Dismounting device and method for wire harness buckle of retired power battery of new energy automobile

Abstract

The invention discloses a dismounting device and method for a new energy automobile retired power battery wire harness buckle, and the dismounting device for the new energy automobile retired power battery wire harness buckle comprises a robot body, an automatic buckle dismounting tool and a visual positioning system. The automatic buckle disassembling tool is composed of a clamping mechanism and a buckle clamping groove locking buckle downward-pressing unlocking mechanism. The robot body is provided with a driving end capable of being adjusted and moved in multiple directions. The clamping mechanism is provided with two clamping ends which can move relatively to clamp or loosen the buckle; the buckle clamping groove locking buckle downward-pressing unlocking mechanism is located between the two clamping ends and used for pressing the buckle to unlock the buckle. The visual positioning system is used for identifying a to-be-disassembled buckle and the position thereof; according to the wire harness buckle dismounting device, automatic dismounting of the wire harness buckle can be achieved, the dismounting efficiency of the wire harness buckle is improved, the recovery processing cost of a battery system is reduced, and the safety of workers is well protected.

Description

Technical Field

[0001] The present invention relates to the technical field of retired power batteries, and in particular to a device and method for disassembling a wiring harness buckle of a retired power battery of a new energy vehicle. Background Art

[0002] In recent years, my country's new energy vehicle market has expanded rapidly. According to data released by the China Association of Automobile Manufacturers, by July 2024, my country's new energy vehicle production will reach 5.914 million units and sales will be 5.934 million units, up 28.8% and 31.1% year-on-year respectively. However, as new energy vehicles reach a service life of 5-8 years, the number of retired automotive power batteries will increase rapidly, and the "retirement tide" of new energy vehicle power batteries is coming. A large number of retired batteries are in urgent need of recycling or harmless treatment. Retired power batteries contain a large number of rare metals and many harmful chemicals. With the popularization of new energy vehicles, the recycling of battery packs and the treatment of waste batteries have become major social issues that need to be solved urgently. The disassembly of power batteries is the key first step in battery recycling, and its efficiency and safety directly affect the benefits of battery recycling and treatment. In addition, if the disassembly operation is improper, it may cause a short circuit, fire or explosion, leakage and environmental pollution, and even threaten the life safety of the disassembly personnel, causing serious casualties and property losses.

[0003] In a power battery system, the ends of the wiring harnesses connecting the modules are equipped with wiring harness buckles. For example, a power battery pack provided by publication number CN217589298U comprises: a functional module, a lower shell and a cover body, the functional module comprises a plurality of functional components and a plurality of wiring harnesses, and the functional components are electrically connected by wiring harnesses; the functional module is accommodated in the lower shell body, a plurality of wire grooves are provided in the chamber of the lower shell body, elastic buckles are provided in the wire grooves, the wiring harnesses are passed through the wire grooves, the wire grooves limit the wiring harnesses in the radial direction of the wiring harnesses, and the elastic buckles are pressed against the periphery of the wiring harnesses to fix the wiring harnesses; the cover body is connected to the lower shell body, the cover body covers the top of the functional module, wherein the periphery of the wiring harnesses is equipped with elastic buckles to fix the wiring harnesses.

[0004] In the battery recycling process, the removal of the wiring harness is a key step, which is usually achieved by removing the wiring harness clips. At present, this disassembly task mainly relies on manual operation, using tools such as screwdrivers and pliers. However, this method is not only inefficient and time-consuming, but also has certain safety risks. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a device and method for disassembling the wiring harness buckles of retired power batteries of new energy vehicles, so as to solve the technical problems in the prior art that the disassembly of the wiring harness buckles relies on manual operation, is inefficient, time-consuming, and has certain safety risks.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In the first aspect, the present invention provides a device and method for disassembling the buckle of the wiring harness of retired power batteries of new energy vehicles, including: a robot body, a buckle automated disassembly tool and a visual positioning system, the robot body has a driving end that can be adjusted and moved in multiple directions; the buckle automated disassembly tool includes a clamping mechanism and a buckle slot locking buckle push-down unlocking mechanism, the clamping mechanism is arranged at the driving end of the robot body, and has two clamping ends that can move relative to each other to clamp or release the buckle; the buckle slot locking buckle push-down unlocking mechanism is located between the two clamping ends, and is used to press the buckle to unlock the buckle; the visual positioning system is used to identify the position of the buckle to be disassembled, and send an identification signal to the robot body, so that the robot body drives the clamping mechanism and the buckle slot locking buckle push-down unlocking mechanism to move to the corresponding working position based on the identification signal.

