on the power-assisted hoist to remove the screws on the shell, and then lifted the upper cover with the power-assisted hoist to complete the shell disassembly.

[0066] S3, Transformer oil extraction:

[0067] The staff used a robotic arm to insert the oil pumping tool into the transformer housing and started the oil pumping work. After the oil pumping is completed, the oil pumping mechanism automatically detects the amount of oil pumped and uploads it to the backend. The conveyor line continues to move forward and transports the transformer to the disassembly waiting position.

[0068] S4. Disassembly of transformer coil:

[0069] The staff in the coil disassembly area use the hydraulic shears and pneumatic tools on the robot arm to separate the upper cover from the winding part, and the power-assisted hoist puts the upper cover back on the shell in the waiting position. The removed winding part arrives at the sorting work area with the steel belt. The staff in the sorting work area use the electric clamps on the power-assisted robot arm to put the coils and silicon steel sheets into the designated material baskets respectively, and the remaining materials automatically fall into the worthless material basket with the steel belt.

[0070] At the same time, with the help of the preset intelligent monitoring system, the entire disassembly process, especially the key processes, can be automatically tracked and identified in real time, and evidence can be automatically collected and retained.

[0071] S5, automatic storage in stereoscopic warehouse:

[0072] After receiving the back-end instructions, the three-dimensional warehouse stacking robot automatically scans and weighs the shell part in the waiting area, the silicon steel sheet in the sorting area, and the steel pallets placed in the coil material basket, and then puts them into the designated position of the three-dimensional warehouse. The relevant information is synchronized to the back-end warehouse management system. The waste transformer disassembly production line is based on WMS (warehouse management system), with electronic tags as the medium, and cutting-edge technologies such as deep learning, image recognition, behavior recognition, Internet of Things and automatic perception as tools, combined with a variety of intelligent sensors and intelligent equipment, to achieve high efficiency, unmanned and paperless operation of the entire process of transformer disassembly.

[0073] Embodiment 2:

[0074] This embodiment provides a human-machine collaborative transformer disassembly method, using the human-machine collaborative transformer disassembly system described in Embodiment 1, including:

[0075] When the waste transformer is transported on the conveyor line, the weighing mechanism and the code scanning mechanism are used to weigh and scan to obtain information respectively; the waste transformer is disassembled by the screw disassembly robot arm, the oil pumping robot arm, the coil disassembly robot arm and the sorting robot arm.

[0076] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. The human-machine collaborative transformer disassembly system is characterized by: It includes a conveyor line, and a weighing mechanism and a code scanning mechanism arranged on the conveyor line; A screw removal robot arm, an oil pumping robot arm, a power-assisted cantilever crane, a coil disassembly robot arm, a sorting robot arm and a three-dimensional warehouse are arranged near the conveyor line; the screw removal robot arm, the oil pumping robot arm, the coil disassembly robot arm and the sorting robot arm are all provided with rotating parts through adjusting mechanisms and connecting rods, and the rotating parts are provided with connecting heads for connecting various tools.

2. The human-machine collaborative transformer disassembly system according to claim 1, characterized in that: The conveyor line includes a track and an AGV cart arranged on the track; QR code labels are set on both sides of each scrap transformer; when a work task is received, the QR code on the transformer is scanned by a mobile terminal, and after confirming that it is consistent with the task list, the AGV cart transports the transformer to the disassembly assembly line.

3. The human-machine collaborative transformer disassembly system according to claim 1, characterized in that: The screw removal robot arm includes a first base, a first vertical rod arranged on the first base, a first adjustment mechanism arranged on the first vertical rod, a first adjustment rod arranged on the first adjustment mechanism, a first rotating member arranged on the first adjusting rod, a first connecting joint arranged on the first rotating member, and a pneumatic wrench arranged on the first connecting joint.

