A new energy vehicle retired power battery wire harness buckle dismounting device and method

Abstract

The application discloses a new energy automobile retired power battery wire harness buckle dismounting device and method, the new energy automobile retired power battery wire harness buckle dismounting device includes: robot body, buckle automatic disassembly tool and visual positioning system, the buckle automatic disassembly tool is composed of clamping mechanism, buckle card slot locking buckle down unlocking mechanism, the robot body has the drive end that can adjust movement in multiple directions;The clamping mechanism has two clamping ends that can be relatively moved to clamp or relax the buckle;The buckle card slot locking buckle down unlocking mechanism is located between the two clamping ends, for pressing buckle to unlock buckle;Visual positioning system is used for identifying the buckle to be dismounted and its position;The application can realize the automatic dismounting of wire harness buckle, improve the dismounting efficiency of wire harness buckle, reduce the recovery processing cost of battery system, and protect the safety of workers well.

Description

Technical Field

[0001] This invention relates to the field of retired power battery technology, specifically to a device and method for disassembling the wiring harness clips of retired power batteries for new energy vehicles. Background Technology

[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, as of July 2024, my country's new energy vehicle production reached 5.914 million units, and sales reached 5.934 million units, representing year-on-year increases of 28.8% and 31.1%, respectively. However, as new energy vehicles reach their 5-8 year lifespan, the number of retired vehicle power batteries will increase rapidly, and a "retirement wave" of new energy vehicle power batteries is imminent. A large number of retired batteries urgently need to be recycled or disposed of harmlessly. Retired power batteries contain a large amount of rare metals, as well as many harmful chemicals. With the popularization of new energy vehicles, the recycling of battery packs and the disposal of used batteries have become major social problems that urgently need to be addressed. Disassembling the power battery is the crucial first step in battery recycling, and its efficiency and safety directly affect the effectiveness of battery recycling. Furthermore, improper disassembly operations may cause short circuits leading to fires or explosions, leakage polluting the environment, and even threatening the lives of disassembly personnel, causing serious casualties and property damage.

[0003] In a power battery system, the ends of the wiring harnesses connecting various modules are equipped with wiring harness clips. For example, a power battery pack disclosed in CN217589298U includes: a functional module, a lower housing, and a cover. The functional module includes multiple functional components and multiple wiring harnesses, and the functional components are electrically connected by wiring harnesses. The functional module is housed in the lower housing, and the lower housing has multiple wire grooves in its cavity. Elastic clips are provided in the wire grooves, and the wiring harnesses pass through the wire grooves. The wire grooves limit the wiring harnesses in the radial direction, and the elastic clips press against the periphery of the wiring harnesses to fix them. The cover is connected to the lower housing and covers the functional module. The periphery of the wiring harnesses is equipped with elastic clips to fix the wiring harnesses.

[0004] Disassembly of the wiring harness is a critical step in the battery recycling process, which usually requires removing the harness clips. Currently, 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 poses certain safety risks. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a disassembly device and method for the wire harness clips of retired power batteries in new energy vehicles. This solves the technical problems in the prior art where the disassembly of wire harness clips relies on manual operation, which is inefficient, time-consuming, and poses certain safety risks.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a device and method for disassembling clips of retired power battery harnesses from new energy vehicles, comprising: a robot body, an automated clip disassembly tool, and a vision positioning system. The robot body has a drive end capable of adjusting movement in multiple directions. The automated clip disassembly tool includes a clamping mechanism and a clip slot locking and unlocking mechanism. The clamping mechanism is disposed at the drive end of the robot body and has two clamping ends capable of relative movement to clamp or release the clip. The clip slot locking and unlocking mechanism is located between the two clamping ends and is used to press the clip to unlock it. The vision positioning system is used to identify the position of the clip to be disassembled and send an identification signal to the robot body, so that the robot body can drive the clamping mechanism and the clip slot locking and unlocking mechanism to move to the corresponding working position based on the identification signal.

