Automatic transformer bolt disassembling device and method

Abstract

The invention belongs to the field of transformer recovery, and provides an automatic transformer bolt disassembling device and method in order to solve the problem that existing bolt disassembling efficiency is low. The automatic transformer bolt disassembling device comprises a visual identification part, a control part and a disassembling part, the visual identification part is used for determining the transformer category corresponding to the surface image of the current transformer according to the known relationship between the set surface image of the transformer and the transformer category; the position and the shape of any complete bolt in the surface image of the transformer of the current type are identified, the model of the transformer of the current type is determined through matching, and all bolt positions are obtained and transmitted to the control part; the control part is used for converting all bolt positions into disassembling instructions and transmitting the disassembling instructions to the disassembling part; and the disassembling part is used for executing the received disassembling instruction until all the bolts are disassembled. The bolt disassembling tool can be automatically and rapidly replaced under the condition that the position and the specification of the bolt are accurately recognized, and the bolt disassembling efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of transformer recycling, and in particular relates to a transformer bolt automatic disassembly device and method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In the field of transformer recycling, it is generally necessary to dismantle the bolts on the transformer to classify and recycle its internal parts. At present, it is usually necessary to manually dismantle it with a handheld air cannon, which leads to low dismantling efficiency and poor safety. In order to solve the problem of manual dismantling, although the existing automatic bolt dismantling device can realize the automatic dismantling of transformer bolts, it still has the following difficulties: (1) Due to long-term exposure to the natural environment, the surface of the transformer is affected by surface corrosion or dust accumulation, resulting in inaccurate bolt positioning or identification, which leads to incomplete dismantling of the bolts on the surface of the transformer or mismatch of the dismantling bolt tools. (2) The bolt specifications of different transformers are different, and the steps for replacing the dismantling bolt tools are cumbersome, which reduces the efficiency of bolt dismantling. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a transformer bolt automatic disassembly device and method, which can automatically and quickly replace the bolt disassembly tool while accurately identifying the bolt position and specification, thereby improving the bolt disassembly efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: A first aspect of the present invention provides an automatic disassembly device for transformer bolts.

[0006] A transformer bolt automatic disassembly device, comprising: a visual recognition unit, a control unit and a disassembly unit; The visual recognition unit is used to: According to the known relationship between the set surface image of the transformer and the transformer category, the transformer category corresponding to the surface image of the current transformer is determined; any complete bolt position and shape in the surface image of the transformer of the current category is identified, and the model of the transformer of the current category is determined by matching, and then all bolt positions are obtained and transmitted to the control unit; The control unit is used to: convert all bolt positions into disassembly instructions and transmit them to the disassembly unit; The disassembly unit is used to execute the received disassembly instruction until all the bolts are disassembled.

[0007] As an implementation mode, the disassembling unit includes a lifting mechanism, a rotating mechanism, a bolt tooling replacement mechanism and a nut locking mechanism; The lifting mechanism is connected to the rotating mechanism, the lifting mechanism is installed on a fixed seat, and the bolt fixture replacement mechanism is fixed to the fixed seat through a first connecting member; the nut locking mechanism is connected to the bolt fixture replacement mechanism; The bolt tooling replacement mechanism is used to match the corresponding sleeve according to the position and shape of the bolt; the lifting mechanism is used to control the rotation mechanism to descend and connect with the matching sleeve; the nut locking mechanism is used to lock the nut; the rotation mechanism is used to drive the sleeve in contact with the bolt to rotate after the nut locking mechanism locks the nut, so as to disassemble the bolt.

[0008] As an implementation mode, the lifting mechanism includes a first driving module, a guide rail, a slider and a lifting seat; The first driving module is fixed on the lifting seat, the lifting seat is connected to the slider, the slider is arranged on the guide rail, and the first driving module drives the lifting seat and the slider to move up and down along the guide rail under the action of the control unit.

