Device and method for disassembling junction box from scrapped assembly

Abstract

The invention belongs to the field of photovoltaic module recycling and processing, and particularly discloses a device and method for disassembling a junction box from a scrapped module, and the device comprises a roller conveying mechanism, a four-axis movement mechanism, a disassembling execution mechanism and a control system which are arranged on a working platform. The four-axis movement mechanism achieves high-precision space positioning through X / Y / Z / R axes, an integrated scraper knife and a corrugated pipe suction cup of the execution mechanism are removed, and terminal box shoveling and adsorption transfer can be completed synchronously. The scraper knife adopts the design of a replaceable blade and a 45-degree cutting edge, so that the scraper knife is adaptive to different adhesive hardness; the corrugated pipe sucker is integrated with a pressure sensor, and adsorption force is regulated and controlled in real time. The method comprises the steps of assembly positioning, connecting medium shoveling, adsorption transfer and circulating operation, and the single-time dismantling time is controlled within 10 seconds. Full-automatic operation is achieved, the efficiency is improved by 70% or above compared with manual operation, the positioning precision reaches + / -0.5 mm, 95% or above of mainstream junction box arrangement is compatible, the damage risk of a substrate is remarkably reduced, and the device is suitable for large-scale photovoltaic module recycling.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic component recycling and processing, and in particular to a device and method for removing junction boxes of scrapped components. Background Art

[0002] In the recycling process of used photovoltaic modules, the removal of junction boxes is a critical step in achieving efficient resource recovery. Junction boxes are typically a crucial component of the module, secured to the module surface with adhesives or clips. Their removal directly impacts subsequent recycling. However, existing techniques for removing junction boxes rely primarily on manual scraping or the assistance of simple mechanical tools. While this method can accomplish the removal task to a certain extent, it presents numerous challenges.

[0003] The existing technology has the following main technical problems in the process of removing the junction box: First, low efficiency. Manual operation depends entirely on the experience and proficiency of the workers. The removal of a single component takes a long time and it is difficult to meet the high efficiency requirements required for large-scale recycling. Secondly, the labor intensity is high. Long-term repetitive work can easily lead to worker fatigue, which not only reduces work efficiency but also increases labor costs. Thirdly, the consistency is poor. The strength and angle of manual operation are difficult to control accurately, which can easily cause damage to the component substrate or residue in the junction box, thereby affecting the recycling quality. Finally, the adaptability is insufficient. The position, size and fixing method of the junction box of different models of components are significantly different. The manual removal method is difficult to switch and adapt quickly, and cannot meet the needs of diverse scenarios. Therefore, the limitations of the existing technology have seriously restricted the efficiency and quality of the recycling and processing of scrapped components. There is an urgent need for an efficient solution that can realize full-process automated operation and adapt to diverse scenarios. Summary of the Invention

[0004] The purpose of the present invention is to provide a device and method for removing junction boxes of scrapped components, which solves the above-mentioned technical problems while improving the efficiency and quality of scrap component recycling.

[0005] To achieve the above-mentioned objectives, in one aspect, the present invention provides a device for removing junction boxes of scrapped components, comprising a roller conveying mechanism, a four-axis motion mechanism, a dismantling actuator and a control system arranged on a work platform; the four-axis motion mechanism comprises an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail and an R-axis rotation joint, which are used to control the spatial positioning of the dismantling actuator; the dismantling actuator is installed at the end of the four-axis motion mechanism, and comprises an actuator cylinder, a cylinder clamp, a scraper and a bellows suction cup, and piston rods are provided on both sides of the actuator cylinder, the piston rods are connected to the cylinder clamp, and the cylinder clamp is opened and closed by the extension and contraction of the piston rods, the scraper is fixed to the end of the cylinder clamp, and the bellows suction cup is arranged at the bottom of the actuator cylinder; the roller conveying mechanism, the four-axis motion mechanism and the dismantling actuator are electrically connected to the control system, and their actions are coordinated by the control system.

[0006] This technical solution integrates a roller conveyor mechanism, a four-axis motion mechanism, a dismantling actuator, and a control system to automate the dismantling of scrapped component junction boxes, significantly improving dismantling efficiency and precision while reducing labor costs and intensity. The spatial positioning capability of the four-axis motion mechanism ensures precise operation of the dismantling actuator, while the linkage design of the actuator cylinder, scraper, and bellows suction cup integrates dismantling and transfer, improving process continuity.