[0008] In some embodiments, the two clamping ends of the clamping mechanism each include a jaw, and the clamping mechanism further includes a clamping drive member. The two jaws are symmetrically arranged on both sides of the buckle slot locking and unlocking mechanism. The clamping drive member is connected to the two jaws and is used to drive the two jaws to move relative to each other.

[0009] In some embodiments, the gripper is equipped with a gripping force sensor and a gripping position sensor. The force sensor is used to monitor the force applied by the gripper during disassembly, and the position sensor is used to monitor the current position of the gripper.

[0010] In some embodiments, the buckle slot locking and unlocking mechanism includes an unlocking head and a pressing drive. The unlocking head is disposed between the two clamping ends of the clamping mechanism, and a pressure sensor and a pressure displacement sensor are installed on its outer side to detect the pressure and the position of the pressure, respectively. The pressing drive is connected to the unlocking head to drive the unlocking head to move downward to press the buckle.

[0011] In some embodiments, the unlocking head is detachably connected to the pressing drive.

[0012] In some embodiments, the visual positioning system includes a camera and an image processing unit, and the disassembly device for the retired power battery harness clip of a new energy vehicle further includes a control system. The camera is disposed on one side of the clamping mechanism and is used to capture images of the clip. The image processing unit is used to process the clip images captured by the camera to identify the position of the clip. The control system connects the camera, the image processing unit, and the robot body to control the robot body to drive the clamping mechanism and the clip slot locking and unlocking mechanism to move to the corresponding working position according to the position information of the clip.

[0013] Secondly, the present invention also provides a method for disassembling the clips of retired power battery harnesses for new energy vehicles, including the disassembly device for the clips of retired power battery harnesses for new energy vehicles as described in any one of the above claims, the method comprising:

[0014] S1: The robot moves to the camera position and activates the visual positioning system to locate the buckle.

[0015] S2: The robot body moves to the positioning point;

[0016] S3: The system sends a disassembly signal to the clamping mechanism, which adjusts the position of the clamping end to fix the battery harness and sends a signal indicating the end of operation.

[0017] S4: After receiving the signal that the clamping mechanism has finished operating, the pressing mechanism drives the unlocking head to align with the buckle, performs the unlocking action, and sends an unlocking signal after unlocking;

[0018] S5: After receiving the unlocking signal from the pressing mechanism, the robot body drives the clamping mechanism to move horizontally, pushing the buckle out of the slot and completing the disassembly of the wire harness buckle.

[0019] In some embodiments, after step S5, step S6 is further included: the robot moves to the designated sorting position and opens the clamping end of the clamping mechanism to place the disassembled wire harness at the designated sorting position, thus completing the wire harness sorting.

[0020] Compared with existing technologies, the disassembly device and method for retired power battery harness clips of new energy vehicles provided by this invention can accurately identify the position of the clip to be disassembled through a visual positioning system and transmit the identification signal to the robot body. The robot body drives the clamping mechanism and the clip slot locking buckle pressing and unlocking mechanism to move to the corresponding working position based on this signal. The clamping mechanism can clamp and fix the corresponding clip, completing the positioning and fixing of the entire device. The clip slot locking buckle pressing and unlocking mechanism can unlock by pressing the clip, so that the clamping mechanism can push the clip out of the slot, thereby achieving precise disassembly and enabling automated disassembly of retired power battery harness clips of new energy vehicles. This device can achieve integrated communication and control with the robot system, thereby improving disassembly efficiency, reducing disassembly costs, and enhancing the economic benefits of retired power battery recycling. All disassembly work of the harness clips is completed by the disassembly tools and the robot in cooperation, thereby avoiding injury to workers during the disassembly process and significantly improving the safety of harness clip disassembly. Its structure is simple, its manufacturing cost is low, and its versatility is strong.

