Steel mould bolt automatic dismounting system and control method thereof

Abstract

The invention discloses and relates to an automatic steel die bolt dismounting system and a control method thereof, and the method is applied to the automatic steel die bolt dismounting system and comprises the steps that a target steel die is conveyed to the position below a die dismounting machine through a chain machine; performing primary calibration on the target steel mold according to a first laser sensor arranged on the mold removal machine and the position of a running wheel on the target steel mold; the bolt station is subjected to secondary calibration through a second laser sensor arranged on the bolt dismounting station; according to the secondary calibration position of each bolt station, a servo motor is started to lift the jackhammer sleeve to the position above the bolts; and the nut on the bolt station is impacted through the pneumatic wrench sleeve, the pneumatic wrench sleeve is moved upwards, and whether the nut is disassembled or not is judged and executed repeatedly till it is determined that the nut is disassembled. Through servo motion control and a laser sensor technology, full-automatic bolt dismounting can be achieved, personnel allocation in the dismounting process of an electric pole production steel mold is reduced, the production cost is greatly reduced, and the automation degree of steel mold bolt dismounting is improved.

Description

Technical Field

[0001] The invention discloses a method for automatically disassembling steel formwork bolts and relates to the technical field of pole steel formwork disassembly equipment. Background Art

[0002] In the fully automatic production line of electric poles, the electric pole steel mold is the mold used to produce cement electric poles. Most of the existing steel molds are detachable structures, including cover molds and bottom molds. In the actual production process, the operator places the electric pole steel skeleton on the bottom mold and injects concrete. The cover mold and the bottom mold are combined and centrifuged in a centrifuge to form an electric pole. It can be seen that the combination and demolding of steel molds are important links in the production process of electric poles, and the existing combination and demolding operations are completed manually, which is cumbersome and increases labor costs.

[0003] In the prior art, the bolts of the removable steel mold are evenly distributed on both sides of the center line of the steel mold. Because the pole specification is usually a 1:75 taper standard, the angle between the bolt arrangement line and the center line of the steel mold is 0.38°, and the bolt spacing is usually 250mm to 300mm. In the manufacture of pole steel mold bolts, there are processing and assembly errors. The plate at the installation position of the steel mold bolts is not processed and has poor roughness. There are also processing errors in the manufacture of spring bolts. The matching error between the bolt and the sleeve is about ±5MM. If the steel mold bolts are tightened and loosened manually with a handheld pneumatic tool, and the bolts need to be supported by the foot, the labor intensity is high, there are safety hazards, and the work efficiency is relatively low, which is not conducive to the mass production of poles.

[0004] Therefore, people in this field are in urgent need of finding a new technical solution to solve the above problems. Summary of the invention

[0005] In order to overcome the problems existing in the related art, the present invention discloses a steel mold bolt automatic disassembly system and a control method thereof.

[0006] According to a first aspect of the disclosed embodiment of the present invention, a control method for an automatic disassembly system of a steel mold bolt is provided, which is applied to the automatic disassembly system of a steel mold bolt, and the method comprises:

[0007] The target steel mold to be disassembled is transported to the bottom of the demoulding machine by a chain conveyor;

[0008] According to the first laser sensor arranged on the demoulding machine and the position of the running wheel on the target steel mold, the target steel mold is calibrated once to adjust the target steel mold to a calibration position;

[0009] The bolt stations on the target steel mold are recalibrated by a second laser sensor provided at the bolt removal station to obtain a recalibrated position of each bolt station;

[0010] According to the secondary calibration position of each bolt station, the servo motor is started to lift the air gun sleeve to above the bolt so as to sleeve the nut through the air gun sleeve;

[0011] The nut on the bolt station is impacted by the jackhammer sleeve, and the jackhammer sleeve is moved upward to determine whether the nut is removed;

[0012] If the nut is not removed, repeat the steps of impacting the nut on the bolt station with the pneumatic cannon sleeve, moving the pneumatic cannon sleeve upward, and judging whether the nut is removed, until it is determined that the nut is removed, so as to complete the automatic disassembly of the steel mold bolt.