[0007] In some embodiments, the two clamping ends of the clamping mechanism respectively include clamping claws, and the clamping mechanism also includes a clamping drive component. The two clamps are symmetrically arranged on both sides of the buckle slot locking buckle press-down unlocking mechanism, and the clamping drive component is connected to the two clamping claws for driving the two clamping claws to move relative to each other.

[0008] In some embodiments, a clamping force sensor and a clamping position sensor are installed on the clamping jaw, the force sensor is used to monitor the force applied by the clamping jaw during the disassembly process, and the position sensor is used to monitor the current position of the clamping jaw.

[0009] In some embodiments, the buckle slot locking buckle push-down unlocking mechanism includes an unlocking head and a push-down driving member. The unlocking head is arranged between the two clamping ends of the clamping mechanism, and a downward pressure sensor and a downward pressure displacement sensor are installed on the outside of the unlocking head to respectively detect the downward pressure and the downward pressure position. The push-down driving member is connected to the unlocking head to drive the unlocking head to move downward to press the buckle.

[0010] In some embodiments, the unlocking head is detachably connected to the push-down driving member.

[0011] In some embodiments, the visual positioning system includes a camera and an image processing unit, and the device for disassembling the buckle of the wiring harness of the retired power battery of the new energy vehicle also includes a control system. The camera is arranged on one side of the clamping mechanism, and is used to capture and shoot the image of the buckle; the image processing unit is used to process the buckle image taken by the camera to identify the position of the buckle; the control system is connected to the camera, the image processing unit and the robot body to control the robot body to drive the clamping mechanism and the buckle slot locking buckle pressing and unlocking mechanism to move to the corresponding working position according to the position information of the buckle.

[0012] In a second aspect, the present invention further provides a method for disassembling a wiring harness buckle of a retired power battery of a new energy vehicle, comprising a disassembly device for disassembling a wiring harness buckle of a retired power battery of a new energy vehicle as described in any one of the above, the method comprising: S1: The robot moves to the photo taking position and starts the visual positioning system to locate the position of the buckle; S2: The robot body moves to the positioning point; S3: The system sends a disassembly signal to the clamping mechanism, and the clamping mechanism adjusts the position of the clamping end, fixes the battery harness, and sends a signal indicating the end of operation; S4: After receiving the signal that the clamping mechanism has finished operating, the pressing mechanism drives the unlocking head to align with the buckle to perform an unlocking action, and sends an unlocking signal after unlocking; S5: After receiving the unlocking signal from the pressing mechanism, the robot body drives the clamping mechanism to move horizontally, pushes the buckle out of the slot, and completes the removal of the harness buckle.

[0013] In some embodiments, after step S5, it also includes S6: the robot runs to the designated sorting position, opens the clamping end of the clamping mechanism, places the disassembled wire harness at the designated sorting position, and completes the wire harness sorting.