[0021] The robot body of this invention has a flexible design and the clamping end position of the clamping mechanism is adjustable, which can adapt to the buckles of power battery harnesses of new energy vehicles of different models and specifications. The degree of freedom adjustment function of the drive end enables the robot to approach the buckles at multiple angles and in various ways, thereby realizing disassembly operations in complex environments. This not only improves disassembly efficiency, but also reduces dependence on operators and reduces labor intensity. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the disassembly device for the wire harness clip of a retired power battery in a new energy vehicle provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the clamping mechanism and the buckle slot locking buckle pressing and unlocking mechanism of the disassembly device for the retired power battery harness buckle of new energy vehicles provided in this embodiment of the invention;

[0024] Figure 3 This is a schematic diagram of the structure of the disassembly device for the wire harness clip of a retired power battery in a new energy vehicle during positioning, provided in an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the structure of the disassembly device for the wire harness clip of a retired power battery in a new energy vehicle provided in an embodiment of the present invention during clamping;

[0026] Figure 5 This is a schematic diagram of the structure of the disassembly device for the retired power battery harness clip of a new energy vehicle when it is pressed down, according to an embodiment of the present invention;

[0027] Figure 6This is a schematic diagram of the structure of the disassembly device for the retired power battery harness clip of a new energy vehicle when it is pushed outward, according to an embodiment of the present invention.

[0028] Figure 7 This is a flowchart of a method for disassembling the wiring harness clip of a retired power battery for new energy vehicles, provided in an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1. Robot body; 11. Ethernet interface; 12. I / O terminal; 2. Gripping mechanism; 21. Gripper; 3. Snap-on slot locking and unlocking mechanism; 31. Unlocking head; 32. Press-down drive component; 4. Vision positioning system; 41. Camera; 5. Snap-on. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0032] To address the technical problems of inefficient, time-consuming, and potentially dangerous manual disassembly of wiring harness clips, this invention provides a device and method for disassembling wiring harness clips from retired power batteries of new energy vehicles. This method enables automated disassembly of the wiring harness clips, improves disassembly efficiency, reduces the cost of battery system recycling, and effectively protects worker safety.

[0033] Please see Figures 1 to 6 In a first aspect, embodiments of the present invention provide a disassembly device for the clips of retired power battery harnesses of new energy vehicles, comprising: a robot body 1, an automated clip disassembly tool, and a vision positioning system 4. The robot body 1 has a drive end capable of adjustable movement in multiple directions; the automated clip disassembly tool includes a clamping mechanism 2 and a clip slot locking and unlocking mechanism 3. The clamping mechanism 2 is disposed at the drive end of the robot body 1 and has two clamping ends capable of relative movement to clamp or release the clips 5; the clip slot locking and unlocking mechanism 3 is located between the two clamping ends and is used to press the clips 5 to unlock them; the vision positioning system 4 is used to identify the position of the clips 5 to be disassembled and send an identification signal to the robot body 1, so that the robot body 1 can drive the clamping mechanism 2 and the clip slot locking and unlocking mechanism 3 to move to the corresponding working position based on the identification signal.

[0034] In this device, the clamping mechanism 2 and the buckle slot locking and unlocking mechanism 3 are both located on the drive end of the robot body 1. The drive end can be adjusted and moved in multiple directions to achieve multi-degree-of-freedom adjustment. Through the vision 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 slot locking and unlocking mechanism 3 to move to the corresponding working position according to this signal. When the clamping mechanism 2 and the buckle slot locking and unlocking mechanism 3 are in the working position, they can perform clamping and unlocking operations. The disassembly tool composed of the clamping mechanism 2 and the buckle slot locking and unlocking mechanism 3 is used to perform the clamping and unlocking operations of the buckle 5. The clamping mechanism 2 can clamp and fix the corresponding buckle 5, and at the same time complete the positioning and fixing of the entire device. The buckle slot locking and unlocking mechanism 3 then presses the buckle 5 to unlock it. After unlocking, the clamping mechanism 2 can drive the buckle 5 out of the slot, thereby realizing the automated disassembly operation of the buckle.

[0035] To achieve precise disassembly, in this embodiment, the visual positioning system 4 typically includes a visual recognition system and sensors, capable of accurately locating the retired power battery harness clips 5. The visual recognition system uses image processing technology to identify the specific position and state of the clips 5, while the sensors are used to detect the tightness of the clips 5, ensuring the safety of the disassembly process.