4. The human-machine collaborative transformer disassembly system according to claim 1, characterized in that: The oil pumping mechanical arm comprises a second base, a second vertical rod arranged on the second base, a second adjustment mechanism arranged on the second vertical rod, a second adjustment rod arranged on the second adjustment mechanism, a second rotating member arranged on the second adjustment rod, a second connecting joint arranged on the second rotating member, and an oil pumping pipe arranged on the second connecting joint; The second adjusting mechanism includes a first turntable on the second vertical rod, a first piston arranged on the first turntable, a first telescopic rod arranged on the first piston, and a first connecting column arranged on the first turntable; the second adjusting rod includes a first connecting rod and a third connecting rod hinged to the first connecting column; one end of the first connecting rod is hinged to the first telescopic rod, and the other end is hinged to the second rotating member; the third connecting rod is hinged to the second rotating member, and a second connecting rod is hinged between the first connecting rod and the third connecting rod.

5. The human-machine collaborative transformer disassembly system according to claim 1, characterized in that: The power-assisted cantilever crane comprises a vertical beam, a horizontal beam arranged on the vertical beam, and a gantry crane arranged on the horizontal beam, wherein the gantry crane is provided with a hook via a rope.

6. The human-machine collaborative transformer disassembly system according to claim 1, characterized in that: The coil disassembling robot arm includes a third base, a third vertical rod arranged on the third base, a third adjusting mechanism arranged on the third vertical rod, a third adjusting rod arranged on the third adjusting mechanism, a third rotating member arranged on the third adjusting rod, a third connecting joint arranged on the third rotating member, and a hydraulic shear and a pneumatic tool arranged on the third connecting joint; The third adjustment mechanism includes a second turntable on the third vertical rod, a second piston arranged on the second turntable, a second telescopic rod arranged on the second piston, and a second connecting column arranged on the second turntable; the third adjustment rod includes a fourth connecting rod and a sixth connecting rod hinged to the second connecting column; one end of the fourth connecting rod is hinged to the second telescopic rod, and the other end is hinged to the third rotating member; the sixth connecting rod is hinged to the third rotating member, and a fifth connecting rod is hinged between the fourth connecting rod and the sixth connecting rod.

7. The human-machine collaborative transformer disassembly system according to claim 1, characterized in that: The coil disassembling robot arm includes a fourth base, a fourth vertical rod arranged on the fourth base, a fourth adjusting mechanism arranged on the fourth vertical rod, a fourth adjusting rod arranged on the fourth adjusting mechanism, a fourth rotating member arranged on the fourth adjusting rod, a fourth connecting joint arranged on the fourth rotating member, and a pneumatic clamp arranged on the fourth connecting joint; The fourth adjustment mechanism includes a third turntable on the fourth vertical rod, a third piston arranged on the third turntable, a third telescopic rod arranged on the third piston, and a third connecting column arranged on the third turntable; the fourth adjustment rod includes a seventh connecting rod and a ninth connecting rod hinged to the third connecting column; one end of the seventh connecting rod is hinged to the third telescopic rod, and the other end is hinged to the fourth rotating member; the ninth connecting rod is hinged to the fourth rotating member, and an eighth connecting rod is hinged between the seventh connecting rod and the ninth connecting rod.

8. The human-machine collaborative transformer disassembly system according to claim 1, characterized in that: The three-dimensional warehouse includes a stacker, which includes a traveling mechanism, a column arranged on the traveling mechanism, a support rod arranged on the column, and a hopper arranged on the support rod through a lifting thread; the lifting thread is connected to a lifting motor.

9. The human-machine collaborative transformer disassembly system according to claim 8, characterized in that: A maintenance platform and an electric control cabinet are arranged on the support rod.

10. A human-machine collaborative transformer disassembly method, characterized in that: A transformer disassembly system using human-machine collaboration as described in any one of claims 1 to 9, comprising: When the waste transformer is transported on the conveyor line, the weighing mechanism and the code scanning mechanism are used to weigh and scan to obtain information respectively; the waste transformer is disassembled by the screw disassembly robot arm, the oil pumping robot arm, the coil disassembly robot arm and the sorting robot arm.

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