A disassembly method for a power battery module

Abstract

The present invention relates to the technical field of power batteries, and particularly relates to a disassembly method for a power battery module. An embodiment of the present invention provides a disassembly method for a power battery module, including: using a manipulator with a visual recognition device to remove the fixing bolts of each module in the power battery module; determining the grasping sequence according to the distribution and spacing distance of each module in the power battery module; and grasping each module according to the grasping sequence by using a grasping device with variable opening degree. An embodiment of the present invention provides a disassembly method for a power battery module, which can disassemble the power battery module.

Description

Technical Field

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

[0002] A power battery is a device that provides power for new energy vehicles.

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

[0004] Embodiments of the present invention provide a disassembly method for a power battery module, which can disassemble the power battery module.

[0005] Embodiments of the present invention provide a disassembly method for a power battery module, including:

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

[0007] Determining the grasping sequence according to the distribution and spacing distance of each module inside the power battery module;

[0008] According to the grasping sequence, using a grasping device with variable opening degree to grasp each module.

[0009] In a possible design, the determining the grasping sequence according to the distribution and spacing distance of each module inside the power battery module includes:

[0010] Obtaining the height information of each module;

[0011] Classifying the modules with a height difference within a preset height to obtain multiple height units with the average height from high to low;

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

[0013] Obtaining the top area of each module;

[0014] Determining the grasping sequence according to the average height of the height unit, the gap distance, and the top area.

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

[0016] According to the average height of the height unit, the gap distance, and the top area, calculating the grasping weight of each module using a weight formula;

[0017] Determine the grasping order according to the magnitude of the grasping weight.

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

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

[0020] Wherein, W is the weight value, w a , w b , w c Are the weight coefficients of the average height, the gap distance, and the top area respectively, w a > w c > w b , i is the serial number of the module, a i Is the average height of the height unit of module i, b i1 And b i2 Are the gap distances between two parallel edges of module i respectively, c i Is the top area of module i, a0, b0, and c0 are the average values of all average heights, all gap distances, and all top areas respectively. When W is 0, this module is not grasped.

[0021] In a possible design, w a , w b , w c Are 0.7, 0.1, and 0.2 respectively.

[0022] In a possible design, after taking out the modules with W not equal to 0, re-evaluate the weight values of the remaining modules with W equal to 0.

[0023] In a possible design, the method of grasping each module by using a grasping device with variable opening degree according to the grasping order includes:

[0024] According to the grasping order, adjust the opening degree of the grasping device to match the distance between the parallel edges of the module to be grasped.

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

[0026] When grasping the module, judge the grasping state according to the change of the grasping point;

[0027] Adjust the grasping force and grasping posture according to the grasping state.

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

[0029] If there is a module that cannot be grasped, mark the position of the module.

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

[0031] In this embodiment, the visual recognition device can accurately identify the position of the bolt and the direction of the pattern, and use the manipulator with a screwdriver to remove the bolts fixing each module. Then, determine the grasping order according to the distribution and spacing of each module in the battery module. Finally, use the grasping device to grasp each module according to the grasping order.

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

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

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

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

[0036] Figure 3 is a partial structural schematic diagram of a method for disassembling the 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 - Robot arm;

[0047] 26 - Limiting piece;

[0048] 27 - Slide rail;

[0049] 28 - Anti - freezing bin. Specific embodiments

[0050] To make the objectives, 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 with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope 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 only used for descriptive purposes and cannot be construed as indicating or implying relative importance; unless otherwise specified or stated, the term "plurality" means two or more; the terms "connection", "fixation", etc. shall all be understood in a broad sense. For example, "connection" 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 those of ordinary skill in the art, the specific meanings of the above - mentioned 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 orientation terms such as "upper" and "lower" described in the embodiments of the present invention are described from the angles shown in the accompanying drawings and should not be construed 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 "above" or "below" another element, it can not only be directly connected "above" or "below" another element, but also be indirectly connected "above" or "below" another element through an intermediate element.

[0053] Please refer to Figure 1 , the embodiments of the present invention provide a disassembly method for a power battery module 10, including:

[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 grasping sequence according to the distribution and spacing distance of each module 11 in the power battery module 10;

[0056] According to the grasping sequence, use the grasping device 13 with variable opening degree to grasp each module 11.