[0013] Optionally, the target steel mold is calibrated once according to a first laser sensor disposed on the mold removal machine and a position of a running wheel on the target steel mold to adjust the target steel mold to a calibration position, including:

[0014] Detecting the initial position of the edge of the target steel mold running wheel by a first laser sensor arranged at the front end of the mold removal machine;

[0015] Comparing the initial position with the preset coordinate value of the edge of the running wheel to obtain a calibration deviation value;

[0016] According to the primary calibration difference value, the target steel mold is calibrated once to adjust the target steel mold to a primary calibration position.

[0017] Optionally, the second laser sensor provided at the bolt removal station is used to perform a secondary calibration on the bolt station on the target steel mold to obtain a secondary calibration position of each bolt station, including:

[0018] The laser spot is emitted to the characteristic point of the target steel mold by a second laser sensor arranged at each bolt removal station;

[0019] Determine the edge position of the characteristic point of the target steel mold according to the laser spot;

[0020] The secondary calibration position of the air gun sleeve sleeve nut is obtained according to the edge position of the characteristic point of the target steel mold.

[0021] Optionally, according to the secondary calibration position of each bolt station, starting the servo motor to lift the air gun sleeve to above the bolt so as to sleeve the nut through the air gun sleeve, including:

[0022] According to the secondary calibration position of each bolt station, the air gun sleeve is lifted above the bolt through the motion axis of the servo motor;

[0023] Start the lifting cylinder to make the air gun sleeve sleeve the nut.

[0024] Optionally, the step of impacting a nut on a bolt station with the air cannon sleeve, moving the air cannon sleeve upward, and determining whether the nut is removed includes:

[0025] Impacting the nut on the bolt station through the air gun sleeve;

[0026] The jackhammer sleeve is moved upward, the nut calibration position is illuminated by the second laser sensor, and the sensing signal is fed back to the controller;

[0027] The controller determines whether the nut is removed according to the sensing signal.

[0028] Optionally, the method further includes:

[0029] The number, the first calibration position and the second calibration position of the target steel mold are stored in a database.

[0030] According to a second aspect of the disclosed embodiment of the present invention, there is provided a steel mold bolt automatic disassembly system, the system comprising: a mold stripping machine, a chain machine, a controller, a first laser sensor and a second laser sensor, the controller being electrically connected to the mold stripping machine, the chain machine, the first laser sensor and the second laser sensor respectively;

[0031] The chain conveyor is used to transport the target steel mold to be disassembled to the bottom of the mold removal machine;

[0032] The controller is used to:

[0033] According to the first laser sensor arranged on the demoulding machine and the position of the running wheel on the target steel mold, the target steel mold is calibrated once to adjust the target steel mold to a calibration position;

[0034] The bolt stations on the target steel mold are recalibrated by a second laser sensor provided at the bolt removal station to obtain a recalibrated position of each bolt station;

[0035] According to the secondary calibration position of each bolt station, the servo motor is started to lift the air gun sleeve to above the bolt so as to sleeve the nut through the air gun sleeve;

[0036] The nut on the bolt station is impacted by the jackhammer sleeve, and the jackhammer sleeve is moved upward to determine whether the nut is removed;

[0037] If the nut is not removed, repeat the steps of impacting the nut on the bolt station with the pneumatic cannon sleeve, moving the pneumatic cannon sleeve upward, and judging whether the nut is removed, until it is determined that the nut is removed, so as to complete the automatic disassembly of the steel mold bolt.

[0038] Optionally, the first laser sensor is arranged at the front end of the mold removal machine to detect the initial position of the edge of the target steel mold running wheel;

[0039] The controller is used to:

[0040] Comparing the initial position with the preset coordinate value of the edge of the running wheel to obtain a calibration deviation value;

[0041] According to the primary calibration difference value, the target steel mold is calibrated once to adjust the target steel mold to a primary calibration position.

[0042] Optionally, the bolt removal stations are arranged on both sides of the mold removal machine, and are arranged one by one corresponding to each bolt station;

[0043] The second laser sensor is respectively arranged at each bolt removal station, and is used to emit laser spots to characteristic points of the target steel mold;

[0044] The controller is used to:

[0045] Determine the edge position of the characteristic point of the target steel mold according to the laser spot;

[0046] The secondary calibration position of the air gun sleeve sleeve nut is obtained according to the edge position of the characteristic point of the target steel mold.

