Disassembling method of power battery module

Abstract

The invention relates to the technical field of power batteries, in particular to a disassembling method of a power battery module. The embodiment of the invention provides a disassembling method of a power battery module. The disassembling method comprises the steps that a mechanical arm with a visual recognition device is used for disassembling fixing bolts of all modules in the power battery module; determining a grabbing sequence according to the distribution and spacing distance of each module in the power battery module; and according to the grabbing sequence, all the modules are grabbed through a grabbing device with the variable opening degree. The embodiment of the invention provides a disassembling method of a power battery module. The power battery module can be disassembled.

Description

Technical Field

[0001] The present invention relates to the technical field of power batteries, and in particular to a method for disassembling a power battery module. Background Art

[0002] Power batteries are devices that provide power for new energy vehicles.

[0003] In the related art, waste power batteries need to be disassembled to further recycle various devices inside them. However, there is currently a lack of a disassembly method for power battery modules. Summary of the invention

[0004] An embodiment of the present invention provides a method for disassembling a power battery module, which can disassemble a power battery module.

[0005] An embodiment of the present invention provides a method for disassembling a power battery module, comprising:

[0006] Use a manipulator with a visual recognition device to remove the fixing bolts of each module in the power battery module;

[0007] Determine the grabbing order according to the distribution and spacing distance of each module in the power battery module;

[0008] According to the grabbing sequence, each module is grabbed by using a grabbing device with a variable opening and closing degree.

[0009] In a possible design, determining the grabbing order according to the distribution and spacing distance of each module in the power battery module includes:

[0010] Get the height information of each module;

[0011] Classify the modules whose height difference is within the preset height to obtain a plurality of height units whose average heights are from high to low;

[0012] For each of the height units, obtaining the gap distance between two parallel edges of each module and other modules or inner walls;

[0013] Get the top area of ​​each module;

[0014] A grasping order is determined according to an average height of the height units, the gap distance, and the top area.

[0015] In a possible design, determining the grasping order according to the height order of the height units, the gap distance and the top area includes:

[0016] Calculate the grab weight of each module using a weight formula according to the average height of the height units, the gap distance and the top area;

[0017] The crawling order is determined according to the size of the crawling weight.

[0018] In one possible design, the weight formula is as follows:

[0019] b i1 >b0 or b i1 When >b0, W=(a i / a0)w a +(min(b i1 ,b i2 ) / b0)w b +(c i / c0)w c

[0020] Among them, W is the weight value, w a 、w b 、w c are the weight coefficients of average height, gap distance and top area, respectively, a >w c >w b , i is the module number, a i is the average height of the height unit of module i, b i1 and b i2 are the gap distances between the two parallel edges of module i, c i is the top area of ​​module i, a0, b0 and c0 are the average of all average heights, the average of all gap distances and the average of all top areas respectively. When W is 0, the module is not captured.

[0021] In one possible design, w a 、w b 、w c They are 0.7, 0.1 and 0.2 respectively.

[0022] In a possible design, after the modules whose W is not 0 are removed, the weight values ​​of the remaining modules whose W is 0 are re-evaluated.

[0023] In a possible design, the grasping of each module using a grasping device with a variable opening and closing degree according to the grasping sequence includes:

[0024] According to the grabbing sequence, the opening and closing degree of the grabbing device is adjusted to match the distance between the parallel edges of the module to be grabbed.

[0025] In one possible design, the method further includes:

[0026] When grasping a module, the grasping status is determined based on the changes in the grasping force points;

[0027] Adjust the gripping force and gripping posture according to the gripping status.

[0028] In one possible design, the method further includes:

[0029] If there is a module that cannot be captured, the location of the module is marked.

[0030] Compared with the prior art, the present invention has at least the following beneficial effects:

[0031] In this embodiment, the visual recognition device can accurately identify the position of the bolts and the direction of the pattern, and use a manipulator with a screwdriver to remove the bolts that fix each module. Then, the grabbing order is determined according to the distribution and spacing of each module in the battery module. Finally, the grabbing device grabs each module according to the grabbing order.