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

[0058] In this embodiment, the distribution and spacing distance of each module 11 can be obtained by establishing a model from data such as RGB images and depth images acquired by a 3D camera. 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 grasping progresses, the spacing distance between the modules 11 inside the power battery module 10 will change. After grasping a preset number of modules 11, the steps of determining the grasping order and based on the grasping order can be performed again.

[0060] In some embodiments of the present invention, determining the grasping sequence according to the distribution and spacing distance of each module 11 in the power battery module 10 includes:

[0061] Obtain the height information of each module 11;

[0062] Classify the modules 11 with a height difference within a preset height to obtain multiple height units with the average height from high to low;

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

[0064] Obtain the top area of each module 11;

[0065] Determine the grasping sequence according to the average height, gap distance, and top area of the height unit.

[0066] In this embodiment, the heights and shapes of the respective modules 11 are different. In order to perform orderly grasping, it is first necessary to obtain the heights of the modules 11, classify the modules 11 with similar heights, and obtain multiple height units with different heights. Then, in order to facilitate grasping, two parallel edges of the module 11 are selected as the grasping positions. However, the spacing distance between the edge and the surrounding devices will affect the descent of the grasping device 13 to 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 clamping the large module 11, 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 of the height units, the gap distance, and the top area, 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 i2 <When b0, W = 0

[0072] b i1 >b0 or b i2 >When 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 parallel edges of the module 11i respectively, c iis the top area of 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, module 11 is not grasped.

[0074] In this embodiment, according to the average height, gap distance, and top area of the height unit, the grasping weight can be calculated using the weight formula, and the grasping order 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 grasping device 13, then the grasping device 13 cannot achieve grasping, and the weight value amplitude is set to 0, and the module 11 with a weight value of 0 is not grasped. If the weight value is not 0, then grasping is performed according to the magnitude of the weight value.

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

[0076] In some embodiments of the present invention, after taking out the module 11 with W not equal to 0, the weight value of the remaining module 11 with W equal to 0 is re-evaluated.

[0077] In this embodiment, after taking out the module 11 with W not equal to 0, the gap distance around the module 11 with W equal to 0 may change, and the weight calculation is re-performed to determine the grasping order again for grasping.

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

[0079] According to the grasping order, adjust the opening degree of the grasping device 13 to match the distance between the parallel edges of the module 11 to be grasped.

[0080] In this embodiment, since the edge sizes of the module 11 are different, therefore, it is necessary to adjust the opening 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 includes:

[0082] When grasping the module 11, judge the grasping state according to the change of the grasping force point;

[0083] Adjust the grasping force and grasping posture according to the grasping state.

[0084] In this embodiment, the grasping state can be judged according to the change of the grasping force point. If the grasping state is abnormal and the module 11 slips off, and thus the grasping cannot be completed, therefore, it is necessary to further adjust the grasping force and grasping posture to complete the grasping.

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

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

[0087] In this embodiment, if the module still cannot be grasped no matter how the grasping force and the grasping posture are adjusted, there may be bolts that have not been removed. Mark the module 11 and finally conduct manual inspection.

[0088] The power battery module 11 inside the power battery module 10 has extremely high recycling value. After the power battery module 10 is removed, it is necessary to further disassemble and recycle the power batteries inside it.

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

[0090] Output low-temperature fluid to the periphery of the top cover of the power battery 22 by using the low-temperature nozzle 21;

[0091] Cut along the top cover of the power battery 22 by using the cutting member 23;

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

[0093] Crush the top cover of the power battery 22 that has undergone low-temperature treatment;

[0094] Obtain metal materials and non-metal materials through screening.

[0095] In this embodiment, in order to facilitate the rapid removal of the top cover and prevent risks such as 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 using a sharp cutting member 23 after low-temperature treatment. Specifically, first use the low-temperature nozzle 21 to spray low-temperature fluid to the periphery of 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 suddenly, reducing its toughness, so that when it is cut, it undergoes less deformation or brittle fracture directly without deformation. There is a composition difference between the weld around the top cover and the metal plate it is connected to. Under low-temperature treatment, it is more likely to be broken at the weld. After removing the top cover of the power battery 22, perform crushing treatment on it, preferably crushing. The top cover is composed of insulating rubber material and metal material. Since the two have different properties, the metal particles are finer after crushing, and the metal of the top cover can be separated through screening for reuse.

[0096] In this embodiment, the low-temperature fluid can be fluids such as liquid helium, liquid nitrogen, and liquid carbon dioxide.

