Human-machine collaborative transformer dismantling system and method

Abstract

This invention belongs to the field of transformer dismantling technology and proposes a human-machine collaborative transformer dismantling system and method. The screw-removing robotic arm, oil-extraction robotic arm, coil dismantling robotic arm, and sorting robotic arm are all equipped with rotating parts via adjusting mechanisms and connecting rods. These rotating parts are equipped with connectors for connecting various tools. The system achieves separate operations for casing dismantling, oil extraction, and coil dismantling on a single conveyor line. It eliminates the need to complete the dismantling of one transformer and classify the dismantled parts before proceeding to the next, ensuring that the dismantling of transformers is unaffected. This system is suitable for dismantling large quantities of scrap transformers. Simultaneously, the weighing and scanning mechanisms on the conveyor line, combined with the sorting robotic arm, enable tracking and classification management of the entire dismantling process for different transformer models. This solves the problem of chaotic management of dismantled parts and facilitates subsequent recycling and other processing.

Description

Technical Field

[0001] This invention belongs to the field of transformer dismantling technology, and particularly relates to a human-machine collaborative transformer dismantling system and method. Background Technology

[0002] The comprehensive, large-scale, and refined sorting of waste power grid materials such as used transformers is conducive to improving the utilization rate of renewable resources, can help the green and digital transformation of the supply chain, and can comprehensively improve economic, social, and environmental benefits.

[0003] The diverse types, large quantities, and complex structures of scrap transformers present a significant workload for dismantling and managing the dismantled components. Especially when dismantling large batches of scrap transformers, the current method of dismantling on a single platform requires repeated flipping to facilitate processes such as shell separation, oil extraction, and coil dismantling. Dismantling of subsequent transformers can only begin after the current transformer has been completely dismantled and its parts sorted, severely impacting efficiency and making it unsuitable for large-scale transformer dismantling. Furthermore, the current dismantling and storage of the various parts is disorganized, hindering subsequent recycling and reuse. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a human-machine collaborative transformer dismantling system and method. Near the conveyor line, a screw-removal robotic arm, an oil extraction robotic arm, a assisted cantilever crane, a coil dismantling robotic arm, a sorting robotic arm, and an automated warehouse are installed. Each robotic arm is equipped with rotating components via adjustment mechanisms and connecting rods. These rotating components have connectors for connecting various tools. This allows for separate operations of casing dismantling, oil extraction, and coil dismantling on a single conveyor line. It eliminates the need to complete the dismantling of one transformer and classify the dismantled parts before proceeding to the next, ensuring uninterrupted dismantling of transformers. This system is suitable for dismantling large quantities of used transformers. Furthermore, the weighing and barcode scanning mechanisms on the conveyor line, combined with the sorting robotic arm, enable tracking and categorized management of the entire dismantling process for different transformer models. This solves the problem of chaotic post-dismantling parts management and facilitates subsequent recycling and other processing.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a human-machine collaborative transformer dismantling system, employing the following technical solution:

[0006] A human-machine collaborative transformer dismantling system includes a conveyor line, and a weighing mechanism and a barcode scanning mechanism disposed on the conveyor line.

[0007] Near the conveyor line are a screw removal robotic arm, an oil extraction robotic arm, a assisted cantilever crane, a coil dismantling robotic arm, a sorting robotic arm, and an automated warehouse; the screw removal robotic arm, the oil extraction robotic arm, the coil dismantling robotic arm, and the sorting robotic arm are all equipped with rotating parts through adjustment mechanisms and connecting rods, and the rotating parts are equipped with connectors for connecting various tools.

[0008] Furthermore, the conveyor line includes a track and an AGV trolley mounted on the track; each waste transformer has a QR code label on both sides; when a work task is received, the AGV trolley scans the QR code on the transformer with a mobile terminal, and after confirming that it matches the task list, the AGV trolley transports the transformer to the dismantling assembly line.

[0009] Furthermore, the screw removal robotic arm includes a first base, a first vertical rod disposed on the first base, a first adjusting mechanism disposed on the first vertical rod, a first adjusting rod disposed on the first adjusting mechanism, a first rotating component disposed on the first adjusting rod, a first connecting head disposed on the first rotating component, and a pneumatic wrench disposed on the first connecting head.