[0036] In one embodiment, the visual recognition system of the visual positioning system 4 includes a camera 41 and an image processing unit. 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 for capturing images of the buckle 5. The image processing unit is used to process the images of the buckle 5 captured by the camera 41 to identify the position of the buckle 5.

[0037] In addition, the disassembly device for the power battery harness clips of retired new energy vehicles also includes a control system. The control system is integrated into the robot and is connected to the camera 41, the image processing unit, and the robot body 1. Based on the position information of the clips 5, the control system controls the robot body 1 to drive the clamping mechanism 2 and the clip slot locking and unlocking mechanism 3 to move to the corresponding working position. The control system can also dynamically adjust the actions of the clamping mechanism 2 and the clip slot locking and unlocking mechanism 3 by processing the data provided by the image processing unit in real time, thereby achieving clamping and unlocking of the clips 5. Specifically, the control system is a Microchip PIC32MX795F512L microcontroller and is equipped with an Ethernet interface 11 and I / O terminals 12, enabling Ethernet and I / O communication with third-party devices for data transmission and interaction. The clamping mechanism 2 and the clip slot locking and unlocking mechanism 3 can have their operating parameters set through their own debugging software, achieving position and force control. At the same time, they can simulate the operating posture of their own mechanisms and display the applied force in real time.

[0038] In actual operation, the control system first receives the position information of the buckle 5 provided by the vision recognition system, then calculates the optimal movement path of the clamping mechanism 2 and the buckle slot locking and unlocking mechanism 3. Next, the control system sends a command 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 and unlocking mechanism 3 moves to the unlocking position according to the control command and presses down on 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 transport the buckle 5 to the designated position, thereby realizing the automated disassembly of the wire harness buckle 5 and improving the disassembly efficiency of the buckle 5.

[0039] To ensure the stability and safety of the disassembly process, the control system is also equipped with an emergency stop mechanism. Once an abnormality is detected, such as clip 5 not being properly clamped or excessive unlocking force, the control system will immediately stop the robot's movement and issue an alarm to prompt the operator to check and handle the situation.

[0040] In one embodiment, the sensors are force sensors and position sensors, which are respectively disposed on the clamping mechanism 2 and the latching slot locking buckle pressing and unlocking mechanism 3, specifically installed on the gripper 21 and the unlocking head 31. For ease of distinction, the sensors installed on the gripper 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 clamping position sensor can provide real-time feedback of clamping force information and clamping mechanism position information, and the downward pressure sensor and downward pressure position sensor can provide real-time feedback of downward pressure information and latching slot locking buckle pressing and unlocking mechanism position information, helping the control system to more accurately control the clamping force and movement accuracy, and realize displacement and force control of the clamping mechanism and latching slot locking buckle pressing and unlocking mechanism.

[0041] In this embodiment, the clamping mechanism 2 and the latching slot locking and unlocking mechanism 3 are fixed together on the robot's flange. The clamping mechanism 2 has two clamping ends, each including a gripper 21. The clamping mechanism 2 also includes a clamping drive component, which is symmetrically mounted on both sides of the latching slot locking and unlocking mechanism 3. The two grippers 21 are fixedly connected to the drive ends of the clamping drive component, enabling the drive component to control the relative movement of the grippers 21. A force sensor and a position sensor are securely mounted on the grippers 21. The force sensor monitors the force applied to the grippers 21 during disassembly, while the position sensor monitors the current position of the grippers 21.

[0042] It should be noted that the specific form of the clamping drive component in this solution is not limited. The clamping drive component can be a cylinder or an electric push rod, etc. The cylinder can drive the gripper 21 to open and close by compressed air, while the push rod can achieve the pushing action by driving the screw or gear by a motor, thus realizing the opening and closing of the gripper 21.

[0043] In this embodiment, the buckle slot locking buckle pressing unlocking mechanism 3 includes an unlocking head 31 and a pressing drive member 32. The unlocking head 31 is disposed between the two clamping ends of the clamping mechanism 2. The inner sides of the two grippers 21 are designed to bend outward to form a space to accommodate the buckle slot locking buckle pressing unlocking mechanism 3. The grippers 21 have a folding design so as to clamp the buckle 5 on both sides of the unlocking head 31. The pressing drive 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 it.