[0047] Optionally, the system further comprises: a servo motor and a lifting cylinder, wherein the servo motor and the lifting cylinder are arranged on the mold removal machine and are electrically connected to the controller respectively;

[0048] The servo motor is used to lift the air gun sleeve to above the bolt, and the lifting cylinder is used to make the air gun sleeve sleeve the nut.

[0049] In summary, the technical solution disclosed in the present invention can bring the following beneficial effects:

[0050] (1) It can simulate the machine's visual perception through servo motion control and laser sensor technology to achieve fully automatic bolt removal;

[0051] (2) The control method of automatically removing nuts can be used to adaptively arrange irregular bolts, and the lifting and lowering of the Z axis can ensure smooth and impact-free removal of bolts. It can be applied to steel molds of different specifications.

[0052] (3) It can reduce the number of personnel required in the production of electric poles and the process of steel mold disassembly, significantly reduce production costs, and improve the degree of automation in the disassembly of steel mold bolts.

[0053] Other features and advantages disclosed in the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0055] Figure 1 is a flow chart of a control method of a steel mold bolt automatic disassembly system according to an exemplary embodiment;

[0056] Figure 2 is a structural block diagram of an automatic disassembly system for steel mold bolts shown by an exemplary embodiment;

[0057] Figure 3 is based on Figure 1 A schematic diagram of a one-time calibration process is shown;

[0058] Figure 4 is based on Figure 1 A schematic diagram of a secondary calibration process is shown;

[0059] Figure 5 is based on Figure 1 A schematic flow chart of a nut disassembly method is shown. DETAILED DESCRIPTION

[0060] The specific embodiments disclosed in the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0061] Figure 1 is a flow chart of a control method of a steel mold bolt automatic disassembly system according to an exemplary embodiment. Figure 1 As shown, the method is applied to the automatic disassembly system of steel mold bolts, and includes:

[0062] In step 101, the target steel mold to be disassembled is transported to the bottom of the mold removal machine by a chain conveyor.

[0063] By way of example, before introducing the control method of the steel mold bolt automatic disassembly system in the disclosed embodiment of the present invention, the structure of the steel mold bolt automatic disassembly system is first described. Figure 2 : is a structural block diagram of an automatic disassembly system for steel mold bolts shown in an exemplary embodiment. Figure 2As shown, the steel mold bolt automatic disassembly system 200 includes: a mold stripping machine 210, a chain machine 220, a controller 230, a first laser sensor 240 and a second laser sensor 250, and the controller 230 is electrically connected to the mold stripping machine 210, the chain machine 220, the first laser sensor 240 and the second laser sensor 250. In addition, corresponding to the eight bolt stations on the target steel mold, the mold stripping machine 210 is provided with eight bolt removal stations, the first laser sensor is provided at the front end of the mold stripping machine, and the number of the second laser sensors corresponds to the bolt removal stations, and is provided at each bolt removal station.

[0064] Normally, the length of the steel mold of the electric pole is 12 meters. The chain conveyor transports the target steel mold to the bottom of the mold stripping machine in seven sections, so that the mold stripping machine can remove the bolts of the target steel mold. The 12-meter steel mold is transported in seven sections, each section is 2 meters, and a cycle control is performed for each section. That is, when the chain conveyor travels a section and arrives under the mold stripping machine, a laser sensor installed at the front end of the mold stripping machine calibrates the position of the target steel mold, follows the chain conveyor to stop delivering the mold, and the chain conveyor completes a section of mold delivery.

[0065] In step 102, the target steel mold is calibrated according to the first laser sensor disposed on the mold removal machine and the position of the running wheel on the target steel mold to adjust the target steel mold to a calibration position.

[0066] For example, a running wheel is provided on the target steel mold, and is used to determine the position of the target steel mold according to the laser irradiation running wheel. The first laser sensor is arranged at the front end of the mold removal machine, and the running wheel of the target steel mold is followed by emitting laser to find the edge position of the running wheel, and the position is calculated with the previously set coordinate calibration value to obtain a calibration deviation value, and the target steel mold is calibrated once to adjust the target steel mold to the calibration position. It can be understood that the calibration position of the target steel mold is represented by the coordinate value.

[0067] It should be noted that the chain conveyor for transporting pole steel molds is controlled by a three-phase AC motor with brakes. It needs to transport steel molds weighing several tons. Therefore, the positioning accuracy of the chain conveyor is relatively rough. The laser finds the edge of the running wheel and then moves the motion system of the mold removal machine for positioning to obtain more accurate position coordinates.