[0010] Furthermore, the oil extraction robotic arm includes a second base, a second vertical rod disposed on the second base, a second adjusting mechanism disposed on the second vertical rod, a second adjusting rod disposed on the second adjusting mechanism, a second rotating component disposed on the second adjusting rod, a second connecting head disposed on the second rotating component, and an oil extraction pipe disposed on the second connecting head;

[0011] The second adjusting mechanism includes a first turntable on the second vertical rod, a first piston on the first turntable, a first telescopic rod on the first piston, and a first connecting post on the first turntable; the second adjusting rod includes a first connecting rod and a third connecting rod hinged to the first connecting post; 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 assisted cantilever crane includes a vertical beam, a horizontal beam mounted on the vertical beam, and an overhead crane mounted on the horizontal beam, wherein the overhead crane is equipped with hooks via ropes.

[0013] Furthermore, the coil disassembly robotic arm includes a third base, a third vertical rod disposed on the third base, a third adjusting mechanism disposed on the third vertical rod, a third adjusting rod disposed on the third adjusting mechanism, a third rotating component disposed on the third adjusting rod, a third connecting head disposed on the third rotating component, and hydraulic shears and pneumatic tools disposed on the third connecting head.

[0014] The third adjusting mechanism includes a second turntable on the third vertical rod, a second piston on the second turntable, a second telescopic rod on the second piston, and a second connecting post on the second turntable; the third adjusting rod includes a fourth connecting rod and a sixth connecting rod hinged to the second connecting post; 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] Furthermore, the coil disassembly robotic arm includes a fourth base, a fourth vertical rod disposed on the fourth base, a fourth adjusting mechanism disposed on the fourth vertical rod, a fourth adjusting rod disposed on the fourth adjusting mechanism, a fourth rotating component disposed on the fourth adjusting rod, a fourth connecting head disposed on the fourth rotating component, and a pneumatic clamp disposed on the fourth connecting head.

[0016] The fourth adjusting mechanism includes a third turntable on the fourth vertical rod, a third piston on the third turntable, a third telescopic rod on the third piston, and a third connecting post on the third turntable; the fourth adjusting rod includes a seventh connecting rod and a ninth connecting rod hinged to the third connecting post; 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 automated warehouse includes a stacker crane, which includes a traveling mechanism, a column mounted on the traveling mechanism, a support rod mounted on the column, and a hopper mounted on the support rod via a lifting line; the lifting line is connected to a lifting motor.

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

[0019] To achieve the above objectives, in a second aspect, the present invention also provides a human-machine collaborative transformer disassembly method, employing the following technical solution:

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

[0021] During the transport of the scrap transformers on the conveyor line, the weighing mechanism and the barcode scanning mechanism are used to weigh and scan for information; the scrap transformers are disassembled by the screw disassembly robot arm, the oil extraction robot arm, the coil disassembly robot arm and the sorting robot arm.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] This invention creatively proposes a human-machine collaborative transformer dismantling system. Near the conveyor line, it is equipped with a screw-removing robotic arm, an oil-sucking robotic arm, a assisted cantilever crane, a coil dismantling robotic arm, a sorting robotic arm, and an automated warehouse. The screw-removing robotic arm, oil-sucking robotic arm, coil dismantling robotic arm, and sorting robotic arm all have rotating parts via adjusting mechanisms and connecting rods. These rotating parts are equipped with connectors for connecting various tools. This allows for separate operations of casing dismantling, oil extraction, and coil dismantling on a single conveyor line. It eliminates the need to complete the dismantling of one transformer and classify the dismantled parts before proceeding to the next, ensuring that the dismantling of transformers is unaffected. This solves the problem of dismantling large quantities of used transformers and improves the efficiency of dismantling batches of used transformers. Simultaneously, the weighing and scanning mechanisms on the conveyor line, combined with the sorting robotic arm, enable tracking and classification management of the entire dismantling process for different transformer models, solving the problem of chaotic management of dismantled parts and facilitating subsequent recycling and other processing.

[0024] This invention creatively proposes a human-machine collaborative transformer dismantling method. During the transportation of waste transformers on the conveyor line, the weighing mechanism and the barcode scanning mechanism are used to weigh and scan information respectively. The waste transformers are dismantled by the screw dismantling robot arm, the oil extraction robot arm, the coil dismantling robot arm and the sorting robot arm, which solves the problem of dismantling large batches of waste transformers and improves the dismantling efficiency of batch waste transformers. Attached Figure Description

[0025] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

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

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

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

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

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

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

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

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

[0034] Figure 9 This is a flowchart illustrating the process of Embodiment 1 of the present invention;