[0009] As an implementation mode, the rotating mechanism includes a second driving module, a coupling and a connecting shaft; one end of the coupling is connected to the output end of the second driving module, and the other end is connected to the connecting shaft.

[0010] As an implementation mode, the bolt tool replacement mechanism includes a tool mounting seat, a third driving module, a slide rail and slider assembly, a sleeve library rack, a compression spring and at least two sleeves of different specifications; The compression spring is sleeved on the outside of the sleeve; the sleeve is arranged on the sleeve rack and can move up and down along the sleeve rack; the slide rail slider assembly is installed on the tooling mounting seat; the sleeve rack is connected to the slide rail slider assembly; the third drive module is connected to the sleeve rack, and the third drive module is used to drive the sleeve rack to move along the slide rail in the slide rail slider assembly to match and select the corresponding sleeve.

[0011] As an implementation mode, the nut locking mechanism includes a fourth driving module, a fifth driving module, a second connecting member, a clamp, a connecting block and a clamp connecting seat; The fourth driving module and the fifth driving module are respectively fixed at the upper and lower ends of the second connecting member; the output shaft of the fourth driving module is fixedly connected to the bolt tooling replacement mechanism; the fourth driving module is used for roughly adjusting the position of the fixture; The clamp is installed on the clamp connecting seat, and the clamp is connected to the output shaft of the fifth driving module through a connecting block. The fifth driving module is used to finely adjust the position of the clamp to accurately position the locking nut.

[0012] As an implementation mode, a nut support plate is also connected to the clamp connecting seat.

[0013] As an implementation mode, in the visual recognition unit, based on any complete bolt position and shape in the identified surface image of the transformer of the current category, a model of a transformer matching the current category is searched from a transformer surface image database; wherein the transformer category, model and transformer surface image in the transformer surface image database are stored in association with each other.

[0014] A second aspect of the present invention provides a method for automatically disassembling transformer bolts.

[0015] A method for automatically disassembling transformer bolts, which uses the automatic disassembling device for transformer bolts as described above; The transformer bolt automatic disassembly method comprises: The visual recognition unit determines the transformer category corresponding to the current transformer surface image based on the known relationship between the set transformer surface image and the transformer category; identifies any complete bolt position and shape in the transformer surface image of the current category, matches and determines the model of the current category transformer, and then obtains all bolt positions and transmits them to the control unit; The control unit converts all bolt positions into disassembly instructions and transmits them to the disassembly unit; The disassembly unit executes the received disassembly instruction until all the bolts are disassembled.

[0016] As an implementation mode, the process of the disassembly unit executing the received disassembly instruction includes: The bolt tool replacement mechanism matches the corresponding sleeve according to the bolt position and shape; The lifting mechanism controls the rotating mechanism to descend and connect with the matching sleeve, while the nut locking mechanism locks the nut; After the nut locking mechanism locks the nut, the rotating mechanism drives the sleeve in contact with the bolt to rotate to disassemble the bolt.

[0017] The beneficial effects of the present invention are: (1) The present invention innovatively proposes a visual progressive bolt recognition technology, which determines the transformer type, model and bolt position one by one based on the known relationship between the set surface image of the transformer and the transformer type, as well as any complete bolt position and shape in the transformer surface image, thereby avoiding interference from the transformer surface background, improving the accuracy of bolt positioning and recognition, and thus improving the efficiency of bolt disassembly.

[0018] (2) The present invention innovatively proposes an automatic transformer bolt disassembly device, which uses a visual recognition unit to automatically identify the positions of all bolts, and converts all bolt positions into disassembly instructions through a control unit and transmits them to the disassembly unit for automatic disassembly. In addition, the present invention uses the coordination of the four mechanisms of a lifting mechanism, a rotating mechanism, a bolt tooling replacement mechanism, and a nut locking mechanism to achieve the effect of automatically and quickly replacing bolt disassembly tools while accurately identifying the positions and specifications of the bolts, thereby improving the efficiency of bolt disassembly.