[0032] In this embodiment, the distribution and spacing of each module can be obtained by acquiring RGB images, depth images and other data through a 3D camera and then building a model. In addition, the model can also acquire other relevant data, such as module height, shape, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 is a structural schematic diagram of a power battery module disassembly system provided by an embodiment of the present invention;

[0035] Figure 2 It is a structural schematic diagram of a method for disassembling a top cover of a power battery provided by an embodiment of the present invention;

[0036] Figure 3 It is a partial structural schematic diagram of a method for disassembling a top cover of a power battery according to an embodiment of the present invention.

[0037] In the figure:

[0038] 10-Power battery module;

[0039] 11-Module;

[0040] 12-Manipulator;

[0041] 13- Grasping device;

[0042] 21- low temperature nozzle;

[0043] 22- Power battery;

[0044] 23-cutting piece;

[0045] 24- workbench;

[0046] 25-Robotic arm;

[0047] 26-limiting member;

[0048] 27-slide rail;

[0049] 28-Antifreeze chamber. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0051] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance; unless otherwise specified or explained, the term "multiple" refers to two or more; the terms "connected" and "fixed" should be understood in a broad sense, for example, "connected" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the description of this specification, it should be understood that the directional words such as "upper" and "lower" described in the embodiments of the present invention are described at the angles shown in the drawings and should not be understood as limiting the embodiments of the present invention. In addition, in the context, it should also be understood that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element.

[0053] Please refer to Figure 1 , an embodiment of the present invention provides a method for disassembling a power battery module 10, comprising:

[0054] Using a manipulator 12 with a visual recognition device to remove the fixing bolts of each module 11 in the power battery module 10;

[0055] Determine the grabbing order according to the distribution and spacing of each module 11 in the power battery module 10;

[0056] According to the grasping sequence, each module 11 is grasped by a grasping device 13 with a variable opening and closing degree.

[0057] In this embodiment, the visual recognition device can accurately identify the position of the bolts and the direction of the pattern, and use the manipulator 12 with a screwdriver to remove the bolts fixing each module 11. Then, the grabbing order is determined according to the distribution and spacing of each module 11 in the battery module. Finally, the grabbing device 13 grabs each module 11 according to the grabbing order.

[0058] In this embodiment, the distribution and spacing of each module 11 can be obtained by using a 3D camera to obtain RGB images, depth images and other data to build a model. In addition, the model can also obtain other relevant data, such as the height and shape of the module 11.

[0059] It should be noted that as the grabbing progresses, the spacing between the modules 11 inside the power battery module 10 will change. After grabbing a preset number of modules 11, the grabbing sequence and the steps based on the grabbing sequence may be determined again.

[0060] In some embodiments of the present invention, the grabbing order is determined according to the distribution and spacing of each module 11 in the power battery module 10, including:

[0061] Obtaining height information of each module 11;

[0062] Classify the modules 11 whose height difference is within the preset height to obtain a plurality of height units whose average heights are from high to low;

[0063] For each height unit, obtain the gap distance between two parallel edges of each module 11 and other modules 11 or the inner wall;

[0064] Obtaining the top area of ​​each module 11;

[0065] The grabbing order is determined based on the average height of the height units, the gap distance, and the top area.

[0066] In this embodiment, the heights and shapes of the respective modules 11 are different. In order to perform orderly grasping, first, the height of the module 11 needs to be obtained, and the modules 11 with similar heights are classified to obtain multiple height units with different heights. Then, in order to facilitate grasping, two edges of the module 11 that are parallel to each other are selected as the grasping positions. However, the spacing distance between the edge and the surrounding devices will affect the grasping device 13 to descend and complete the grasping. Therefore, this information also needs to be considered before grasping. In addition, the area size of the top of the module 11 also needs to be considered. After the large module 11 is clamped, a larger space can be vacated to facilitate subsequent clamping.

[0067] In some embodiments of the present invention, the grasping order is determined according to the height sorting, gap distance, and top area of the height units, including:

[0068] According to the average height, gap distance, and top area of the height unit, use the weight formula to calculate the grasping weight of each module 11;

[0069] Determine the grasping order according to the magnitude of the grasping weight.