[0035] The components include: 1. Conveyor line; 101. Track; 102. AGV trolley; 2. Weighing mechanism; 3. Scanning mechanism; 4. Screw removal robotic arm; 401. First base; 402. First vertical rod; 403. First adjusting mechanism; 404. First adjusting rod; 405. First rotating component; 406. First connecting head; 407. Pneumatic wrench; 5. Oil extraction robotic arm; 501. Second base; 502. Second vertical rod; 503. Second adjusting 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 component; 506, Second connecting head; 507, Oil suction pipe; 6, Assisted jib crane; 601, Vertical beam; 602, Horizontal beam; 603, Overhead crane; 604, Rope; 605, Hook; 7, Coil disassembly robotic arm; 701, Third base; 702, Third vertical rod; 703, Third adjusting mechanism Structure; 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 component; 706, Third connecting head; 707, Hydraulic shears; 708, Pneumatic tool; 8, Sorting robotic arm; 801, Fourth base; 802, Fourth vertical rod; 803, Fourth adjusting mechanism; 8031, Third turntable; 803 2. Third piston; 8033. Third telescopic rod; 8034. Third connecting column; 804. Fourth adjusting rod; 8041. Seventh connecting rod; 8042. Eighth connecting rod; 8043. Ninth connecting rod; 805. Fourth rotating component; 806. Fourth connecting head; 807. Pneumatic clamp; 9. Automated warehouse; 901. Walking mechanism; 902. Column; 903. Support rod; 904. Hoist; 905. Lifting motor; 906. Lifting line; 907. Maintenance platform; 908. Electrical control cabinet. Detailed Implementation

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

[0037] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0038] Example 1:

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

[0040] Specifically, a screw removal robotic arm 4, an oil extraction robotic arm 5, a assisted cantilever crane 6, a coil dismantling robotic arm 7, a sorting robotic arm 8, and an automated warehouse 9 are installed near the conveyor line. This allows for separate operations such as casing dismantling, oil extraction, and coil dismantling on a single conveyor line. It eliminates the need to complete the dismantling of one transformer and sort the dismantled parts before proceeding to the next transformer. The dismantling of transformers before and after is unaffected, making it suitable for dismantling large quantities of scrap transformers. At the same time, the weighing mechanism 2 and the barcode scanning mechanism 3 on conveyor line 1, combined with the sorting robotic arm 8, can track and classify the entire dismantling process of different transformer models, solving the problem of chaotic management of dismantled parts and facilitating subsequent recycling and other processing.

[0041] Optional, such as Figure 1 As shown, the conveyor line 1 includes a track 101 and an AGV trolley 102 mounted on the track 101. The AGV trolley 102 is used to transport used transformers to various workstations such as weighing, barcode scanning, screw removal, and oil extraction. Each used transformer has a QR code label on both sides. When a work task is received, the user scans the QR code on the transformer using a mobile terminal. After confirming that the QR code matches the one on the task list, the AGV trolley 102 transports the transformer to the dismantling assembly 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 the scrap transformers; and the unloading conveyor line is used for unloading the scrap transformers. Optionally, the weighing mechanism 2 is used to weigh the dismantled materials; optionally, the weighing mechanism 2 can be a weighbridge or a weight scale, etc. The barcode scanning mechanism 3 is used to scan the tag codes on the scrap transformers and record the information of the dismantled materials.

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

[0044] Understandably, the first adjustment mechanism 403 includes a rotating disk implemented by components such as bearings, and an angle adjustment component that can realize angle adjustment, which is the same as the adjustment mechanism in the oil pumping mechanical arm 5; the first rotating component 405 can be set as a component such as bearings; the pneumatic wrench 407 can be set on the first connecting head 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] In the dismantling and conveyor line work area, one worker can use a pneumatic wrench 407, assisted by the screw removal robotic arm 4, to remove the top bolts of the oil-type transformer. After removing one side of the bolts, the worktable rotates to remove the bolts on the other side. If the bolts are rusted or cannot be removed, a nut breaker can be used. After the bolts are removed, the transformer cover is lifted using the hook of the intelligent crane or the assisted cantilever crane 6 to ensure that the transformer is completely separated from the top and bottom.

[0046] like Figure 3 As shown, optionally, the oil pumping robotic arm 5 is used to collect transformer oil, assisting operators in completing the oil pumping of the transformer. The oil pumping robotic arm 5 includes a second base 501, a second vertical rod 502 disposed on the second base 501, a second adjusting mechanism 503 disposed on the second vertical rod 502, a second adjusting rod 504 disposed on the second adjusting mechanism 503, a second rotating component 505 disposed on the second adjusting rod 504, a second connecting head 506 disposed on the second rotating component 505, and an oil pumping pipe 507 disposed on the second connecting head 506; the oil pumping pipe 507 can adopt conventional technology, which will not be described in detail here.