[0044] 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 pin-shaped structure and is 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 extend and retract in the vertical direction to prevent the rigid structure from breaking the fastener, thus preventing the buckle 5 from being unable to be removed. This design allows the unlocking head 31 to be easily separated 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 accommodate different types of buckles 5, further enhancing the versatility of the device.

[0045] It should be noted that in this solution, the pressing drive component 32 can be pneumatically or electrically driven. The pneumatic drive uses compressed air as a power source, controlling the extension and retraction of the cylinder to drive the pressing action of the unlocking head 31, featuring fast response and simple control. The electric drive, on the other hand, is driven by a motor, offering high control precision and enabling more complex motion control.

[0046] Please see Figures 1 to 7 Secondly, embodiments of the present invention also provide a method for disassembling the clips of a retired power battery harness from a new energy vehicle, including the disassembly device for the clips of a retired power battery harness from a new energy vehicle as described in any of the above embodiments, the method comprising:

[0047] S1: The robot body 1 moves to the photo-taking position and activates the visual positioning system 4 to locate the position of the buckle 5.

[0048] S2: Robot body 1 moves to the positioning point;

[0049] S3: The system sends a disassembly signal to the clamping mechanism 2, the clamping mechanism 2 adjusts the position of the clamping end to fix the battery harness, and sends a signal to end the operation;

[0050] S4: After receiving the signal that the clamping mechanism 2 has finished running, the pressing mechanism drives the unlocking head 31 to align with the buckle 5 to perform the unlocking action, and sends an unlocking signal after unlocking;

[0051] S5: After receiving the unlocking signal from the pressing mechanism, the robot body 1 drives the clamping mechanism 2 to move horizontally, pushing the buckle 5 out of the slot and completing the disassembly of the wire harness buckle 5.

[0052] In this embodiment, after step S5, step S6 is also included: the robot runs to the designated sorting position and opens the clamping end of the clamping mechanism 2, placing the disassembled wire harness at the designated sorting position to complete the wire harness sorting, which can improve the degree of automation and work efficiency.

[0053] Furthermore, in some embodiments, during the execution of steps S3 and S4, the clamping mechanism is controlled using an adaptive control algorithm of direct force / position control to control the force applied by the disassembly tool to the latch. The control strategy of the direct force / position control is as follows: ,

[0054] Where F(t) is the controller output force, It is the proportional gain of force, used to adjust the response to force errors; It is the differential gain of force, used to improve the stability and response speed of the system; It is the proportional gain of the position, used to adjust the response to errors; It is the differential gain of position, used to improve the stability and response speed of the system; It is the force that is expected to be applied. It is the actual applied force measured by a force sensor. It is force error; It is the desired location. It is the actual position measured by a position sensor. It is a positional error.

[0055] The control algorithm specifically includes the following steps:

[0056] S01: Establish initialization parameters, including the desired applied force. Expected position Control gain , , , Learning rate , , , ;

[0057] S02: Connect the force sensor and position sensor, and initialize the buckle removal tool;

[0058] S03: Read sensor data to obtain the applied force. And the actual positions of the clamping mechanism and the latching and locking mechanism;

[0059] S04: Calculation error and position error ;

[0060] S05: Update adaptive gain

[0061] ,

[0062] ,

[0063] ,

[0064] ,

[0065] in, , , , ; It is the learning rate for force-controlled proportional gain, used to update the proportional gain; It is the learning rate that controls the differential gain and is used to update the differential gain; It is the learning rate of the position control gain, used to update the position gain; It is the learning rate that controls the differential gain and is used to update the differential gain;

[0066] S06: Calculate the applied force based on the control law:

[0067] ;

[0068] S07: Output control signal, check if the condition is met. If it is met, proceed to the next step; otherwise, return to step S03.