[0068] Specifically, Figure 3 is based on Figure 1 A schematic diagram of a one-time calibration process is shown in FIG. Figure 3 As shown, step 102 includes:

[0069] In step 1021, the initial position of the edge of the target steel mold running wheel is detected by a first laser sensor arranged at the front end of the mold removal machine.

[0070] In step 1022, the initial position is compared with the preset coordinate value of the edge of the running wheel to obtain a calibration deviation value.

[0071] In step 1023, the target steel mold is calibrated once according to the primary calibration difference value to adjust the target steel mold to a primary calibration position.

[0072] For example, the chain conveyor transports the steel mold to the bottom of the mold stripping machine in seven sections, and the laser sensor installed on the mold stripping machine follows the running wheel of the steel mold for a calibration and positioning. The first laser sensor senses the running wheel, moves the Y direction motor to find the edge of the running wheel, and obtains the deviation value through algorithm design. The deviation value is calibrated according to the running wheel position, which can be mapped to the deviation value of a steel mold calibration.

[0073] In step 103, the bolt stations on the target steel mold are recalibrated by using a second laser sensor provided at the bolt removal station to obtain the recalibrated position of each bolt station.

[0074] For example, after the target steel mold is calibrated once according to the coordinate axis, each bolt station on the target steel mold is calibrated a second time to obtain the position of the air gun sleeve sleeve nut. Corresponding to the eight bolt stations on the target steel mold, eight bolt removal stations are set on both sides of the mold removal machine, and two second laser sensors and a three-axis motion controller are set at each bolt removal station. The eight bolt removal stations work in parallel, each of which is responsible for the calibration, positioning, and bolt removal of its own station. The laser spot emitted by the second laser sensor follows the three-axis motion control system to find the edge position of the characteristic point of the steel mold. The accurate coordinate XYZ value of the air gun sleeve sleeve nut is obtained, that is, the secondary calibration position of the bolt station.

[0075] Specifically, Figure 4 is based on Figure 1 A schematic diagram of a secondary calibration process is shown in FIG. Figure 4 As shown, step 103 includes:

[0076] In step 1031, a laser spot is emitted to a characteristic point of the target steel mold by a second laser sensor arranged at each bolt removal station.

[0077] In step 1032, the edge position of the characteristic point of the target steel mold is determined according to the laser spot.

[0078] In step 1033, the secondary calibration position of the air gun sleeve coupling nut is obtained according to the edge position of the characteristic point of the target steel mold.

[0079] For example, the method of finding the edge of the characteristic point of the target steel mold is to perform corresponding calculations based on the position coordinate value fed back by the servo motor shaft encoder, and quickly locate it through the servo motion control system. Each bolt removal air gun station independently runs a coordinate system. When performing the secondary calibration and positioning of the position coordinates of the air gun sleeve sleeve nut, first use the second laser sensor to find the edge of the steel mold joint for Z direction calibration. The laser detection sensor senses the joint of the steel mold, and the moving lifting servo motor finds the edge of the joint. The Z deviation is obtained through the algorithm design; secondly, the XY direction deviation is calibrated. The laser detection sensor senses the edge of the bolt slot. The value of the laser distance measurement is used to obtain the X direction deviation through the algorithm design. The servo motor is moved to find the edge of the bolt slot, and the Y direction deviation is obtained through the algorithm design.

[0080] In addition, when searching for the edge of the characteristic point of the target steel mold, the disclosed embodiment of the present invention also sets a position out-of-limit alarm mechanism, and the calibrated coordinate value also has a position range limit.

[0081] In step 104, according to the secondary calibration position of each bolt station, the servo motor is started to lift the air gun sleeve to above the bolt so as to sleeve the nut through the air gun sleeve.

[0082] Specifically, according to the secondary calibration position of each bolt station, the servo motor's motion shaft lifts the blaster sleeve to the top of the bolt; the lifting cylinder is started to make the blaster sleeve sleeve the nut. The power source of the pneumatic blaster is compressed air with an air pressure range of 0.6-0.8 MPa. PWM control is pulse width modulation, which realizes the blaster impact frequency by changing the duty cycle of the pulse.