[0070] In some embodiments of the present invention, the weight formula is as follows:

[0071] b i1 <b0 or b i1 <b0, W = 0

[0072] b i1 >b0 or b i1 >b0, W = (a i / a0)w a +(min(b i1 ,b i2 ) / b0)w b +(c i / c0)w c

[0073] Among them, W is the weight value, w a , w b , w c are the weight coefficients of the average height, gap distance, and top area respectively, w a >w c >w b , i is the serial number of the module 11, a i is the average height of the height unit of the module 11i, b i1 and b i2 are the gap distances between two edges of the module 11i that are parallel to each other, c i is the top area of the module 11i, a0, b0, and c0 are the average values of all average heights, all gap distances, and all top areas respectively. When W is 0, the module 11 is not grasped.

[0074] In this embodiment, the weight of the grab can be calculated using a weight formula according to the average height of the height unit, the gap distance and the top area, and the order of grabbing can be determined according to the weight value. When calculating the weight, there are two cases. If any of the gap distances is less than the preset distance, and the preset distance is determined according to the requirements of the grabbing device 13, the grabbing device 13 cannot achieve the grabbing, and the weight value amplitude is set to 0, and the module 11 with a weight value of 0 is not grabbed. If the weight value is not 0, the grab is performed according to the size of the weight value.

[0075] In some embodiments of the present invention, w a 、w b 、w c They are 0.7, 0.1 and 0.2 respectively.

[0076] In some embodiments of the present invention, after the modules 11 whose W is not 0 are removed, the weight values ​​of the remaining modules 11 whose W is 0 are re-evaluated.

[0077] In this embodiment, after the modules 11 with W not being 0 are taken out, the gap distance around the modules 11 with W being 0 may change, and the weight calculation is performed again to determine the grasping order again for grasping.

[0078] In some embodiments of the present invention, the grasping device 13 with a variable opening and closing degree is used to grasp each module 11 according to the grasping sequence, including:

[0079] According to the grasping sequence, the opening and closing degree of the grasping device 13 is adjusted to match the distance between the parallel edges of the module 11 to be grasped.

[0080] In this embodiment, since the edges of the modules 11 are of different sizes, it is necessary to adjust the opening and closing degree of the grasping device 13 according to the edge distance to complete the grasping.

[0081] In some embodiments of the present invention, the method further comprises:

[0082] When performing the grasping in module 11, the grasping state is determined according to the change of the grasping force point;

[0083] Adjust the gripping force and gripping posture according to the gripping status.

[0084] In this embodiment, the gripping state can be determined based on the change in the gripping force point. If the gripping state is abnormal, the module 11 slips and the gripping cannot be completed. Therefore, it is necessary to further adjust the gripping force and gripping posture to complete the gripping.

[0085] In some embodiments of the present invention, the method further comprises:

[0086] If there is a module 11 that cannot be grasped, the position of the module 11 is marked.

[0087] In this embodiment, if the grasping force and grasping posture cannot be adjusted no matter how, there may be unremoved bolts, and the module 11 is marked and finally manually inspected.

[0088] The power battery module 11 inside the power battery module 10 has a very high recycling value. After the power battery module 10 is dismantled, the power battery inside it needs to be further disassembled and recycled.

[0089] like Figure 2 and Figure 3 As shown, an embodiment of the present invention provides a method for disassembling a top cover of a power battery, comprising:

[0090] Use the low-temperature nozzle 21 to output low-temperature fluid to the periphery of the top cover of the power battery 22;

[0091] Using the cutting piece 23 to cut along the top cover of the power battery 22;

[0092] Remove the top cover of the power battery 22 and perform low temperature treatment on it;

[0093] Breaking the top cover of the power battery 22 that has been subjected to cryogenic treatment;

[0094] Metallic materials and non-metallic materials are obtained by screening.

[0095] In this embodiment, in order to facilitate the rapid removal of the top cover and to prevent the risk of fire and explosion during the disassembly process, the present application abandons the method of mechanical disassembly after laser melting the weld in the prior art. The present application adopts a method of disassembling the top cover of the power battery 22 by a sharp cutting piece 23 after low temperature treatment. Specifically, a low temperature nozzle 21 is first used to spray a low temperature fluid around the top cover of the power battery 22, so that the temperature of the welding position around the top cover of the power battery 22 drops sharply, reducing its toughness, so that it undergoes a small deformation when cut or directly brittle fracture without deformation. There is a difference in composition between the weld around the top cover and the metal plate connected to it, which makes it easier to break at the weld under low temperature treatment. After removing the top cover of the power battery 22, it is crushed, preferably crushed. The composition of the top cover includes insulating rubber material and metal material. Due to the different properties of the two, the metal particles are finer after crushing. The metal of the top cover can be separated by screening to prepare for its reuse.