[0069] The present invention also provides a more specific embodiment to illustrate the above steps S1-S7, which specifically include:

[0070] Step 1: The robot body 1 moves to the photo-taking position and captures an image of the buckle 5 through the camera 41. The image processing unit processes the image of the buckle 5 captured by the camera 41 and identifies the position of the buckle 5. The control system receives the buckle 5 position information provided by the vision recognition system and then calculates the optimal movement path of the clamping mechanism 2 and the buckle slot locking and unlocking mechanism 3.

[0071] Step 2: The control system sends a command to the robot body 1, driving the clamping mechanism 2 and the buckle slot locking and unlocking mechanism 3 to move precisely above the buckle 5.

[0072] Step 3: The control system sends a disassembly signal to the clamping mechanism 2 and the buckle slot locking and unlocking mechanism 3, activating the clamping mechanism 2. The clamping drive component drives the gripper 21 to approach and clamp the buckle 5. When the force sensor detects that the clamping force has reached a preset value, the clamping mechanism 2 stops moving, stopping the clamping of the buckle 5. It then sends a signal to the control system to begin the next step of the movement.

[0073] Step 4: After receiving the signal that the clamping mechanism 2 has finished operating, the control system sends the next instruction to start the buckle slot locking buckle pressing and unlocking mechanism 3. The pressing drive 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, thereby unlocking the buckle 5. When the pressing mechanism is detected to contact and the locking buckle is disengaged from the locking 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.

[0074] Step 5: After receiving the signal from the disassembly tool, the robot body 1 drives the clamping mechanism 2 to move horizontally, pushing the buckle 5 out of the slot and completing the disassembly of the wire harness buckle 5.

[0075] Step 6: The robot moves to the designated sorting position and opens the clamping end of the clamping mechanism 2, placing the disassembled wire harnesses into the designated sorting position to complete the wire harness sorting.

[0076] This 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, completing the positioning and fixing of the entire device. The buckle slot locking buckle pressing and unlocking mechanism 3 can unlock by pressing the buckle 5, so that the clamping mechanism 2 can drive the buckle 5 out of the slot, thereby realizing the precise disassembly operation and realizing the automated disassembly of the buckle of the retired power battery harness of new energy vehicles.

[0077] The robot body 1 of this invention is flexibly designed, and the clamping end position of the clamping mechanism 2 is adjustable, which can adapt to the buckles 5 of power battery harnesses of new energy vehicles of different models and specifications. The degree of freedom adjustment function of the drive end enables the robot to approach the buckle 5 at multiple angles and in multiple ways, thereby realizing disassembly operations in complex environments. This not only improves disassembly efficiency, but also reduces dependence on operators and reduces labor intensity.

[0078] This solution enables the automated disassembly of wiring harness clips from retired power batteries in new energy vehicles. It can communicate and integrate with a robot system for control, thereby improving disassembly efficiency, reducing disassembly costs, and enhancing the economic benefits of recycling retired power batteries. All disassembly work on the wiring harness clip 5 is completed collaboratively by the disassembly tools and the robot, thus avoiding worker injuries during the disassembly process and significantly improving the safety of wiring harness clip disassembly. Its structure is simple, its manufacturing cost is low, and its versatility is strong.

[0079] This invention employs a control algorithm to precisely control the disassembly tool, thereby preventing damage to the clip 5 during the disassembly process.