[0047] The second adjusting mechanism 503 includes a first turntable 5031 on the second vertical rod 502, a first piston 5032 disposed on the first turntable 5031, a first telescopic rod 5033 disposed on the first piston 5032, and a first connecting post 5034 disposed on the first turntable 5031; the second adjusting rod 504 includes a first connecting rod 5041 and a third connecting rod 5043 hinged to the first connecting post 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 pumping pipe of the robotic arm 5 into the transformer and starts pumping. A waste oil recovery pipe is located under the robotic arm, allowing the waste oil to be collected and directly transported to the storage tank. The pumping unit uses a high-power pneumatic diaphragm pump and is equipped with a filter at the top, enabling rapid oil pumping and precise measurement of the pumped volume.

[0049] like Figure 4 As shown, optionally, the assisted cantilever crane 6 includes a vertical beam 601, a horizontal beam 602 disposed on the vertical beam 601, and a gantry crane 603 disposed on the horizontal beam 602. The gantry crane 603 is provided with a hook 605 via a rope 604.

[0050] After the oil extraction is completed, the assisted cantilever crane 6 puts the transformer back onto the transformer housing and transports it to the coil dismantling area waiting position via the conveyor line 1. The assisted cantilever crane 6 then transports the transformer cover and windings to the dismantling platform for dismantling.

[0051] like Figure 5 As shown, optionally, the coil disassembly robotic arm 7 includes a third base 701, a third vertical rod 702 disposed on the third base 701, a third adjusting mechanism 703 disposed on the third vertical rod 702, a third adjusting rod 704 disposed on the third adjusting mechanism 703, a third rotating member 705 disposed on the third adjusting rod 704, a third connecting head 706 disposed on the third rotating member 705, and a hydraulic shear 707 and a pneumatic tool 708 disposed on the third connecting head 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 disposed on the second turntable 7031, a second telescopic rod 7033 disposed on the second piston 7032, and a second connecting post 7034 disposed 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 post 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] In the coil dismantling area, a worker can use the hydraulic shears 707 and pneumatic tools 708 on the coil dismantling robotic arm 7 to cut and remove the connecting copper wires, connecting screws, and bolts under the transformer cover, ensuring that the transformer cover is separated from other structures.

[0054] After dismantling, the transformer cover is put back on the housing using the assisted cantilever crane 6, thus completing the dismantling of the transformer coil.

[0055] like Figure 6 As shown, optionally, the sorting robotic arm 8 includes a fourth base 801, a fourth vertical rod 802 disposed on the fourth base 801, a fourth adjusting mechanism 803 disposed on the fourth vertical rod 802, a fourth adjusting rod 804 disposed on the fourth adjusting mechanism 803, a fourth rotating member 805 disposed on the fourth adjusting rod 804, a fourth connecting head 806 disposed on the fourth rotating member 805, and a pneumatic clamp 807 disposed on the fourth connecting head 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 turntable 8031 ​​on the fourth vertical rod 802, a third piston 8032 on the third turntable 8031, a third telescopic rod 8033 on the third piston 8032, and a third connecting post 8034 on the third turntable 8031; the fourth adjusting rod 804 includes a seventh connecting rod 8041 and a ninth connecting rod 8043 hinged to the third connecting post 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] In the sorting area, one worker can use the pneumatic gripper 807 on the sorting robotic arm 8 to pick up the silicon steel sheets and coils removed from the transformer in sequence and place them in the corresponding material boxes. The remaining worthless materials will be transported along the steel belt to the worthless material recycling bin.

[0058] like Figure 7 and Figure 8 As shown, optionally, the automated warehouse 9 includes a stacker crane. The stacker crane includes a traveling mechanism 901, a column 902 mounted on the traveling mechanism 901, a support rod 903 mounted on the column 902, and a hopper 904 mounted on the support rod 903 via a lifting line 906. The lifting line 906 is connected to a lifting motor 905. A maintenance platform 907 and an electrical control cabinet 908 are mounted on the column 902. The hopper 904 is used to hold components disassembled from the transformer and can be implemented using conventional technology.