[0014] Compared with the prior art, the device and method for disassembling the buckle of the power battery harness of a retired new energy vehicle provided by the present invention can accurately identify the position of the buckle to be disassembled through the visual positioning system, and transmit the identification signal to the robot body. The robot body drives the clamping mechanism and the buckle slot locking buckle pressing and unlocking mechanism to move to the corresponding working position according to the signal. The clamping mechanism can clamp and fix the corresponding buckle to complete the positioning and fixation of the entire device. The buckle slot locking buckle pressing and unlocking mechanism can be unlocked by pressing the buckle, so that the clamping mechanism drives the buckle to be pushed out of the slot, thereby realizing accurate disassembly operation, and realizing the automatic disassembly of the buckle of the power battery harness of retired new energy vehicles. The device can realize communication integrated control with the robot system, thereby improving the disassembly efficiency, reducing the disassembly cost, and enhancing the economic benefits of the recycling of retired power batteries. All disassembly work of the harness buckle is completed by the disassembly tool and the robot in collaboration, thereby avoiding injuries to workers during the disassembly process, significantly improving the safety of the harness buckle disassembly, and it has a simple structure, low manufacturing cost, and strong versatility. The robot body of the present invention is flexibly designed, and the clamping end position of the clamping mechanism is adjustable, which can adapt to new energy vehicle power battery wiring harness buckles of different models and specifications. The degree of freedom adjustment function of the driving end enables the robot to approach the buckles at a variety of angles and methods, thereby realizing disassembly operations in complex environments, which not only improves the disassembly efficiency, but also reduces the dependence on operators and reduces labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of a device for disassembling a wiring harness buckle of a retired power battery of a new energy vehicle provided by an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a clamping mechanism and a buckle slot locking buckle pressing and unlocking mechanism of a device for removing a buckle of a wire harness buckle of a retired power battery of a new energy vehicle provided by an embodiment of the present invention; Figure 3 It is a structural schematic diagram of the positioning of a disassembly device for a wiring harness buckle of a retired power battery of a new energy vehicle provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of a device for disassembling a wire harness buckle of a retired power battery of a new energy vehicle provided by an embodiment of the present invention when clamped; Figure 5 It is a structural schematic diagram of a device for removing a wiring harness buckle of a retired power battery of a new energy vehicle provided by an embodiment of the present invention when it is pressed down; Figure 6 It is a schematic structural diagram of a device for removing a wiring harness buckle of a retired power battery of a new energy vehicle provided by an embodiment of the present invention when it is extrapolated; Figure 7It is a flow chart of a method for disassembling a wiring harness buckle of a retired power battery of a new energy vehicle provided by an embodiment of the present invention.

[0016] Description of reference numerals: 1. Robot body; 11. Ethernet interface; 12. I / O terminal; 2. Clamping mechanism; 21. Clamping claw; 3. Buckle, slot, locking buckle, push-down unlocking mechanism; 31. Unlocking head; 32. Push-down drive member; 4. Visual positioning system; 41. Camera; 5. Buckle. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] In order to solve the technical problem that the disassembly of wire harness buckles relies on manual operation, which is inefficient, time-consuming and has certain safety risks, the present invention provides a disassembly device and method for wire harness buckles of retired power batteries of new energy vehicles, which can realize the automatic disassembly of wire harness buckles, improve the disassembly efficiency of wire harness buckles, reduce the recycling and processing cost of battery systems, and well protect the safety of workers.

[0019] See also Figures 1 to 6 In the first aspect, an embodiment of the present invention provides a disassembly device for a buckle of a retired power battery harness of a new energy vehicle, comprising: a robot body 1, a buckle automated disassembly tool and a visual positioning system 4, wherein the robot body 1 has a driving end that can be adjusted and moved in multiple directions; the buckle automated disassembly tool comprises a clamping mechanism 2 and a buckle slot locking buckle pressing and unlocking mechanism 3, the clamping mechanism 2 is arranged at the driving end of the robot body 1, and has two clamping ends that can move relative to each other to clamp or release the buckle 5; the buckle slot locking buckle pressing and unlocking mechanism 3 is located between the two clamping ends, and is used to press the buckle 5 to unlock the buckle 5; the visual positioning system 4 is used to identify the position of the buckle 5 to be disassembled, and send an identification signal to the robot body 1, so that the robot body 1 drives the clamping mechanism 2 and the buckle slot locking buckle pressing and unlocking mechanism 3 to move to the corresponding working position based on the identification signal.