[0080] In the description of this application, it should be noted that the terms "upper" and "lower," etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0081] It should be noted that, in this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0082] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for disassembling a new energy vehicle retired power battery wire harness buckle, characterized in that, The application discloses a dismounting device for a new energy vehicle retired power battery harness buckle. The robot body has a driving end capable of adjusting movement in multiple directions; The buckle automatic disassembly tool comprises a clamping mechanism and a buckle slot lock fastener pressing unlocking mechanism, the clamping mechanism is arranged on 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 lock fastener pressing unlocking mechanism is located between the two clamping ends and is used for pressing the buckle to unlock the buckle, and the visual positioning system is used for identifying the position of the buckle to be dismounted and sending an identification signal to the robot body, so that the robot body drives the clamping mechanism and the buckle slot lock fastener pressing unlocking mechanism to move to the corresponding working position based on the identification signal. The dismounting method for the new energy vehicle retired power battery harness buckle comprises the following steps: S1: the robot body runs to a photographing position, and the visual positioning system is started to position the buckle; S2: the robot body runs to a positioning point; S3: the system sends a dismounting signal to the clamping mechanism, the clamping mechanism adjusts the position of the clamping end, fixes the battery harness, and sends a running end signal; S4: after receiving the running end signal of the clamping mechanism, the pressing mechanism drives the unlocking head to be aligned with the buckle, performs an unlocking action, and sends an unlocking signal after unlocking; S5: after receiving the unlocking signal of the pressing mechanism, the robot body drives the clamping mechanism to move horizontally, pushes the buckle out of the slot, and completes the dismounting of the harness buckle; The control algorithm specifically comprises the following steps: In steps S3 and S4, the control of the clamping mechanism adopts an adaptive control algorithm of direct force / position control to control the force of the dismounting tool on the buckle, and the control strategy of the direct force / position control is: , where F(t) is the controller output force, Kp is a proportional gain for force to adjust the response to force error; Kd is a derivative gain for force; Kpp is a proportional gain for position to adjust the response to error; Kdp is a derivative gain for position; Fdes is the desired applied force, Fmes is the actual applied force measured by a force sensor, Ferr is the force error; Xdes is the desired position, Xmes is the actual position measured by a position sensor, Xerr is the position error; S02: connect the force sensor and the position sensor, and initialize the buckle dismounting tool; S01 : Establish initialization parameters, including force expected to be applied , desired position , control gain , , , , learning rate , , , ; S05: update the adaptive gain, S03: read sensor data, get applied force and the actual position of the clamping mechanism and the buckle slot locking buckle down pressure unlocking mechanism; S04: Calculate force error and position error ; S06: calculate the applied force according to the control law: ， ， ， ， wherein, , , , ; is a learning rate of a force control proportional gain for updating the proportional gain; is a learning rate of a force control derivative gain for updating the derivative gain; is a learning rate of a position control gain for updating the position gain; is a learning rate of a force control derivative gain for updating the derivative gain; S07: output the control signal, check whether the condition is met, execute the next step if the condition is met, or return to step S03. ； The two clamping ends of the clamping mechanism respectively comprise clamping jaws, the clamping mechanism further comprises a clamping driving member, the two clamping jaws are symmetrically arranged on the two sides of the buckle slot lock fastener pressing unlocking mechanism, and the clamping driving member is connected with the two clamping jaws and used for driving the two clamping jaws to move relative to each other.

2. The method of claim 1, wherein, The clamping jaw is provided with a clamping force sensor and a clamping position sensor, the force sensor is used for monitoring the force applied by the clamping jaw during dismounting, and the position sensor is used for monitoring the current position of the clamping jaw.

3. The method of claim 2, wherein, The buckle slot lock fastener pressing unlocking mechanism comprises an unlocking head and a pressing driving member, the unlocking head is arranged between the two clamping ends of the clamping mechanism, an outside of the unlocking head is provided with a pressing force sensor and a pressing displacement sensor for respectively detecting the pressing force and the pressing position, and the pressing driving member is connected with the unlocking head and used for driving the unlocking head to move downward to press the buckle.

4. The method of claim 1, wherein, The unlocking head and the pressing driving member are detachably connected.

5. The method of claim 4, wherein, The visual positioning system comprises a camera and an image processing unit, and the dismounting method for the new energy vehicle retired power battery harness buckle further comprises a control system, 6. The method of claim 1, wherein, The camera is arranged on one side of the clamping mechanism and is used for capturing an image of the buckle; ​ The image processing unit is configured to process the buckle image captured 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, and is configured to control the robot body to drive the clamping mechanism and the buckle slot unlocking mechanism to move to the corresponding working position according to the position information of the buckle.

7. The method of claim 1, wherein, After step S5, S6 is further included: the robot runs to the specified sorting position, opens the clamping end of the clamping mechanism, and places the disassembled wire harness to the specified sorting position, thereby completing the wire harness sorting.

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