[0007] As an optional feature, the scraper features a removable blade with a 45° cutting edge angle. This replaceable blade design allows for selection of the appropriate material (such as high-speed steel or carbide) based on the hardness of the adhesive, extending tool life. The 45° blade angle optimizes the mechanical properties of adhesive or clip removal, minimizing damage to the component substrate while improving removal efficiency.

[0008] As an optional embodiment, the bellows suction cup is integrated with a pressure sensor for real-time monitoring of suction force. This real-time monitoring prevents damage to the junction box due to detachment or excessive squeezing, ensures suction stability, and provides feedback to the control system for dynamic adjustment of suction parameters, improving operational reliability.

[0009] As an optional embodiment, the roller conveyor mechanism includes multiple sets of parallel rollers with an anti-slip coating on their surfaces and is driven by a conveyor motor. The anti-slip coating prevents components from slipping during conveyance, ensuring positioning accuracy; the motor drive enables precise control of conveying speed and direction, providing a stable foundation for subsequent removal operations.

[0010] As an optional implementation, the roller conveyor mechanism is equipped with a position encoder and a visual camera along its conveying path to detect the position of the component being processed and the coordinates of the target junction box. The position encoder enables high-precision component positioning, while the visual camera assists in identifying the junction box's coordinates and dimensions. Together, these two provide precise data support for the control system, adapting to the diverse needs of different component models.

[0011] As an optional embodiment, the X- and Y-axis guides of the four-axis motion mechanism form a gantry robotic arm. The Z-axis guide slides along the Y-axis, and the R-axis rotary joint is connected to the end of the Z-axis guide. The gantry structure enhances the rigidity and stability of the robotic arm. The Z-axis slides along the Y-axis and the R-axis rotates, allowing for flexible adjustment at multiple angles and improving adaptability to junction boxes in different positions and orientations, with a removal accuracy of ±0.5mm.

[0012] As an optional embodiment, the device also includes a clamping mechanism, comprising a clamping cylinder and a stop plate, for securing the position of the component being processed. The clamping cylinder and stop plate work together to secure the component in place, preventing it from shaking or shifting during removal, ensuring operational stability and safety. This is particularly useful for large or easily slippery components.

[0013] As an optional embodiment, three tightening cylinders are spaced apart along the X-axis. The front ends of their push rods are fixed to a tightening plate with a non-slip texture. This multi-point, synchronized tightening enhances component retention, while the non-slip texture further prevents slippage, making it suitable for rapid positioning of components of varying sizes and enhancing system versatility.

[0014] As an optional embodiment, the work platform is equipped with a waste collection trough for collecting adhesive debris dropped during the demolition process. This centralized collection of adhesive debris and other waste materials maintains a clean work environment, reduces manual cleaning frequency, improves continuous operation efficiency, and prevents waste from interfering with equipment operation.

[0015] In another aspect, the present invention further provides a method for removing a junction box from a scrapped component, using any of the above-mentioned devices for removing a junction box from a scrapped component, the method comprising the following steps:

[0016] Step S1: placing the component to be processed on the roller conveyor mechanism, and obtaining the position of the component to be processed and the coordinates of the target junction box after positioning;

[0017] Step S2: The four-axis motion mechanism starts to move, moves the removal actuator to the top of the junction box, and executes the cylinder-controlled scraper to remove the connecting medium between the junction box and the component baseboard;

[0018] Step S3: The bellows suction cup absorbs the junction box and transfers and recovers it through the four-axis motion mechanism;

[0019] Step S4: The actuator is removed and returned to the initial position, and steps S1 to S3 are repeated to remove the next target junction box.

[0020] The above method achieves efficient operation through an automated process (positioning → removal → adsorption → transfer), and the single dismantling time is controlled within 10 seconds, which is more than 70% higher than the efficiency of manual operation; pressure sensors and visual feedback ensure precise operation and reduce the risk of substrate damage, making it suitable for large-scale recycling scenarios.

[0021] Compared with the prior art, the present invention has at least the following beneficial effects:

[0022] The present invention solves the problems of low efficiency, poor consistency and high labor intensity of manual dismantling, and provides an efficient, accurate and safe automated solution for photovoltaic module recycling, significantly improving resource recovery rate and economy, and is suitable for large-scale industrial applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is an axonometric view of the device for removing the junction box from a scrapped component of the present invention;

[0025] Figure 2 This is a front view of the device for removing the junction box from a scrapped component of the present invention;

[0026] Figure 3 A top view of a device for removing a junction box from a scrapped component according to the present invention;

[0027] Figure 4 This is a right side view of the device for removing the junction box from a scrapped component of the present invention;

[0028] Figure 5 for Figure 1 A partial enlarged view of point A in the middle;

[0029] Figure 6 This is an axonometric diagram of the device of the present invention with the actuator removed;

[0030] Figure 7 This is a front view of the actuator removed from the device of the present invention.