[0020] In the present device, the clamping mechanism 2 and the buckle and slot locking buckle pressing and unlocking mechanism 3 are both arranged at the driving end of the robot body 1, and the driving end can be adjusted and moved in multiple directions to achieve multi-degree-of-freedom adjustment. Through the visual positioning system 4, the position of the buckle 5 to be disassembled can be accurately identified, and the identification signal is transmitted to the robot body 1. The robot body 1 drives the clamping mechanism 2 and the buckle and slot locking buckle pressing and unlocking mechanism 3 to move to the corresponding working position according to the signal. The clamping mechanism 2 and the buckle and slot locking buckle pressing and unlocking mechanism 3 can perform clamping and pressing interpretation work when they are in the working position; the disassembly tool composed of the clamping mechanism 2 and the buckle and slot locking buckle pressing and unlocking mechanism 3 is used to perform the clamping and buckle 5 unlocking work. The clamping mechanism 2 can clamp and fix the corresponding buckle 5 and complete the positioning and fixing of the entire device at the same time. The buckle and slot locking buckle pressing and unlocking mechanism 3 then presses the buckle 5 to unlock the buckle 5. After the unlocking is completed, the clamping mechanism 2 can drive the buckle 5 to be pushed out of the slot, thereby realizing the automatic disassembly operation of the buckle.

[0021] In order to achieve accurate disassembly operation, in this embodiment, the visual positioning system 4 generally includes a visual recognition system and a sensor, which can accurately locate the retired power battery harness buckle 5. The visual recognition system identifies the specific position and state of the buckle 5 through image processing technology, while the sensor is used to detect the tightness of the buckle 5 to ensure the safety of the disassembly process.

[0022] In one of the embodiments, the visual recognition system of the visual positioning system 4 includes a camera 41 and an image processing unit, wherein the camera 41 is disposed on one side of the clamping mechanism 2 and is fixed on the mounting housing of the clamping mechanism 2, and is used to capture an image of the buckle 5; the image processing unit is used to process the image of the buckle 5 taken by the camera 41 to identify the position of the buckle 5.

[0023] In addition, the disassembly device of the buckle of the power battery harness of the retired new energy vehicle also includes a control system, which is integrated in the robot. The control system is connected to the camera 41, the image processing unit and the robot body 1, so as to control the robot body 1 to drive the clamping mechanism 2 and the buckle slot locking buckle pressing and unlocking mechanism 3 to move to the corresponding working position according to the position information of the buckle 5. The control system can also dynamically adjust the action of the clamping mechanism 2 and the buckle slot locking buckle pressing and unlocking mechanism 3 by real-time processing of the data provided by the image processing unit to achieve the clamping and unlocking of the buckle 5. Specifically, the control system is a Microchip PIC32MX795F512L single-chip microcomputer, and is provided with an Ethernet interface 11 and an I / O terminal 12, which can communicate with third-party devices through Ethernet and I / O, and transmit and interact data through Ethernet communication. The clamping mechanism 2 and the buckle slot locking buckle pressing and unlocking mechanism 3 can set the operating parameters through their own debugging software to achieve their own position control and force control, and can also perform teaching simulation of the operating posture of their own mechanism and real-time display of applied force.

[0024] During actual operation, the control system first receives the position information of the buckle 5 provided by the visual recognition system, and then calculates the optimal moving path of the clamping mechanism 2 and the buckle slot locking buckle pressing and unlocking mechanism 3. Then, the control system sends an instruction to the robot body 1 to drive the clamping mechanism 2 to move precisely above the buckle 5 and clamp it. At the same time, the buckle slot locking buckle pressing and unlocking mechanism 3 moves to the unlocking position according to the control instruction, and presses down the buckle 5. After the buckle 5 is unlocked, the robot body 1 drives the clamping mechanism 2 to take the buckle 5 out of the slot, and transports the buckle 5 to the specified position, thereby realizing the automatic disassembly of the wiring harness buckle 5 and improving the disassembly efficiency of the buckle 5.

[0025] In order to ensure the stability and safety of the disassembly process, the control system is also equipped with an emergency stop mechanism. Once an abnormal situation is detected, such as the buckle 5 is not clamped correctly or the unlocking force is too large, the control system will immediately stop the robot's action and sound an alarm to prompt the operator to check and handle it.