[0019] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0021] Figure 1 This is a schematic diagram of the structure of the automatic transformer bolt disassembly device according to an embodiment of the present invention; Figure 2 is a three-dimensional diagram of a disassembled portion of an embodiment of the present invention; Figure 3 is a front view of a disassembled portion of an embodiment of the present invention; Figure 4 is a side view of a disassembled portion of an embodiment of the present invention; Figure 5 is a three-dimensional diagram of a lifting mechanism according to an embodiment of the present invention; Figure 6 is a front view of a lifting mechanism according to an embodiment of the present invention; Figure 7 is a side view of a lifting mechanism according to an embodiment of the present invention; Figure 8 is a schematic diagram of a rotating mechanism according to an embodiment of the present invention; Fig. 9 is a front view of a bolt tool replacement mechanism according to an embodiment of the present invention; Fig.10 is a schematic diagram of a tooling mounting seat according to an embodiment of the present invention; Fig.11 This is a schematic diagram of the sleeve rack and sleeve assembly of an embodiment of the present invention; Fig.12 is a front view of a nut locking mechanism according to an embodiment of the present invention; Fig.13 is a side view of a nut locking mechanism according to an embodiment of the present invention; Fig.14 yes Fig.13 BB plane view; Fig.15 yes Fig.13 BB stereoscopic view.

[0022] Among them, 1. lifting mechanism; 2. rotating mechanism; 3. bolt tooling replacement mechanism; 4. nut locking mechanism; 11. first drive module; 12. fixed seat; 13. guide rail; 14. lifting seat; 15. first connecting piece; 21. second drive module; 22. coupling; 23. connecting shaft; 31. third drive module; 32. tooling mounting seat; 33. slide rail slider assembly; 34. sleeve rack; 35. compression spring; 36. first sleeve; 37. second sleeve; 38. third sleeve; 41. fourth drive module; 42. second connecting piece; 43. fifth drive module; 44. fixture; 45. connecting block; 46. fixture connecting seat; 47. nut support plate. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0027] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0028] according to Figure 1As shown, a transformer bolt automatic disassembly device is provided, which includes: a visual recognition unit, a control unit and a disassembly unit.

[0029] Specifically, the visual recognition unit is used to: According to the known relationship between the set surface image of the transformer and the transformer category, the transformer category corresponding to the surface image of the current transformer is determined; any complete bolt position and shape in the surface image of the transformer of the current category is identified, and the model of the transformer of the current category is determined by matching, and then all bolt positions are obtained and transmitted to the control unit.

[0030] In some optional embodiments, in the visual recognition unit, based on any complete bolt position and shape in the identified surface image of the transformer of the current category, a model of a transformer matching the current category is searched from a transformer surface image database; wherein the transformer category, model and transformer surface image in the transformer surface image database are stored in association with each other.

[0031] Among them, for transformers of the same category, the bolt positions of the transformers are different due to their different models.

[0032] Here, the known relationship between the set surface image of the transformer and the transformer category can be formed into training samples through the set surface image of the transformer and the pre-labeled transformer category, and the known relationship between the set surface image of the transformer and the transformer category can be determined by training a deep learning model.

[0033] This embodiment determines the transformer type, model and bolt position one by one according to the known relationship between the set surface image of the transformer and the transformer type and any complete bolt position and shape in the transformer surface image, thereby avoiding background interference on the transformer surface, improving the accuracy of bolt positioning and identification, and further improving the efficiency of bolt disassembly.

[0034] The control unit is used to: convert all bolt positions into disassembly instructions and transmit them to the disassembly unit; The disassembly unit is used to execute the received disassembly instruction until all the bolts are disassembled.