[0059] The automated warehouse 9 is primarily used for the classified storage and management of disassembled transformer components. The casing, coils, silicon steel sheets, and worthless materials removed from the same transformer are placed in separate recycling bins, which are hoppers 904. In some other embodiments, the stacking robot is equipped with a barcode scanner and a weighing sensor, which can weigh each type of material when picking it up, scan the QR code on the recycling bin for binding, and upload the information. The automated warehouse binds the QR code of the steel pallet to the storage location code, and the storage management system centrally plans and places them. The lower part of the bins storing coils and silicon steel sheets is equipped with an oil drain to store oil seeping from the coils and silicon steel sheets.

[0060] like Figure 9 As shown, the working process or principle of this embodiment is as follows:

[0061] S1, Transformer online:

[0062] Each scrap transformer has a unique QR code label attached to both sides of the equipment. When a work assignment is received, workers scan the QR code on the transformer using a mobile terminal to confirm it matches the one on the task list. Then, workers upload the fixed QR code on the pallet to the backend, completing the assembly of the transformer and pallet. Upon receiving instructions from the backend, the AGV can start transporting the transformer pallet to the online area of ​​the dismantling line and send information to the dispatch system. After receiving the instruction that the transformer is online, the AGV can return to the task list to wait for the next online task.

[0063] S2. Disassembly of the transformer casing:

[0064] When the system receives a notification from the backend that the transformer is in place in the online area, the automatic conveyor line moves forward, moving the transformer to the automatic weighing position. After the transformer arrives at the automatic weighing position, the barcode scanning module automatically detects the QR code on the pallet, and the system automatically obtains the transformer's weight information and photo information, which are then uploaded to the backend.

[0065] After weighing and photographing, the conveyor line continues to move, transporting the transformer to the casing disassembly area. Workers use an electric wrench and tapping machine on a lifting device to remove the screws from the casing, then use the lifting device to lift the top cover, completing the casing disassembly.

[0066] S3, Transformer oil extraction:

[0067] Workers use a robotic arm to insert the oil pumping fixture into the transformer casing and begin the oil pumping operation. After pumping is complete, the pumping mechanism automatically detects the amount of oil pumped and uploads the data to the backend. The conveyor line continues to move forward, transporting the transformer to the dismantling waiting position.

[0068] S4. Transformer coil disassembly:

[0069] In the coil disassembly area, workers use hydraulic shears and pneumatic tools on a robotic arm to separate the top cover from the winding section. A lifting device then places the top cover back onto the housing in the waiting position. The disassembled winding section arrives at the sorting area along with a steel conveyor belt. Workers in the sorting area use electric grippers on a robotic arm to place the coils and silicon steel sheets into designated bins. Remaining materials automatically fall into a non-value material bin along with the steel conveyor belt.

[0070] Meanwhile, the pre-set intelligent monitoring system automatically tracks and identifies the entire dismantling process, especially key procedures, in real time, and automatically collects and retains evidence.

[0071] S5. Automatic inventory management system:

[0072] Upon receiving instructions from the backend, the automated warehouse stacking robot automatically scans and weighs the shell parts in the waiting area and the steel pallets placed in the silicon steel sheets and coil baskets in the sorting area, then places them into the designated storage locations in the automated warehouse. This information is synchronized to the backend warehouse management system. The waste transformer dismantling production line is based on a WMS (Warehouse Management System), uses electronic tags as a medium, and leverages cutting-edge technologies such as deep learning, image recognition, behavior recognition, the Internet of Things, and automatic sensing. Combined with various intelligent sensors and equipment, it achieves highly efficient, unmanned, and paperless operation throughout the entire transformer dismantling process.

[0073] Example 2:

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

[0075] During the transport of the scrap transformers on the conveyor line, the weighing mechanism and the barcode scanning mechanism are used to weigh and scan for information; the scrap transformers are disassembled by the screw disassembly robot arm, the oil extraction robot arm, the coil disassembly robot arm and the sorting robot arm.