[0026] In one of the embodiments, the sensor is a force sensor and a position sensor, which are respectively arranged on the clamping mechanism 2 and the buckle and slot locking buckle push-down unlocking mechanism 3, and are specifically installed on the clamping jaw 21 and the unlocking head 31. For the sake of easy distinction, the sensors installed on the clamping jaw 21 are defined as clamping force sensors and clamping position sensors, and the sensors installed on the unlocking head 31 are defined as downward pressure sensors and downward pressure position sensors. The control system is also connected to each torque sensor and each position sensor. The clamping force sensor and the clamping position sensor can provide real-time feedback clamping force information and position information of the clamping mechanism. The downward pressure sensor and the downward pressure position sensor can provide real-time feedback downward pressure force information and position information of the buckle and slot locking buckle push-down unlocking mechanism, which helps the control system to more accurately control the clamping force and movement accuracy, and realize the displacement and force control of the clamping mechanism and the buckle and slot locking buckle push-down unlocking mechanism.

[0027] In this embodiment, the clamping mechanism 2 and the buckle and slot locking buckle pressing and unlocking mechanism 3 are fixed together on the flange of the robot, and the two clamping ends of the clamping mechanism 2 respectively include clamping claws 21, and the clamping mechanism 2 also includes a clamping driver, which is symmetrically installed on both sides of the buckle and slot locking buckle pressing and unlocking mechanism 3, and the two clamping claws 21 are fixedly connected to the driving end of the clamping driver, so that the driver can control the relative movement of the clamping claws 21. The force sensor and the position sensor are firmly installed on the clamping claw 21, wherein the force sensor is responsible for monitoring the force applied by the clamping claw 21 during the disassembly process, and the position sensor is responsible for monitoring the current position of the clamping claw 21.

[0028] It should be noted that the specific form of the clamping drive component of the present invention is not limited. The clamping drive component is a cylinder or an electric push rod, etc. The cylinder can drive the clamping jaws 21 to open and close through compressed air, and the push rod can achieve the pushing action through a motor-driven screw or gear, thereby realizing the opening and closing of the clamping jaws 21.

[0029] In this embodiment, the buckle slot locking buckle push-down unlocking mechanism 3 includes an unlocking head 31 and a push-down driving member 32. The unlocking head 31 is arranged between the two clamping ends of the clamping mechanism 2. The inner sides of the two clamping jaws 21 are designed to bend outward to form a space to accommodate the buckle slot locking buckle push-down unlocking mechanism 3. The clamping head of the clamping jaw 21 adopts a retracted design to clamp the buckle 5 on both sides of the unlocking head 31; the push-down driving member 32 is fixedly connected to the unlocking head 31, and is used to drive the unlocking head 31 to move downward, thereby pressing the buckle 5 to unlock the buckle 5.

[0030] Furthermore, in some embodiments, the unlocking head 31 is detachably connected to the pressing drive member 32. The unlocking head 31 is designed as a needle-shaped structure, fixed to the pressing drive member 32 by threads or pins, etc., and can be replaced as needed. Under the action of the pressing drive member 32, it can be extended and retracted in the vertical direction to avoid the rigid structure from breaking the buckle, so as to avoid the buckle 5 being unable to be removed. This design makes it easy to separate the unlocking head 31 from the pressing drive member 32 when maintaining or replacing parts, thereby improving the maintainability and flexibility of the system. In addition, the detachability of the unlocking head 31 also allows the use of unlocking heads 31 of different shapes or sizes to adapt to different types of buckles 5, further enhancing the versatility of the device.

[0031] It should be noted that, in this solution, the pressing drive member 32 can be pneumatic or electric. The pneumatic drive uses compressed air as a power source and drives the pressing action of the unlocking head 31 by controlling the extension and contraction of the cylinder, which has the characteristics of fast response speed and simple control. The electric drive is driven by a motor, has high control accuracy, and can achieve more complex motion control.

[0032] See also Figures 1 to 7 In a second aspect, an embodiment of the present invention further provides a method for disassembling a wiring harness buckle of a retired power battery of a new energy vehicle, comprising a disassembly device for disassembling a wiring harness buckle of a retired power battery of a new energy vehicle as described in any one of the above embodiments, the method comprising: S1: The robot body 1 moves to the photo taking position and starts the visual positioning system 4 to locate the position of the buckle 5.