[0083] In step 105, the nut on the bolt station is impacted by the pneumatic cannon sleeve, and the pneumatic cannon sleeve is moved upward to determine whether the nut has been removed.

[0084] Specifically, Figure 5 is based on Figure 1 A schematic diagram of a nut disassembly method is shown in FIG. Figure 5 As shown, step 105 includes:

[0085] In step 1051, the nut on the bolt station is impacted by the jackhammer sleeve.

[0086] In step 1052, the jackhammer sleeve is moved upward, the nut calibration position is illuminated by the second laser sensor, and the sensing signal is fed back to the controller.

[0087] In step 1053, the controller determines whether the nut is removed based on the sensing signal.

[0088] For example, start the jackhammer sleeve to impact the nut. After the nut is loosened, the spring sleeve connected to the jackhammer sleeve moves upward, and an aluminum fixing ring is set at the bottom of the spring sleeve. The laser spot illuminates the edge of the aluminum fixing ring to determine whether the nut is removed. Start the jackhammer sleeve to slowly reverse, and wait for the laser spot to leave the jackhammer sleeve detection point to complete the calibration of the removed nut length. When the jackhammer sleeve rises, start once to detect whether the nut is removed, move the motor to the laser irradiation nut calibration position, and the laser sensor feedback signal to the controller, and the controller determines whether to restart the nut removal function once.

[0089] In step 106, if the nut has not been removed, repeat the steps of impacting the nut on the bolt station with the pneumatic cannon sleeve, moving the pneumatic cannon sleeve upward, and determining whether the nut has been removed, until it is determined that the nut has been removed, thereby completing the automatic disassembly of the steel mold bolt.

[0090] Determine whether to restart the nut removal function once, start the setting of the repair function, or manually set not to start the repair function, repeat the steps of impacting the nut to determine whether the nut is removed, until the calibration and disassembly steps of a steel mold are completed.

[0091] In addition, all bolt coordinates of the target steel mold are automatically generated and stored in the controller's holding register following the set steel mold number. When the steel mold is produced later and calibrated, the coordinate value of the recipe number is directly activated for rapid mold removal.

[0092] The method also includes: storing the number, the first calibration position and the second calibration position of the target steel mold in a database.

[0093] For example, after the steel mold is calibrated once and twice, the algorithm is designed to obtain the precise coordinate position of the steel mold, store the coordinate position corresponding to the steel mold number, and compile it into a formula database. When the calibrated steel mold is disassembled later, the formula database can be called for rapid demolding.

[0094] In addition, the disclosed embodiments of the present invention also include a power-off storage function for the calibration coordinate data of the numbered target steel mold; the steel mold number is unique, and when the steel mold number is recorded, the system automatically searches for duplicate numbers for the steel mold number; calls the steel mold model number to be produced, and quickly locates and demolds the mold, and has a copy function for the coordinate parameters of the steel mold number; and quickly obtains the formula data of similar coordinate parameters. All the coordinate data of the current steel mold is displayed on the touch screen, and the relevant parameter values ​​can be manually corrected, and the corrected values ​​are automatically stored in the formula database. The steel mold number can be entered manually or by scanning the code to enter the mold, and the mold can be quickly demolded.

[0095] In addition, the disclosed embodiment of the present invention further provides an automatic disassembly system for steel mold bolts, the system comprising: a mold removal machine, a chain machine, a controller, a first laser sensor and a second laser sensor, the controller being electrically connected to the mold removal machine, the chain machine, the first laser sensor and the second laser sensor respectively;

[0096] The chain conveyor is used to transport the target steel mold to be disassembled to the bottom of the mold removal machine;

[0097] The controller is used to:

[0098] According to the first laser sensor arranged on the demoulding machine and the position of the running wheel on the target steel mold, the target steel mold is calibrated once to adjust the target steel mold to a calibration position;

[0099] The bolt station on the target steel mold is recalibrated by a second laser sensor arranged at the bolt removal station to obtain the recalibrated position of each bolt station;

[0100] According to the secondary calibration position of each bolt station, the servo motor is started to lift the air gun sleeve to above the bolt so as to sleeve the nut through the air gun sleeve;

[0101] The nut on the bolt station is impacted by the jackhammer sleeve, and the jackhammer sleeve is moved upward to determine whether the nut is removed;

[0102] If the nut is not removed, repeat the steps of impacting the nut on the bolt station with the pneumatic cannon sleeve, moving the pneumatic cannon sleeve upward, and determining whether the nut is removed, until it is determined that the nut is removed, thereby completing the automatic disassembly of the steel mold bolt.