[0096] In this embodiment, the cryogenic fluid may be liquid helium, liquid nitrogen, liquid carbon dioxide or the like.

[0097] In some embodiments of the present invention, before using the low-temperature nozzle 21 to output the low-temperature fluid to the periphery of the top cover of the power battery 22, the method further includes:

[0098] The top cover of the power battery 22 is subjected to at least one heat treatment and one cold treatment alternately.

[0099] In this embodiment, the alternating hot and cold treatment can cause thermal stress to be generated at some joints of the top cover of the power battery 22, resulting in internal defects or enlarged defects, such as defects generated during welding, so as to facilitate the removal of the top cover by low temperature treatment and cutting piece 23 at a later time.

[0100] In this embodiment, the heat treatment may be a hot air treatment, the cold treatment may be a low temperature fluid treatment, the treatment temperature of the heat treatment may be 50 to 80°C, and the temperature of the cold treatment may be -10 to 0°C.

[0101] In some embodiments of the present invention, before using the low-temperature nozzle 21 to output the low-temperature fluid to the periphery of the top cover of the power battery 22, the method further includes:

[0102] Perform ultrasonic pulse detection around the top cover of the power battery 22 to obtain the waveform and amplitude of the echo corresponding to the positions around the top cover of the power battery 22;

[0103] Determine the area and location of the welding defects around the top cover of the power battery 22 according to the waveform and amplitude of the echo;

[0104] The low temperature nozzle 21 is used to output the low temperature fluid to the periphery of the top cover of the power battery 22, including:

[0105] Starting from the point with the largest defect area in the welding part around the top cover of the power battery 22 or the point with the largest defect area per unit length, the low-temperature nozzle 21 is used to output low-temperature fluid around the top cover of the power battery 22 .

[0106] In this embodiment, ultrasonic pulse detection technology is first used to detect the welds around the top cover of the power battery 22 to detect the location, type and size of the defects in the welds. The parts with larger and denser defects are easy to be cut and separated. Therefore, the starting point of the cutting of the cutting piece 23 is determined according to the defect determination result, and the cutting piece 23 is used to puncture at the starting point to obtain a breakthrough. After the breakthrough is obtained, it is more conducive to the subsequent cutting of the cutting piece 23.

[0107] In this embodiment, judging the defect area based on the waveform and amplitude of the ultrasonic echo is a prior art and will not be described in detail here.

[0108] It should be noted that a defect density threshold can be set to determine whether to use the point with the maximum defect density as the starting point. If the defect density per unit length is lower than the defect density threshold, the point with the maximum defect area is selected as the starting point.

[0109] In some embodiments of the present invention, before using the low-temperature nozzle 21 to output the low-temperature fluid to the periphery of the top cover of the power battery 22, the method further includes:

[0110] Place the power battery 22 with the top cover facing upward on the workbench 24, and fix the power battery 22 at the center of the workbench 24 using two pairs of stoppers 26 that can slide on the slide rails 27; wherein each pair of stoppers 26 has the same distance from the center of the workbench 24 during the sliding process;

[0111] According to the position of each stopper 26, the plane position coordinates around the top cover of the power battery 22 are determined;

[0112] Collecting height information around the top cover of the power battery 22;

[0113] The low temperature nozzle 21 is used to output the low temperature fluid to the periphery of the top cover of the power battery 22, including:

[0114] The low-temperature nozzle 21 is carried by the robot arm 25 to output low-temperature fluid around the top cover of the power battery 22 according to the plane position coordinates and height information.

[0115] In this embodiment, two pairs of stoppers 26 are used to fix the power battery 22 at the center of the workbench 24. Then, according to the position of the stoppers 26 on the slide rail 27, the power battery 22 is a column with a rectangular bottom surface. Therefore, the length and width of the top cover and bottom surface of the power battery 22 can be determined. The height position of the power battery 22 can be collected by visual sensors and laser ranging sensors, thereby obtaining the spatial coordinates of the power battery 22, which facilitates the robot arm 25 to accurately locate the top cover of the power battery 22.

[0116] In addition, a high-precision visual sensor may be mounted on the robotic arm 25 to identify and locate the power battery 22 .