[0033] S2: The robot body 1 moves to the positioning point; S3: The system sends a disassembly signal to the clamping mechanism 2, and the clamping mechanism 2 adjusts the position of the clamping end, fixes the battery harness, and sends a signal indicating the end of operation; S4: After receiving the signal that the clamping mechanism 2 has finished operating, the pressing mechanism drives the unlocking head 31 to align with the buckle 5 to perform an unlocking action, and sends an unlocking signal after unlocking; S5: After receiving the unlocking signal from the pressing mechanism, the robot body 1 drives the clamping mechanism 2 to move in the horizontal direction, pushes the buckle 5 out of the slot, and completes the disassembly of the harness buckle 5.

[0034] In this embodiment, after step S5, it also includes S6: the robot runs to the designated sorting position, opens the clamping end of the clamping mechanism 2, places the disassembled wire harness at the designated sorting position, and completes the wire harness sorting, which can improve the degree of automation and work efficiency.

[0035] Furthermore, in some embodiments, during the execution of steps S3 and S4, the control of the clamping mechanism uses an adaptive control algorithm of direct force / position control to control the force applied by the disassembly tool to the buckle, and the control strategy of the direct force / position control is: , Where τ is the joint torque output by the controller, is the proportional gain of the force, used to adjust the response to force errors; is the differential gain of the force, which is used to improve the stability and response speed of the system; is the proportional gain of position, used to adjust the response to the error; It is the differential gain of position, which is used to improve the stability and response speed of the system; is the desired force, is the actual applied force measured by the force sensor, is the force error; is the desired position, is the actual position measured by the position sensor, is the position error.

[0036] The control algorithm specifically comprises the following steps: S01: Establish initialization parameters, including the desired force , expected position , control gain , , , , learning rate , , , ; S02: Connect the force sensor and position sensor, and initialize the buckle removal tool; S03: Read sensor data to obtain applied force and the actual positions of the clamping mechanism and the buckle and slot locking buckle pressing and unlocking mechanism; S04: Calculated force error and position error ; S05: Update adaptive gain, , , , , in, , , , ; is the learning rate of the force control proportional gain, which is used to update the proportional gain; is the learning rate of the force control differential gain, which is used to update the differential gain; is the learning rate of the position control gain, which is used to update the position gain; is the learning rate of the force control differential gain, which is used to update the differential gain; S06: Calculate the applied force according to the control law: ; S07: Output the control signal and check whether the conditions are met. If so, execute the next step; otherwise, return to step S03.

[0037] The present invention also provides a more specific embodiment to illustrate the above steps S1-S7, which specifically includes: Step 1, the robot body 1 runs to the photo taking position, and captures the image of the buckle 5 through the camera 41. The image processing unit processes the image of the buckle 5 taken by the camera 41 and identifies the position of the buckle 5. The control system receives the position information of the buckle 5 provided by the visual recognition system, and then calculates the optimal moving path of the clamping mechanism 2 and the buckle slot locking buckle pressing and unlocking mechanism 3.

[0038] Step 2: The control system sends a command to the robot body 1 to drive the clamping mechanism 2 and the buckle and slot locking buckle pressing and unlocking mechanism 3 to move accurately above the buckle 5.

[0039] Step 3: The control system sends a disassembly signal to the clamping mechanism 2 and the buckle slot locking buckle pressing and unlocking mechanism 3, starts the clamping mechanism 2, drives the clamping claw 21 to approach to clamp the buckle 5 through the clamping driving member, and when the force sensor detects that the clamping force reaches a preset value, the clamping mechanism 2 stops moving and stops clamping the buckle 5. A signal is sent to the control system to start the next step of movement.

[0040] Step 4. After the control system receives the signal that the clamping mechanism 2 has ended its operation, it sends the next instruction to start the buckle slot locking buckle pressing down unlocking mechanism 3. The pressing driving member 32 drives the unlocking head 31 to move downward, so that the unlocking head 31 contacts the buckle 5 and presses the buckle 5 downward to unlock the buckle 5. When it is detected that the pressing mechanism contacts and the locking buckle is out of the locked state, the disassembly tool stops running and sends a signal to the control system to instruct the robot body 1 to proceed to the next movement.