[0103] Optionally, the first laser sensor is arranged at the front end of the mold removal machine to detect the initial position of the edge of the target steel mold running wheel;

[0104] The controller is used to:

[0105] Compare the initial position with the preset coordinate value of the edge of the running wheel to obtain a calibration deviation value;

[0106] According to the primary calibration difference, the target steel mold is calibrated once to adjust the target steel mold to a primary calibration position.

[0107] Optionally, the bolt removal stations are arranged on both sides of the mold removal machine, and are arranged one by one corresponding to each bolt station;

[0108] The second laser sensor is respectively arranged at each bolt removal station and is used to emit laser spots to the characteristic points of the target steel mold;

[0109] The controller is used to:

[0110] Determine the edge position of the characteristic point of the target steel mold according to the laser spot;

[0111] The secondary calibration position of the air gun sleeve sleeve nut is obtained according to the edge position of the characteristic point of the target steel mold.

[0112] Optionally, the system further comprises: a servo motor and a lifting cylinder, wherein the servo motor and the lifting cylinder are arranged on the mold removal machine and are electrically connected to the controller respectively;

[0113] The servo motor is used to lift the air gun sleeve to above the bolt, and the lifting cylinder is used to make the air gun sleeve sleeve the nut.

[0114] In summary, the present invention discloses an automatic disassembly system for steel mold bolts and a control method thereof, which is applied to the automatic disassembly system for steel mold bolts, and the method includes: transporting the target steel mold to the bottom of the demolding machine by a chain machine; calibrating the target steel mold once according to the first laser sensor provided on the demolding machine and the position of the running wheel on the target steel mold; performing a secondary calibration on the bolting station by a second laser sensor provided on the bolting station; starting the servo motor to lift the air gun sleeve to above the bolt according to the secondary calibration position of each bolting station; using the air gun sleeve to impact the nut on the bolting station, moving the air gun sleeve upward, judging whether the nut is removed and repeating the process until it is determined that the nut is removed. Through servo motion control and laser sensor technology, it is possible to achieve fully automatic disassembly of bolts, reduce the allocation of personnel in the process of disassembly of steel molds for pole production, greatly reduce production costs, and improve the degree of automation of disassembly of steel mold bolts.

[0115] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0116] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0117] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A control method for an automatic disassembly system of a steel mold bolt, characterized in that: Applied to the automatic disassembly system of steel mold bolts, the method comprises: The target steel mold to be disassembled is transported to the bottom of the demoulding machine by a chain conveyor; According to the first laser sensor arranged on the demoulding machine and the position of the running wheel on the target steel mold, the target steel mold is calibrated once to adjust the target steel mold to a calibration position; The bolt stations on the target steel mold are recalibrated by a second laser sensor provided at the bolt removal station to obtain a recalibrated position of each bolt station; According to the secondary calibration position of each bolt station, the servo motor is started to lift the air gun sleeve to above the bolt so as to sleeve the nut through the air gun sleeve; The nut on the bolt station is impacted by the jackhammer sleeve, and the jackhammer sleeve is moved upward to determine whether the nut is removed; If the nut is not removed, repeat the steps of impacting the nut on the bolt station with the pneumatic cannon sleeve, moving the pneumatic cannon sleeve upward, and judging whether the nut is removed, until it is determined that the nut is removed, so as to complete the automatic disassembly of the steel mold bolt.

2. The control method of the steel mold bolt automatic disassembly system according to claim 1 is characterized in that: The method of calibrating the target steel mold once according to the first laser sensor disposed on the mold removal machine and the position of the running wheel on the target steel mold to adjust the target steel mold to a calibration position includes: Detecting the initial position of the edge of the target steel mold running wheel by a first laser sensor arranged at the front end of the mold removal machine; Comparing the initial position with the preset coordinate value of the edge of the running wheel to obtain a calibration deviation value; According to the primary calibration difference value, the target steel mold is calibrated once to adjust the target steel mold to a primary calibration position.