[0031] In the figure: 1. Working platform; 2. Roller conveyor mechanism; 3. Four-axis motion mechanism; 4. Removal actuator; 5. Tightening cylinder; 6. Component to be processed; 7. Target junction box; 401. Actuator cylinder; 402. Cylinder gripper; 403. Shovel blade; 404. Bellows suction cup. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Example 1

[0035] Reference Figures 1 to 7 As shown, embodiment 1 of the present invention provides a device for removing junction boxes from scrapped components, comprising a roller conveyor mechanism 2, a four-axis motion mechanism 3, a dismantling actuator 4, and a control system, all mounted on a work platform 1. The work platform 1 serves as the basic supporting component of the device and is used to mount the roller conveyor mechanism 2. The roller conveyor mechanism 2 places the component to be processed 6, which drives the component to be processed 6 to be transported along a fixed direction (X-axis direction). The roller conveyor mechanism 2 is the starting point of the entire device. After the scrapped component is placed on it, it is driven by the conveying motor to move the component along a preset path to the trigger position of the positioning sensor, preparing for subsequent operations of the four-axis motion mechanism 3 and the dismantling actuator 4. The four-axis motion mechanism 3 is used to achieve precise positioning and motion adjustment of the dismantling actuator 4 in space to adapt to the removal requirements of junction boxes of different positions, sizes, and installation directions. It includes an X-axis (lateral movement), a Y-axis (longitudinal movement), a Z-axis (vertical lifting), and an R-axis (rotational axis). Through the coordinated movement of these four axes, the position and posture of the dismantling actuator 4 can be precisely controlled. Removal actuator 4 directly removes target junction box 7, removing the adhesive or clips between it and the component substrate. It then secures the target junction box 7 with suction after removal, achieving integrated removal and transfer operations. The control system, serving as the "brain" of the entire device, integrates a PLC or industrial computer, receives component positioning signals (such as visual sensor or position encoder feedback), and precisely controls components such as the four-axis motion mechanism 3, the pneumatic gripper 402, and the suction cup, achieving fully automated operation.

[0036] In one embodiment, the roller conveyor mechanism 2 comprises multiple sets of rollers rotating parallel to the work platform 1. These rollers carry the components 6 to be processed and convey them along a fixed direction (the X-axis), providing a stable conveying platform for subsequent removal operations. Each roller is driven by a conveyor motor, and the conveying speed and direction are adjusted by controlling the operation of the conveyor motor. The rollers can be coated with a non-slip coating to prevent slippage during conveyance, ensuring stable and accurate conveying.

[0037] In some optional embodiments, a position encoder and a visual camera (not shown in the figure) are also provided on the conveying path of the roller conveyor mechanism 2. The position encoder is used to detect the position of the component to be processed 6 and trigger subsequent operations. The visual camera is used to capture an image of the component to be processed 6 and assist the control system in identifying the position and size of the target junction box 7.

[0038] In a specific embodiment, the four-axis motion mechanism 3 includes an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail and an R-axis rotary joint, wherein the X-axis guide rail and the Y-axis guide rail form a gantry robot arm, and the Z-axis guide rail slides on the gantry robot arm along the Y-axis direction. The X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail cooperate to support and guide the removal actuator 4 to move linearly along the direction of each guide rail. Each guide rail is driven by a motor. Specifically, each motor converts the power of the motor into linear motion through a lead screw or a synchronous belt. The R-axis serves as a rotating axis, and the removal actuator 4 is driven to rotate around the vertical axis through the cooperation of the rotary motor and the rotary joint. The rotary joint is connected to the end of the Z-axis guide rail, and the removal actuator 4 is connected to the rotary joint. Through the cooperation of the rotary motor and the rotary joint, the removal actuator 4 can be driven to rotate 0-360° around the vertical axis to adjust the angle of the scraper 403 to adapt to different installation directions and installation positions of the target junction box 7.

[0039] In some optional embodiments, the four-axis motion mechanism 3 further includes an angle sensor for detecting a rotation angle to ensure accurate posture adjustment of the removal actuator 4 .