[0097] In some embodiments of the present invention, before outputting the cryogenic fluid to the periphery of the top cover of the power battery 22 by using the cryogenic nozzle 21, it further includes:

[0098] Performing at least one heat treatment and cold treatment on the top cover of the power battery 22 alternately.

[0099] In this embodiment, the heat and cold alternating treatment can cause thermal stress at some joints of the top cover of the power battery 22, and defects are generated or the defects are enlarged inside, such as the defects generated during welding, which is convenient for later removing the top cover by using cryogenic treatment and the cutting member 23.

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

[0101] In some embodiments of the present invention, before outputting the cryogenic fluid to the periphery of the top cover of the power battery 22 by using the cryogenic nozzle 21, it further includes:

[0102] Performing ultrasonic pulse detection on the periphery of the top cover of the power battery 22 to obtain the waveform and amplitude of the echo corresponding to the position of the periphery of the top cover of the power battery 22;

[0103] Judging the area and position of the welding defects on the periphery of the top cover of the power battery 22 according to the waveform and amplitude of the echo;

[0104] Outputting the cryogenic fluid to the periphery of the top cover of the power battery 22 by using the cryogenic nozzle 21 includes:

[0105] Starting from the place with the largest defect area inside the welding joint on the periphery of the top cover of the power battery 22 or the place with the largest defect area per unit length, using the cryogenic nozzle 21 to output the cryogenic fluid along the periphery of the top cover of the power battery 22.

[0106] In this embodiment, first use the ultrasonic pulse detection technology to detect the weld seam on the periphery of the top cover of the power battery 22, and detect the position, type and size of the defects existing in the weld seam. The parts with larger and denser defect areas are easily cut and separated. Therefore, according to the defect determination result, determine the starting point for the cutting member 23 to cut, and use the cutting member 23 to puncture at the starting point to obtain a breakthrough point. After obtaining the breakthrough point, it is more conducive to the subsequent cutting by the cutting member 23.

[0107] In this embodiment, judging the defect area according to the waveform and amplitude of the ultrasonic echo is the prior art and will not be elaborated here.

[0108] It should be noted that a defect density threshold can be set to judge whether to start from the place with the largest defect density. If the defect density per unit length is lower than the defect density threshold, then select the place with the largest defect area as the starting point.

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

[0110] Place the top cover of the power battery 22 facing upwards on the workbench 24, and use two pairs of limiting members 26 that can slide on the slide rail 27 to fix the power battery 22 at the center of the workbench 24; wherein, during the sliding process of each pair of limiting members 26, the distance from the center of the workbench 24 is the same;

[0111] Determine the planar position coordinates of the periphery of the top cover of the power battery 22 according to the position of each limiting member 26;

[0112] Collect the height information of the periphery of the top cover of the power battery 22;

[0113] Using the low-temperature nozzle 21 to output low-temperature fluid to the periphery of the top cover of the power battery 22 includes:

[0114] Use the robotic arm 25 to carry the low-temperature nozzle 21 to output low-temperature fluid to the periphery of the top cover of the power battery 22 according to the planar position coordinates and height information.

[0115] In this embodiment, by using two pairs of limiting members 26, the power battery 22 can be fixed at the center position of the workbench 24. Then, according to the position of the limiting members 26 on the slide rail 27, the power battery 22 is a columnar body with a rectangular bottom surface. Therefore, the length and width of the top cover and bottom surface of the power battery 22 can be judged. The height position of the power battery 22 can be collected by a vision sensor, a laser ranging sensor, etc. Thus, the spatial coordinates of the power battery 22 can be obtained, which is convenient for the robotic arm 25 to accurately position the periphery of the top cover of the power battery 22.

[0116] In addition, a high-precision vision sensor can also be carried on the robotic arm 25 to identify and position the power battery 22.

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

[0118] Use the low-temperature nozzle 21 to output low-temperature fluid to the liquid injection hole on the top cover of the power battery 22;

[0119] Use the cutting member 23 to break the weld at the liquid injection hole;

[0120] Discharge the electrolyte in the power battery 22 in a vacuum environment.