3. The control method of the steel mold bolt automatic disassembly system according to claim 1 is characterized in that: The second laser sensor provided at the bolt removal station is used to perform secondary calibration on the bolt station on the target steel mold to obtain the secondary calibration position of each bolt station, including: The laser spot is emitted to the characteristic point of the target steel mold by a second laser sensor arranged at each bolt removal station; Determine the edge position of the characteristic point of the target steel mold according to the laser spot; The secondary calibration position of the air gun sleeve sleeve nut is obtained according to the edge position of the characteristic point of the target steel mold.

4. The control method of the steel mold bolt automatic disassembly system according to claim 1 is characterized in that: According to the secondary calibration position of each bolt station, the servo motor is started to lift the air gun sleeve to the top of the bolt so as to sleeve the nut through the air gun sleeve, including: According to the secondary calibration position of each bolt station, the air gun sleeve is lifted above the bolt through the motion axis of the servo motor; Start the lifting cylinder to make the air gun sleeve sleeve the nut.

5. The control method of the steel mold bolt automatic disassembly system according to claim 1 is characterized in that: The step of impacting the nut on the bolt station by the air gun sleeve, moving the air gun sleeve upward, and judging whether the nut is removed comprises: Impacting the nut on the bolt station through the air gun sleeve; The jackhammer sleeve is moved upward, the nut calibration position is illuminated by the second laser sensor, and the sensing signal is fed back to the controller; The controller determines whether the nut is removed according to the sensing signal.

6. The control method of the steel mold bolt automatic disassembly system according to claim 1 is characterized in that: The method further comprises: The number, the first calibration position and the second calibration position of the target steel mold are stored in a database.

7. An automatic disassembly system for steel mold bolts, characterized in that: The system comprises: a demoulding machine, a chain machine, a controller, a first laser sensor and a second laser sensor, wherein the controller is electrically connected to the demoulding machine, the chain machine, the first laser sensor and the second laser sensor respectively; The chain conveyor is used to transport the target steel mold to be disassembled to the bottom of the mold removal machine; The controller is used to: According to the first laser sensor arranged on the demoulding machine and the position of the running wheel on the target steel mold, the target steel mold is calibrated once to adjust the target steel mold to a calibration position; The bolt stations on the target steel mold are recalibrated by a second laser sensor provided at the bolt removal station to obtain a recalibrated position of each bolt station; According to the secondary calibration position of each bolt station, the servo motor is started to lift the air gun sleeve to above the bolt so as to sleeve the nut through the air gun sleeve; The nut on the bolt station is impacted by the jackhammer sleeve, and the jackhammer sleeve is moved upward to determine whether the nut is removed; If the nut is not removed, repeat the steps of impacting the nut on the bolt station with the pneumatic cannon sleeve, moving the pneumatic cannon sleeve upward, and judging whether the nut is removed, until it is determined that the nut is removed, so as to complete the automatic disassembly of the steel mold bolt.

8. The automatic disassembly system for steel mold bolts according to claim 7 is characterized in that: The first laser sensor is arranged at the front end of the mold removal machine, and is used to detect the initial position of the edge of the target steel mold running wheel; The controller is used to: Comparing the initial position with the preset coordinate value of the edge of the running wheel to obtain a calibration deviation value; According to the primary calibration difference value, the target steel mold is calibrated once to adjust the target steel mold to a primary calibration position.

9. The automatic disassembly system for steel mold bolts according to claim 7, characterized in that: The bolt removal stations are arranged on both sides of the mold removal machine, and are arranged one by one corresponding to each bolt station; The second laser sensor is respectively arranged at each bolt removal station, and is used to emit laser spots to characteristic points of the target steel mold; The controller is used to: Determine the edge position of the characteristic point of the target steel mold according to the laser spot; The secondary calibration position of the air gun sleeve sleeve nut is obtained according to the edge position of the characteristic point of the target steel mold.

10. The automatic disassembly system for steel mold bolts according to claim 7, characterized in that: The system further comprises: a servo motor and a lifting cylinder, wherein the servo motor and the lifting cylinder are arranged on the mold removal machine and are electrically connected to the controller respectively; The servo motor is used to lift the air gun sleeve to above the bolt, and the lifting cylinder is used to make the air gun sleeve sleeve the nut.

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