[0040] The four-axis motion mechanism 3 receives commands from the control system and controls the movement of the X and Y axes based on the component images captured by the visual camera or the positioning signals fed back by the position encoder, precisely moving the removal actuator 4 to the top of the target junction box 7. The Z axis controls the vertical elevation of the removal actuator 4, allowing it to adjust to target junction boxes 7 at different heights. The R axis drives the removal actuator 4 to rotate around its vertical axis, adjusting the angle of the scraper 403 to align it with the edge of the target junction box 7 for efficient removal. Throughout this process, the four-axis motion mechanism 3 and the removal actuator 4 work closely together to ensure the accuracy and efficiency of the removal operation.

[0041] In a specific embodiment, Figure 6and Figure 7 As shown, the dismantling actuator 4 is mounted at the end of the four-axis motion mechanism 3 and consists of an actuator cylinder 401, a cylinder gripper 402, a scraper 403, and a bellows suction cup 404. The cylinder gripper 402 is driven by the actuator cylinder 401 to open and close, and is used to secure the scraper 403. The scraper 403 has a blade angle designed based on the characteristics of common junction box adhesives. Through the positioning and motion control of the four-axis motion mechanism 3, the scraper 403 can accurately contact and remove the connecting medium between the target junction box 7 and the component substrate. The bellows suction cup 404 is located at the bottom of the cylinder and aligned with the scraper 403. When the scraper 403 completes the removal, the suction cup simultaneously activates vacuum suction to secure the target junction box 7. The target junction box 7 is then transferred to the recycling bin through the movement of the four-axis motion mechanism 3. The various components of the dismantling actuator 4 work together, closely cooperating with the four-axis motion mechanism 3 and the control system to complete the removal and transfer of the target junction box 7.

[0042] As a further optimization, the scraper 403 adopts a replaceable blade structure, and is configured with blades of different materials according to the hardness of different adhesives. For example, high-speed steel or carbide blades can be used for silicone or epoxy resin adhesives.

[0043] As a further optimization solution, the blade angle of the scraper 403 is designed according to the characteristics of common junction box adhesives, for example, it can be designed to be a 45° angle to facilitate the removal of the adhesive or clips between the target junction box 7 and the component substrate.

[0044] As a further optimization solution, the bellows suction cup 404 is integrated with a pressure sensor for real-time monitoring of the adsorption force to prevent the target junction box 7 from falling off or being over-extruded.

[0045] In one specific embodiment, the control system receives component positioning signals from a visual camera and position encoder, parses the coordinates (X, Y, Z) of the target junction box 7, and generates a removal path based on these coordinates. It then controls the motion trajectory of the four-axis motion mechanism 3, the timing of the cylinder gripper 402's movements, and the start and stop of the suction cup according to pre-set procedures and logic. For example, after the component moves to the trigger position of the positioning sensor, the control system calculates the position and angle of the target junction box 7 based on the image captured by the visual camera and instructs the four-axis motion mechanism 3 to move the removal actuator 4 to the appropriate position and posture. During the removal process, the control system adjusts the thrust of the cylinder gripper 402 based on the feedback from the pressure sensor to ensure that the scraper 403 can successfully remove the target junction box 7. After removal is complete, the control system controls the suction cup to activate suction and transfer the target junction box 7 to the recycling bin via the four-axis motion mechanism 3. Through precise instructions and coordination, the control system ensures that each component completes the removal and transfer of the junction box efficiently and accurately according to the predetermined process and sequence.

[0046] The roller conveyor mechanism 2, the four-axis motion mechanism 3, the removal actuator 4, and the control system work together to form an efficient, automated device for removing junction boxes from scrapped components. The roller conveyor mechanism 2 provides a basic platform for component transport; the four-axis motion mechanism 3 enables precise positioning and motion adjustment of the removal actuator 4; the removal actuator 4 directly removes and secures the target junction box 7 by suction; and the control system precisely controls and coordinates the entire device, ensuring the automation and efficiency of the removal process.