[0035] according to Figure 2 , Figure 3 and Figure 4 As shown, the disassembly part includes a lifting mechanism 1, a rotating mechanism 2, a bolt tooling replacement mechanism 3 and a nut locking mechanism 4; the lifting mechanism 1 is connected to the rotating mechanism 2, the lifting mechanism 1 is installed on a fixed seat 12, and the bolt tooling replacement mechanism 3 is fixed to the fixed seat 12 through a first connecting member 15; the nut locking mechanism 4 is connected to the bolt tooling replacement mechanism 3; The bolt tooling replacement mechanism 3 is used to match the corresponding sleeve according to the position and shape of the bolt; the lifting mechanism 1 is used to control the rotation mechanism 2 to descend and connect with the matching sleeve; the nut locking mechanism 4 is used to lock the nut; the rotation mechanism 2 is used to drive the sleeve in contact with the bolt to rotate after the nut locking mechanism 4 locks the nut, so as to disassemble the bolt.

[0036] The first connecting member here may be a connecting plate or other components, which will not be described in detail here.

[0037] The lifting mechanism, rotating mechanism, bolt tooling replacement mechanism and nut locking mechanism of this embodiment are all controlled by the control unit, receive corresponding instructions and execute matching actions.

[0038] like Figure 5 , Figure 6 and Figure 7 As shown, the lifting mechanism 1 includes a first driving module 11, a guide rail 13, a slider and a lifting seat 14; the first driving module 11 is fixed on the lifting seat 14, the lifting seat 14 is connected to the slider, and the slider is set on the guide rail 13. The first driving module 11 drives the lifting seat 14 and the slider to rise and fall along the guide rail 13 under the action of the control unit.

[0039] In this embodiment, the first driving module 11 is a cylinder, which is fixed on a fixing seat 12, and the extension length of the cylinder rod is controlled by a magnetic switch. The cylinder is connected to the lifting seat through a joint.

[0040] It is understandable that in other embodiments, the first driving module may also be implemented by a driving motor, and those skilled in the art may make a specific selection based on actual conditions, which will not be described in detail here.

[0041] like Figure 8 As shown, the rotating mechanism 2 includes a second driving module 21 , a coupling 22 and a connecting shaft 23 ; one end of the coupling 22 is connected to the output end of the second driving module 21 , and the other end is connected to the connecting shaft 23 .

[0042] In this embodiment, the second driving module 21 is implemented by a servo driving motor.

[0043] In other embodiments, those skilled in the art may select other existing driving mechanisms to implement the second driving module according to actual conditions, which will not be described in detail here.

[0044] like Fig. 9 , Fig.10 and Fig.11 As shown, the bolt tool replacement mechanism 3 includes a tool mounting seat 32, a third driving module 31, a slide rail slider assembly 33, a sleeve rack 34, a compression spring 35 and at least two sleeves of different specifications; The compression spring 35 is sleeved on the outside of the sleeve; the sleeve is arranged on the sleeve rack 34 and can move up and down along the sleeve rack 34; the slide rail slider assembly 33 is installed on the tooling mounting seat 32; the sleeve rack 34 is connected to the slide rail slider assembly 33; the third drive module 31 is connected to the sleeve rack 34, and the third drive module 31 is used to drive the sleeve rack 34 to move along the slide rail in the slide rail slider assembly 33 to match and select the corresponding sleeve.

[0045] In some optional embodiments, the third driving module is implemented by a cylinder or other existing linear driving mechanisms, which will not be described in detail here.

[0046] In this embodiment, the number of sleeves is three, namely, a first sleeve 36, a second sleeve 37 and a third sleeve 38. In other embodiments, the number and specifications of the sleeves can be specifically set according to actual conditions.

[0047] like Fig.12 , Fig.13 , Fig.14 and Fig.15 As shown, the nut locking mechanism 4 includes a fourth driving module 41, a fifth driving module 43, a second connecting member 42, a clamp 44, a connecting block 45 and a clamp connecting seat 46; The fourth driving module 41 and the fifth driving module 43 are respectively fixed to the upper and lower ends of the second connecting member 42; the output shaft of the fourth driving module 41 is fixedly connected to the bolt tooling replacement mechanism 3; the fourth driving module 41 is used to roughly adjust the position of the fixture; The clamp 44 is mounted on a clamp connection seat 46 . The clamp 44 is connected to the output shaft of the fifth driving module 43 via a connection block 45 . The fifth driving module 43 is used to finely adjust the position of the clamp 44 to accurately position the locking nut.