[0076] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A human-machine collaborative transformer dismantling system, characterized in that, It includes a conveyor line, and a weighing mechanism and a barcode scanning mechanism installed on the conveyor line; Near the conveyor line are a screw removal robotic arm, an oil extraction robotic arm, a assisted cantilever crane, a coil dismantling robotic arm, a sorting robotic arm, and an automated warehouse; the screw removal robotic arm, the oil extraction robotic arm, the coil dismantling robotic arm, and the sorting robotic arm are all equipped with rotating parts through adjustment mechanisms and connecting rods, and the rotating parts are equipped with connectors for connecting various tools; The lower part of the material box for storing coils and silicon steel sheets is equipped with an oil draining compartment; The screw removal robotic arm includes a first base, a first vertical rod disposed on the first base, and a first adjusting mechanism disposed on the first vertical rod; the first adjusting mechanism includes a rotating disk implemented by a bearing component, and an angle adjusting member capable of angle adjustment. The oil extraction robotic arm includes a second base, a second vertical rod disposed on the second base, a second adjusting mechanism disposed on the second vertical rod, a second adjusting rod disposed on the second adjusting mechanism, a second rotating member disposed on the second adjusting rod, a second connecting head disposed on the second rotating member, and an oil extraction pipe disposed on the second connecting head; the second adjusting mechanism includes a first turntable disposed on the second vertical rod, a first piston disposed on the first turntable, a first telescopic rod disposed on the first piston, and a first connecting post disposed on the first turntable. The coil disassembly robotic arm includes a third base, a third vertical rod mounted on the third base, a third adjusting mechanism mounted on the third vertical rod, a third adjusting rod mounted on the third adjusting mechanism, a third rotating component mounted on the third adjusting rod, a third connecting head mounted on the third rotating component, and hydraulic shears and pneumatic tools mounted on the third connecting head; the third adjusting mechanism includes a second turntable mounted on the third vertical rod, a second piston mounted on the second turntable, a second telescopic rod mounted on the second piston, and a second connecting column mounted on the second turntable; The coil disassembly robotic arm includes a fourth base, a fourth vertical rod mounted on the fourth base, a fourth adjusting mechanism mounted on the fourth vertical rod, a fourth adjusting rod mounted on the fourth adjusting mechanism, a fourth rotating component mounted on the fourth adjusting rod, a fourth connecting head mounted on the fourth rotating component, and a pneumatic clamp mounted on the fourth connecting head; the fourth adjusting mechanism includes a third turntable mounted on the fourth vertical rod, a third piston mounted on the third turntable, a third telescopic rod mounted on the third piston, and a third connecting column mounted on the third turntable; In the dismantling and conveyor line work area, workers used pneumatic wrenches with the assistance of the screw removal robotic arm to remove the top bolts of the oil transformer; workers inserted the oil pumping pipe of the oil pumping robotic arm into the transformer and started pumping; in the coil dismantling area, workers used hydraulic shears and pneumatic tools on the coil dismantling robotic arm to cut and remove the connecting copper wires, connecting screws and bolts under the transformer cover.

2. The human-machine collaborative transformer dismantling system as described in claim 1, characterized in that, The conveyor line includes a track and AGV trolleys mounted on the track; each waste transformer has a QR code label on both sides; when a work task is received, the AGV trolleys scan the QR code on the transformer with a mobile terminal, and after confirming that it matches the task list, the AGV trolleys transport the transformer to the dismantling assembly line.

3. The human-machine collaborative transformer dismantling system as described in claim 1, characterized in that, The screw removal robotic arm also includes a first adjusting rod disposed on the first adjusting mechanism, a first rotating component disposed on the first adjusting rod, a first connecting head disposed on the first rotating component, and a pneumatic wrench disposed on the first connecting head.

4. The human-machine collaborative transformer dismantling system as described in claim 1, characterized in that, 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 dismantling system as described in claim 1, characterized in that, The assisted cantilever crane includes a vertical beam, a horizontal beam mounted on the vertical beam, and an overhead crane mounted on the horizontal beam. The overhead crane is equipped with hooks via ropes.

6. The human-machine collaborative transformer dismantling system as described in claim 1, characterized in that, The third adjusting rod includes a fourth connecting rod and a sixth connecting rod that are 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 dismantling system as described in claim 1, characterized in that, The fourth adjusting rod includes a seventh connecting rod and a ninth connecting rod that are 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 dismantling system as described in claim 1, characterized in that, The automated warehouse includes a stacker crane, which includes a traveling mechanism, a column mounted on the traveling mechanism, a support rod mounted on the column, and a hopper mounted on the support rod via a lifting line; the lifting line is connected to a lifting motor.

9. The human-machine collaborative transformer dismantling system as described in claim 8, characterized in that, The support rod is equipped with a maintenance platform and an electrical control cabinet.

10. A human-machine collaborative transformer disassembly method, characterized in that, The transformer dismantling system using any one of claims 1-9 comprises: During the transport of the scrap transformers on the conveyor line, the weighing mechanism and the barcode scanning mechanism are used to weigh and scan for information; the scrap transformers are disassembled by the screw disassembly robot arm, the oil extraction robot arm, the coil disassembly robot arm and the sorting robot arm.

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