[0047] A further optimized solution also includes a pushing mechanism, which includes a plurality of pushing cylinders 5 provided on a table on one side of the work platform 1, and a limit plate located on the opposite side of the pushing cylinder 5. The front end of the push rod of the pushing cylinder 5 is fixedly connected to the pushing plate, and the component is pushed to a suitable position through the telescopic action of the pushing cylinder 5, thereby ensuring the stability of the component during transportation and removal. In this embodiment, three pushing cylinders 5 are arranged at intervals along the X-axis direction, and the three pushing cylinders 5 operate synchronously, pushing the component to be processed 6 from one side to a suitable position, so that the component to be processed 6 is positioned in the Y-axis direction. The pushing plate is designed to be a planar structure that matches the long side of the scrapped component, and an anti-slip texture can be provided on the surface to prevent the component from sliding during the pushing process. The pushing cylinder 5 is connected to an air source, powered by the air source, and controlled by a control system to ensure the timeliness and accuracy of the pushing action. Specifically, when the component to be processed 6 moves to a predetermined position, a trigger sensor (such as a photoelectric sensor or a proximity switch) detects the presence of the component and sends a signal to the control system. After receiving the signal, the control system introduces compressed air into the rodless chamber of the pushing cylinder 5 through the control valve, driving the cylinder piston to extend. The piston rod of the pushing cylinder 5 pushes the pushing plate toward the component. The pushing plate moves in a predetermined direction under the guidance of the guide rail. After the pushing plate contacts the long side of the component, it continues to apply thrust to push the component to the set position, ensuring that the component remains stable during transportation and removal operations. When the pushing plate reaches the predetermined position, the limit switch is triggered, and the control system stops supplying air to the cylinder to prevent the pushing plate from moving excessively. Through the pushing action, it is ensured that the component will not shake or shift during transportation and removal, thereby improving the stability and safety of the operation. The pushing mechanism can adjust the pushing force and position according to the size of the component and has good adaptability.

[0048] To further optimize the solution, the device may also be equipped with a waste collection trough. Specifically, the waste collection trough is provided on both sides of the roller to collect adhesive debris dropped during the demolition process.

[0049] Example 2

[0050] Embodiment 2 of the present invention provides a method for removing a junction box from a scrapped component, using the device for removing a junction box from a scrapped component described in embodiment 1. The method includes the following steps:

[0051] Step S1: Component loading and positioning

[0052] The component to be processed 6 is placed on the roller conveyor mechanism 2, and the conveying motor is started. The component to be processed 6 moves forward with the operation of the roller conveyor mechanism 2. When the component to be processed 6 moves to the trigger position of the positioning sensor, the pushing mechanism is triggered to operate to position it; then the visual camera and the position encoder work together to obtain the position and angle of the component to be processed 6 and the target junction box 7. The control system parses the coordinate information of the target junction box 7 based on the position and angle information.

[0053] Step S2: Dismantle the junction box

[0054] The control system instructs the four-axis motion mechanism 3 to move the removal actuator 4 to the appropriate position and adjust it to the appropriate posture; specifically, the four-axis motion mechanism 3 rotates the R-axis rotation joint according to the coordinate movement to a certain angle, so that the scraper 403 is parallel to the edge of the target junction box 7, and the Z-axis guide rail action drives the removal actuator 4 to descend so that the scraper 403 contacts the component surface; the cylinder gripper 402 pushes the scraper 403 to move horizontally along the edge of the junction box, and the execution cylinder 401 controls the scraper 403 to remove the connecting medium (adhesive or clip) between the junction box and the component substrate.

[0055] In a specific embodiment, a pressure sensor is used to monitor and feedback the pressure value of the scraper 403 during scraping in real time. For example, the operating pressure value of the scraper 403 can be adjusted between 50-80N according to the adhesive strength until the target junction box 7 is separated from the component substrate.

[0056] Step S3: Synchronous absorption and transfer

[0057] When the scraper 403 completes the removal, the solenoid valve opens, and the vacuum generator evacuates the bellows suction cup 404, causing it to adhere to the target junction box 7;

[0058] The four-axis motion mechanism 3 controls the dismantling actuator 4 to lift along the Z axis and move to the top of the recycling box via the X axis and Y axis. The Z axis drops 50mm, and the bellows suction cup 404 releases the vacuum to unload.

[0059] In a specific embodiment, the operation time of step S2 and step S3 is controlled within 10 seconds, that is, the speed of removing a single target junction box 7 is within 10 seconds.

[0060] Step S4: Loop operation

[0061] The removal actuator 4 returns to the initial position, and steps S1 to S3 are repeated to remove the next target junction box 7, or the next component 6 to be processed is delivered to the position, and the above process is repeated.