[0048] The clamp connection seat 46 is also connected to a nut support plate 47 .

[0049] In this embodiment, the fourth driving module 41 and the fifth driving module 43 are respectively a telescopic air cylinder and a telescopic electric cylinder.

[0050] In other optional embodiments, the fourth driving module 41 and the fifth driving module 43 may be implemented by other existing linear driving mechanisms, which will not be described in detail here.

[0051] In this embodiment, the second connecting member 42 is a U-shaped connecting plate, which can conveniently support the fourth driving module and the fifth driving module.

[0052] In this embodiment, the connection block 45 matches the shape of the clamp 44 .

[0053] For example, in this embodiment, one end of the clamp 44 close to the connecting block 45 is sloped, and the matching connecting block 45 is a wedge-shaped block.

[0054] In this embodiment, the clamp 44 includes a first clamping plate and a second clamping plate that are arranged opposite to each other. The surfaces of the first clamping plate and the second clamping plate that are opposite to each other are both provided with threads for increasing friction to clamp and fix the nut.

[0055] The automatic disassembly device for transformer bolts as described above is used; the automatic disassembly method for transformer bolts comprises: Step 1: The visual recognition unit determines the transformer category corresponding to the surface image of the current transformer based on the known relationship between the set surface image of the transformer and the transformer category; identifies any complete bolt position and shape in the surface image of the transformer of the current category, matches and determines the model of the transformer of the current category, and then obtains all bolt positions and transmits them to the control unit; Step 2: The control unit converts all bolt positions into disassembly instructions and transmits them to the disassembly unit; Step 3: The disassembly unit executes the received disassembly instruction until all the bolts are disassembled.

[0056] Specifically, the process of the disassembly unit executing the received disassembly instruction in step 3 includes: Step 3.1: The bolt tool replacement mechanism matches the corresponding sleeve according to the bolt position and shape; Step 3.2: The lifting mechanism controls the rotating mechanism to descend and connect with the matching sleeve, while the nut locking mechanism locks the nut; Step 3.3: After the nut locking mechanism locks the nut, the rotating mechanism drives the sleeve in contact with the bolt to rotate to disassemble the bolt.

[0057] This embodiment utilizes the visual recognition unit to automatically identify the positions of all bolts, and converts all bolt positions into disassembly instructions through the control unit and transmits them to the disassembly unit for automatic disassembly. In addition, the coordinated actions of the lifting mechanism, the rotating mechanism, the bolt tooling replacement mechanism and the nut locking mechanism are utilized to achieve the effect of automatically and quickly replacing the bolt disassembly tool while accurately identifying the bolt positions and specifications, thereby improving the bolt disassembly efficiency.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A transformer bolt automatic disassembly device, characterized in that: include: Visual Identification Department, Control Department and Disassembly Department; The visual recognition unit is used to: According to the known relationship between the set surface image of the transformer and the transformer category, the transformer category corresponding to the surface image of the current transformer is determined; any complete bolt position and shape in the surface image of the transformer of the current category is identified, and the model of the transformer of the current category is determined by matching, and then all bolt positions are obtained and transmitted to the control unit; The control unit is used to: convert all bolt positions into disassembly instructions and transmit them to the disassembly unit; The disassembly unit is used to execute the received disassembly instruction until all the bolts are disassembled.

2. The automatic disassembly device for transformer bolts according to claim 1, characterized in that: The disassembly unit includes a lifting mechanism, a rotating mechanism, a bolt tooling replacement mechanism and a nut locking mechanism; The lifting mechanism is connected to the rotating mechanism, the lifting mechanism is installed on a fixed seat, and the bolt fixture replacement mechanism is fixed to the fixed seat through a first connecting member; the nut locking mechanism is connected to the bolt fixture replacement mechanism; The bolt tooling replacement mechanism is used to match the corresponding sleeve according to the position and shape of the bolt; the lifting mechanism is used to control the rotation mechanism to descend and connect with the matching sleeve; the nut locking mechanism is used to lock the nut; the rotation mechanism is used to drive the sleeve in contact with the bolt to rotate after the nut locking mechanism locks the nut, so as to disassemble the bolt.