[0041] Step 5: After receiving the signal from the disassembly tool, the robot body 1 drives the clamping mechanism 2 to move in the horizontal direction, pushes the buckle 5 out of the slot, and completes the disassembly of the wire harness buckle 5.

[0042] Step 6: The robot moves to the designated sorting position, opens the clamping end of the clamping mechanism 2, places the disassembled wire harness at the designated sorting position, and completes the wire harness sorting.

[0043] The present invention can accurately identify the position of the buckle 5 to be disassembled through the visual positioning system 4, and transmit the identification signal to the robot body 1. The robot body 1 drives the clamping mechanism 2 and the buckle slot locking buckle pressing and unlocking mechanism 3 to move to the corresponding working position according to the signal. The clamping mechanism 2 can clamp and fix the corresponding buckle 5 to complete the positioning and fixation of the entire device. The buckle slot locking buckle pressing and unlocking mechanism 3 can be unlocked by pressing the buckle 5, so that the clamping mechanism 2 drives the buckle 5 to be pushed out of the slot, thereby realizing precise disassembly operation, and realizing the automatic disassembly of the buckle of the retired power battery wiring harness of new energy vehicles.

[0044] The robot body 1 of the present invention is flexibly designed, and the clamping end position of the clamping mechanism 2 is adjustable, which can adapt to new energy vehicle power battery wiring harness buckles 5 of different models and specifications. The degree of freedom adjustment function of the driving end enables the robot to approach the buckle 5 at a variety of angles and methods, thereby realizing disassembly operations in complex environments, which not only improves the disassembly efficiency, but also reduces the dependence on operators and reduces labor intensity.

[0045] This solution can realize the automated disassembly of the wiring harness buckles of retired power batteries of new energy vehicles, and can realize communication integrated control with the robot system, thereby improving the disassembly efficiency, reducing the disassembly cost, and enhancing the economic benefits of retired power battery recycling. All disassembly work of the wiring harness buckle 5 is completed by the collaboration of the disassembly tool and the robot, thereby avoiding injuries to workers during the disassembly process and significantly improving the safety of the wiring harness buckle disassembly. It has a simple structure, low manufacturing cost and strong versatility.

[0046] The present invention uses a control algorithm to accurately control the disassembly tool to prevent damage to the buckle 5 during the disassembly process.

[0047] In the description of the present application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0048] It should be noted that, in this application, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0049] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A device for disassembling the buckle of the wiring harness of retired power batteries of new energy vehicles, characterized in that: include: A robot body having a drive end capable of adjustable movement in multiple directions; The buckle automatic disassembly tool comprises a clamping mechanism and a buckle slot locking buckle pressing and unlocking mechanism, wherein the clamping mechanism is arranged at the driving end of the robot body and has two clamping ends capable of relative movement to clamp or release the buckle; the buckle slot locking buckle pressing and unlocking mechanism is located between the two clamping ends and is used to press the buckle to unlock the buckle; and, The visual positioning system is used to identify the position of the buckle to be removed and send an identification signal to the robot body, so that the robot body can drive the clamping mechanism and the buckle slot locking buckle pressing and unlocking mechanism to move to the corresponding working position based on the identification signal.

2. The device for removing the buckle of the wiring harness of retired power battery of new energy vehicle according to claim 1 is characterized in that: The two clamping ends of the clamping mechanism respectively include clamping claws, and the clamping mechanism also includes a clamping driving member. The two clamps are symmetrically arranged on both sides of the buckle slot locking buckle pressing down unlocking mechanism, and the clamping driving member is connected to the two clamping claws for driving the two clamping claws to move relative to each other.

3. The device for removing the buckle of the wiring harness of the retired power battery of the new energy vehicle according to claim 2 is characterized in that: A clamping force sensor and a clamping position sensor are installed on the clamping jaw. The force sensor is used to monitor the force applied by the clamping jaw during the disassembly process, and the position sensor is used to monitor the current position of the clamping jaw.