[0117] In some embodiments of the present invention, before the low-temperature fluid is output to the periphery of the top cover of the power battery 22 by using the low-temperature nozzle 21, the method further includes:

[0118] The low-temperature nozzle 21 is used to output the low-temperature fluid to the injection hole of the top cover of the power battery 22;

[0119] Using the cutting piece 23 to break the weld at the injection hole;

[0120] The electrolyte in the power battery 22 is discharged under a vacuum environment.

[0121] In this embodiment, the injection hole of the top cover of the power battery 22 is welded and sealed, which can be broken first to discharge the electrolyte to facilitate the subsequent disassembly steps.

[0122] In some embodiments of the present invention, the cryogenic nozzle 21 and the cutting member 23 are both sheet-shaped and are disposed at one end of the mechanical arm 25;

[0123] The low temperature nozzle 21 is used to output the low temperature fluid to the periphery of the top cover of the power battery 22, including:

[0124] The low-temperature nozzle 21 is used to output a sheet-shaped low-temperature airflow to make the top cover of the power battery 22 lower than a preset temperature;

[0125] The mechanical arm 25 moves the low-temperature nozzle 21 by the same length as the cutting piece 23 to cool down the local position of the top cover of the power battery 22 again;

[0126] Cutting along the top cover of the power battery 22 using the cutting piece 23 includes:

[0127] The cutting member 23 is driven by the mechanical arm 25 to move above the portion of the top cover of the power battery 22 that is lower than the preset temperature;

[0128] Using the cutting piece 23 to descend and cut the top cover portion of the power battery 22 which is below a preset temperature;

[0129] The cutting member 23 rises after cutting, and waits for the top cover of the power battery 22 that has not been cut to drop below a preset temperature before cutting.

[0130] In this embodiment, the low-temperature nozzle 21 and the cutting piece 23 are both in the form of sheets. The low-temperature nozzle 21 is first used to cool the area to be cut to below the preset temperature, and then the mechanical arm 25 is moved to move the low-temperature nozzle 21 to the next area for cooling, and the cutting piece 23 is moved to the completed area for cutting; after the next area is cooled and the current area is cut, the mechanical arm 25 continues to move to complete the top cover cutting. The distance that the mechanical arm 25 moves is the length of the cutting piece 23. With this arrangement, the cutting piece 23 can completely cut the edge of the top cover of the power battery 22.

[0131] It should be noted that the preset temperature can be determined according to the material of the weld and empirical values, for example, it can be -180 to -50°C, and this application does not make any specific limitation.

[0132] In some embodiments of the present invention, after the low temperature nozzle 21 outputs the sheet-shaped low temperature airflow and before the mechanical arm 25 moves the low temperature nozzle 21 to a displacement having the same length as the cutting member 23, the method further includes:

[0133] An infrared temperature measuring device is used to determine whether the top cover of the power battery 22 at the bottom of the low-temperature nozzle 21 is lower than a preset temperature.

[0134] In some embodiments of the present invention, the cutting member 23 is disposed in the antifreeze chamber 28, the antifreeze chamber 28 contains antifreeze liquid, and the cutting member 23 is sealed and slidably connected to the upper and lower openings of the antifreeze chamber 28;

[0135] The cutting member 23 is used to descend and cut the top cover portion of the power battery 22 which is below a preset temperature, including:

[0136] The cutting member 23 is lowered from the antifreeze chamber 28 to cut the top cover portion of the power battery 22 which is below the preset temperature;

[0137] The cutting member 23 rises after cutting, and comprises:

[0138] The cutting piece 23 is lifted into the antifreeze bin 28 after cutting.

[0139] Since the low-temperature nozzle 21 is close to the cutting piece 23, long-term use will reduce the temperature of the cutting piece 23, causing it to become brittle and fragile. Therefore, an antifreeze chamber 28 is set, and there is antifreeze in the antifreeze chamber 28. When not cutting, the cutting piece 23 is displaced into the antifreeze chamber 28, and the temperature of the antifreeze is room temperature, so that the cutting piece 23 is kept warm; when cutting, the cutting piece 23 pops out of the antifreeze chamber 28, quickly pierces and retracts the part to be cut, so that the cutting piece 23 is exposed to the outside world for a short time, and the surface of the cutting piece 23 is covered with antifreeze after it pops out, which can further protect the cutting piece 23. The pressure at the sliding sealing connection of the cutting piece 23 can be set to achieve both sealing the antifreeze to prevent leakage and allowing the surface of the cutting piece 23 to be covered with a little antifreeze when it pops out. Of course, in order to prevent the leakage of antifreeze, it is also possible to abandon the covering of the cutting piece 23 with antifreeze after it pops out, and increase the pressure at the sealing. In addition, the ejection cutting method can also increase the instantaneous passive deformation rate at the weld of the top cover, so that the cutting edge at the cutting position is regular.