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

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

[0123] Outputting cryogenic fluid from the cryogenic nozzle 21 to the periphery of the top cover of the power battery 22 includes:

[0124] Outputting a sheet-shaped cryogenic air flow from the cryogenic nozzle 21 to make the top cover of the power battery 22 lower than a preset temperature;

[0125] The robotic arm 25 moves a displacement equal to the length of the cryogenic nozzle 21 and the cutting member 23, and cools a local position of the top cover of the power battery 22 again;

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

[0127] The cutting member 23 moves above the part of the top cover of the power battery 22 that is lower than the preset temperature under the drive of the robotic arm 25;

[0128] Using the cutting member 23 to lower and cut the part of the top cover of the power battery 22 that is lower than the preset temperature;

[0129] After the cutting member 23 cuts, it rises and waits to cut after the uncut part of the top cover of the power battery 22 drops below the preset temperature.

[0130] In this embodiment, both the cryogenic nozzle 21 and the cutting member 23 are sheet-shaped. First, the cryogenic nozzle 21 is used to cool the area to be cut so that it is lower than the preset temperature, then the robotic arm 25 is moved to move the cryogenic nozzle 21 to the next area for cooling, and the cutting member 23 moves to the completed area for cutting; after the next area is cooled and the current area is cut, the robotic arm 25 continues to move to complete the cutting of the top cover. Among them, the distance that the robotic arm 25 moves is the length of the cutting member 23. With such a setting, the cutting member 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 the empirical value. For example, it can be -180~-50°C, and the present application does not make specific limitations.

[0132] In some embodiments of the present invention, after outputting the sheet-shaped cryogenic air flow from the cryogenic nozzle 21 and before the robotic arm 25 moves a displacement equal to the length of the cryogenic nozzle 21 and the cutting member 23, it further includes:

[0133] Using an infrared temperature measuring device to determine whether the top cover of the power battery 22 at the bottom of the cryogenic nozzle 21 is lower than the preset temperature.

[0134] In some embodiments of the present invention, the cutting member 23 passes through the antifreeze chamber 28, the antifreeze chamber 28 is filled with antifreeze, and the cutting member 23 is hermetically and slidably connected to the upper and lower openings of the antifreeze chamber 28;

[0135] Using the cutting member 23 to lower and cut the top cover portion of the power battery 22 below a preset temperature, including:

[0136] Using the cutting member 23 to lower and cut the top cover portion of the power battery 22 below a preset temperature from within the antifreeze bin 28;

[0137] After the cutting member 23 finishes cutting, it rises, including:

[0138] After the cutting member 23 finishes cutting, it rises into the antifreeze bin 28.

[0139] Since the low-temperature nozzle 21 is relatively close to the cutting member 23, long-term use will cause the temperature of the cutting member 23 to decrease, making it brittle and fragile. Therefore, an antifreeze bin 28 is provided. There is antifreeze in the antifreeze bin 28. When not cutting, the cutting member 23 is displaced within the antifreeze bin 28, and the temperature of the antifreeze is normal temperature, so as to keep the cutting member 23 warm; when cutting, the cutting member 23 pops out of the antifreeze bin 28, quickly pierces and retracts the portion to be cut, so that the cutting member 23 is exposed to the outside for a short time, and the surface of the cutting member 23 is covered with antifreeze after popping out, which can further protect the cutting member 23. The pressure at the sliding seal connection of the cutting member 23 can be set to achieve both sealing the antifreeze to prevent its leakage and allowing a little antifreeze to cover the surface when the cutting member 23 pops out. Of course, in order to prevent the leakage of antifreeze, it is also possible to give up the cutting member 23 being covered with antifreeze after popping out and increase the pressure at the seal. In addition, the way of ejecting and cutting can also increase the instantaneous passive deformation rate at the top cover weld, making the cutting edge at the cutting place regular.

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

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

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

[0143] The robotic arm 25 adjusts the angle so that the planes where the low-temperature nozzle 21 and the cutting member 23 are located form an angle of 45° with both the top surface and the side surface of the power battery 22.

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

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various 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, grasping each module (11) using a grasping device (13) with a variable opening and closing degree; 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 the height information of each module (11); Classify 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.

2. The method according to claim 1, characterized in that The step of determining the grasping order according to the average height 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.

3. The method according to claim 2, characterized in that The weight formula is as follows: b i1 >b0 or b i2 >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 i in module (11), b i1 and b i2 are the gap distances between the 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.

4. The method according to claim 3, characterized in that w a 、w b 、w c They are 0.7, 0.1 and 0.2 respectively.

5. The method according to claim 3, 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.

6. 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.

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

8. 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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