4. The device for removing the buckle of the wiring harness of the retired power battery of the new energy vehicle according to claim 1 is characterized in that: The buckle slot locking buckle push-down unlocking mechanism includes an unlocking head and a push-down driving member. The unlocking head is arranged between the two clamping ends of the clamping mechanism, and a downward pressure sensor and a downward pressure displacement sensor are installed on the outer side of the unlocking head to respectively detect the downward pressure and the downward pressure position. The push-down driving member is connected to the unlocking head to drive the unlocking head to move downward to press the buckle.

5. The device for removing the buckle of the wiring harness of the retired power battery of the new energy vehicle according to claim 4 is characterized in that: The unlocking head is detachably connected to the pressing driving member.

6. The device for removing the buckle of the wiring harness of retired power battery of new energy vehicle according to claim 1 is characterized in that: The visual positioning system includes a camera and an image processing unit, and the device for removing the buckle of the wiring harness of the retired power battery of the new energy vehicle also includes a control system. The camera is arranged on one side of the clamping mechanism, and is used to capture an image of the buckle; The image processing unit is used to process the buckle image taken by the camera to identify the position of the buckle; The control system is connected to the camera, the image processing unit and the robot body to control the robot body to drive the clamping mechanism and the buckle slot locking buckle pressing and unlocking mechanism to move to the corresponding working position according to the position information of the buckle.

7. A method for disassembling the buckle of the wiring harness of a retired power battery of a new energy vehicle, characterized in that: A device for removing a wiring harness buckle of a retired power battery of a new energy vehicle as claimed in any one of claims 1 to 6, wherein the method comprises: S1: The robot moves to the photo taking position and starts the visual positioning system to locate the position of the buckle; S2: The robot body moves to the positioning point; S3: The system sends a disassembly signal to the clamping mechanism, and the clamping mechanism adjusts the position of the clamping end, fixes the battery harness, and sends a signal indicating the end of operation; S4: After receiving the signal that the clamping mechanism has finished operating, the pressing mechanism drives the unlocking head to align with the buckle to perform an unlocking action, and sends an unlocking signal after unlocking; S5: After receiving the unlocking signal from the pressing mechanism, the robot body drives the clamping mechanism to move horizontally, pushes the buckle out of the slot, and completes the removal of the harness buckle.

8. The method for disassembling the wiring harness buckle of retired power battery of new energy vehicle according to claim 7 is characterized in that: In steps S3 and S4, the control of the clamping mechanism uses an adaptive control algorithm of direct force / position control to control the force applied by the disassembly tool to the buckle. The control strategy of the direct force / position control is: , Where τ is the joint torque output by the controller, is the proportional gain of the force, used to adjust the response to force errors; is the differential gain of the force; is the proportional gain of position, used to adjust the response to the error; is the differential gain of position; is the desired force, is the actual applied force measured by the force sensor, is the force error; is the desired position, is the actual position measured by the position sensor, is the position error.

9. The method for disassembling the wiring harness buckle of retired power battery of new energy vehicle according to claim 8 is characterized in that: The control algorithm specifically comprises the following steps: S01: Establish initialization parameters, including the desired force , expected position , control gain , , , , learning rate , , , ; S02: Connect the force sensor and position sensor, and initialize the buckle removal tool; S03: Read sensor data to obtain applied force and the actual positions of the clamping mechanism and the buckle and slot locking buckle pressing and unlocking mechanism; S04: Calculated force error and position error ; S05: Update adaptive gain, ， ， ， ， in, , , , ; is the learning rate of the force control proportional gain, which is used to update the proportional gain; is the learning rate of the force control differential gain, which is used to update the differential gain; is the learning rate of the position control gain, which is used to update the position gain; is the learning rate of the force control differential gain, which is used to update the differential gain; S06: Calculate the applied force according to the control law: ； S07: Output the control signal and check whether the conditions are met. If so, execute the next step; otherwise, return to step S03.

10. The method for disassembling the wiring harness buckle of retired power battery of new energy vehicle according to claim 7, characterized in that: After step S5, the method further includes S6: the robot moves to a designated sorting position, opens a clamping end of a clamping mechanism, places the disassembled wire harness at the designated sorting position, and completes wire harness sorting.

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