[0140] In this embodiment, the antifreeze liquid can be water, fat or lubricating oil, etc.

[0141] It should be noted that in order to prevent leakage of antifreeze liquid, the cutting piece 23 cannot be completely retracted into the antifreeze chamber 28. The contact length of the sealing connection between the antifreeze chamber 28 and the cutting piece 23 can be increased so that the cutting piece 23 can both seal the antifreeze chamber 28 and not be exposed to the outside.

[0142] In some embodiments of the present invention, it further includes:

[0143] The robot arm 25 adjusts the angle so that the included angles between the plane where the low-temperature nozzle 21 and the cutting piece 23 are located and the top surface and the side surface of the power battery 22 are all 45°.

[0144] In this embodiment, when the cutting piece 23 pops out, the two components of its force are directed to the top surface and the side surface of the power battery 22 respectively, which is equivalent to the force acting on the entire top surface and the side surface of the power battery 22 respectively, which will not cause deformation of the power battery 22, and the incision will be smoother and more stable.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for disassembling a power battery module, characterized in that: include: Using a manipulator (12) with a visual recognition device to remove the fixing bolts of each module (11) in the power battery module (10); Determining a grabbing order according to the distribution and spacing of the modules (11) in the power battery module (10); According to the grasping sequence, each module (11) is grasped using a grasping device (13) with a variable opening and closing degree.

2. The method according to claim 1, characterized in that The step of determining the grabbing order according to the distribution and spacing of the modules (11) in the power battery module (10) comprises: Obtaining height information of each module (11); Classifying the modules (11) whose height differences are within a preset height range to obtain a plurality of height units whose average heights are from high to low; For each of the height units, obtaining the gap distance between two mutually parallel edges of each module (11) and other modules (11) or the inner wall; Obtaining the top area of ​​each module (11); A grasping order is determined according to an average height of the height units, the gap distance, and the top area.

3. The method according to claim 2, characterized in that The step of determining the grasping order according to the height order of the height units, the gap distance and the top area comprises: Calculating the grabbing weight of each module (11) using a weight formula according to the average height of the height units, the gap distance and the top area; The crawling order is determined according to the size of the crawling weight.

4. The method according to claim 3, characterized in that: The weight formula is as follows: b i1 >b0 or b i1 When >b0, W=(a i / a0)w a +(min(b i1 ,b i2 ) / b0)w b +(c i / c0)w c Among them, W is the weight value, w a 、w b 、w c are the weight coefficients of average height, gap distance and top area, respectively, a >w c >w b , i is the serial number of module (11), a i is the average height of the height unit of module (11) i, b i1 and b i2 are the gap distance between two parallel edges of module (11) i, c i is the top area of ​​module (11) i, a0, b0 and c0 are the average of all average heights, the average of all gap distances and the average of all top areas respectively. When W is 0, the module (11) is not captured.

5. The method according to claim 4, characterized in that w a 、w b 、w c They are 0.7, 0.1 and 0.2 respectively.

6. The method according to claim 4, characterized in that After the modules (11) whose W is not 0 are removed, the weight values ​​of the remaining modules (11) whose W is 0 are re-evaluated.

7. The method according to claim 1, characterized in that According to the grasping sequence, grasping each module (11) using a grasping device (13) with a variable opening and closing degree comprises: According to the grasping sequence, the opening and closing degree of the grasping device (13) is adjusted to match the distance between the parallel edges of the module (11) to be grasped.

8. The method according to claim 1, characterized in that Also includes: When the module (11) is being grasped, the grasping state is determined according to the change of the grasping force point; Adjust the gripping force and gripping posture according to the gripping status.

9. The method according to claim 1, characterized in that: Also includes: If there is a module (11) that cannot be grasped, the position of the module (11) is marked.

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