3. The automatic disassembly device for transformer bolts according to claim 2, characterized in that: The lifting mechanism comprises a first driving module, a guide rail, a slider and a lifting seat; The first driving module is fixed on the lifting seat, the lifting seat is connected to the slider, the slider is arranged on the guide rail, and the first driving module drives the lifting seat and the slider to move up and down along the guide rail under the action of the control unit.

4. The automatic disassembly device for transformer bolts according to claim 2, characterized in that: The rotating mechanism comprises a second driving module, a coupling and a connecting shaft; one end of the coupling is connected to the output end of the second driving module, and the other end is connected to the connecting shaft.

5. The automatic disassembly device for transformer bolts according to claim 2, characterized in that: The bolt tool replacement mechanism includes a tool mounting seat, a third driving module, a slide rail and slider assembly, a sleeve rack, a compression spring and at least two sleeves of different specifications; The compression spring is sleeved on the outside of the sleeve; the sleeve is arranged on the sleeve rack and can move up and down along the sleeve rack; the slide rail slider assembly is installed on the tooling mounting seat; the sleeve rack is connected to the slide rail slider assembly; the third drive module is connected to the sleeve rack, and the third drive module is used to drive the sleeve rack to move along the slide rail in the slide rail slider assembly to match and select the corresponding sleeve.

6. The automatic disassembly device for transformer bolts according to claim 2, characterized in that: The nut locking mechanism includes a fourth driving module, a fifth driving module, a second connecting member, a clamp, a connecting block and a clamp connecting seat; The fourth driving module and the fifth driving module are respectively fixed at the upper and lower ends of the second connecting member; the output shaft of the fourth driving module is fixedly connected to the bolt tooling replacement mechanism; the fourth driving module is used for roughly adjusting the position of the fixture; The clamp is installed on the clamp connecting seat, and the clamp is connected to the output shaft of the fifth driving module through a connecting block. The fifth driving module is used to finely adjust the position of the clamp to accurately position the locking nut.

7. The automatic disassembly device for transformer bolts according to claim 6, characterized in that: The clamp connecting seat is also connected with a nut supporting plate.

8. The automatic disassembly device for transformer bolts according to claim 1, characterized in that: In the visual recognition unit, based on any complete bolt position and shape in the identified transformer surface image of the current category, a model of a transformer matching the current category is searched from a transformer surface image database; wherein the transformer category, model and transformer surface image in the transformer surface image database are stored in association.

9. A method for automatically disassembling transformer bolts, characterized in that: It uses the transformer bolt automatic disassembly device as described in any one of claims 1 to 8; The transformer bolt automatic disassembly method comprises: The visual recognition unit determines the transformer category corresponding to the current transformer surface image based on the known relationship between the set transformer surface image and the transformer category; identifies any complete bolt position and shape in the transformer surface image of the current category, matches and determines the model of the current category transformer, and then obtains all bolt positions and transmits them to the control unit; The control unit converts all bolt positions into disassembly instructions and transmits them to the disassembly unit; The disassembly unit executes the received disassembly instruction until all the bolts are disassembled.

10. The automatic disassembly method of transformer bolts according to claim 9, characterized in that: The process of the disassembly unit executing the received disassembly instruction includes: The bolt tool replacement mechanism matches the corresponding sleeve according to the bolt position and shape; The lifting mechanism controls the rotating mechanism to descend and connect with the matching sleeve, while the nut locking mechanism locks the nut; After the nut locking mechanism locks the nut, the rotating mechanism drives the sleeve in contact with the bolt to rotate to disassemble the bolt.

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