[0062] The device and method of the present invention specifically disclose the following beneficial effects:

[0063] The present invention achieves significant efficiency improvement and cost reduction through mechanical automation operations. The time for dismantling a single-component junction box is shortened by more than 70% compared to traditional manual operations, which can fully meet the high requirements of large-scale recycling production capacity. During the operation, the dismantling and transfer links are carried out simultaneously. The linkage design of the scraper and the bellows suction cup effectively reduces the idle travel time and greatly improves the continuity of the process. Its four-axis linkage and rotation mechanism supports multi-angle dismantling, and with the precise positioning system, it is compatible with more than 95% of the mainstream junction box arrangements without manual adjustment, showing strong adaptability. At the same time, the positioning accuracy of the robotic arm is as high as ±0.5mm, which can effectively avoid damage to the substrate, and the adsorption of the bellows suction cup is stable and reliable, further reducing the breakage rate of the junction box. In addition, this technology reduces manual participation, reduces labor intensity and labor costs, and has significant economic benefits in long-term operation.

[0064] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, 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 invention.

[0065] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A device for removing junction boxes from scrapped components, characterized in that: The invention comprises a roller conveying mechanism (2), a four-axis motion mechanism (3), a dismantling actuator (4) and a control system arranged on a working platform (1); the four-axis motion mechanism (3) comprises an X-axis guide rail, a Y-axis guide rail, a Z-axis guide rail and an R-axis rotary joint, which are used to control the spatial positioning of the dismantling actuator (4); the dismantling actuator (4) is installed at the end of the four-axis motion mechanism (3), and comprises an actuator cylinder (401), a cylinder gripper (402), a scraper (403) and a bellows suction cup (404). ), both sides of the execution cylinder (401) have piston rods, the piston rods are connected to the cylinder gripper (402), and the cylinder gripper (402) is opened and closed by the extension and contraction of the piston rods, the scraper (403) is fixed to the end of the cylinder gripper (402), and the bellows suction cup (404) is provided at the bottom of the execution cylinder (401); the roller conveying mechanism (2), the four-axis motion mechanism (3) and the dismantling actuator (4) are electrically connected to the control system, and their actions are coordinated by the control system.

2. The device for removing junction boxes from scrapped components according to claim 1, characterized in that: The scraper (403) is provided with a detachable blade, the blade having an edge angle of 45°.

3. The device for removing junction boxes from scrapped components according to claim 1, characterized in that: The bellows suction cup (404) is integrated with a pressure sensor for real-time monitoring of the adsorption force.

4. The device for removing junction boxes from scrapped components according to claim 1, characterized in that: The roller conveying mechanism (2) comprises a plurality of rollers arranged in parallel, the surfaces of the rollers are provided with anti-slip coatings and are driven by conveying motors.

5. The device for removing junction boxes from scrapped components according to claim 1, characterized in that: A position encoder and a visual camera are provided on the conveying path of the roller conveying mechanism (2) for detecting the position of the component to be processed (6) and the coordinates of the target junction box (7).

6. The device for removing junction boxes from scrapped components according to claim 1, characterized in that: The X-axis guide rail and the Y-axis guide rail of the four-axis motion mechanism (3) form a gantry robot arm, the Z-axis guide rail slides along the Y-axis direction, and the R-axis rotation joint is connected to the end of the Z-axis guide rail.

7. The device for removing junction boxes from scrapped components according to claim 1, characterized in that: It also includes a pushing mechanism, which includes a pushing cylinder (5) and a limiting plate, and is used to fix the position of the component to be processed (6).

8. The device for removing junction boxes from scrapped components according to claim 7, characterized in that: Three pushing cylinders (5) are arranged at intervals along the X-axis direction. The front ends of the push rods of the pushing cylinders (5) are fixedly connected to a pushing plate, and the surface of the pushing plate is provided with anti-skid textures.

9. The device for removing junction boxes from scrapped components according to claim 1, characterized in that: The working platform (1) is provided with a waste collection trough for collecting adhesive debris dropped during the dismantling process.

10. A method for removing a junction box from a scrapped component, using the device for removing a junction box from a scrapped component according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1: placing the component to be processed (6) on the roller conveyor mechanism (2), and obtaining the position of the component to be processed (6) and the coordinates of the target junction box (7) after positioning; Step S2: The four-axis motion mechanism (3) starts to move, moves the removal actuator (4) to the top of the junction box, and the actuator cylinder (401) controls the scraper (403) to remove the connecting medium between the junction box and the component substrate; Step S3: The bellows suction cup (404) absorbs the junction box and transfers and recovers it through the four-axis motion mechanism (3); Step S4: Remove the actuator (4) and return it to the initial position, and repeat steps S1 to S3 to remove the next target junction box (7).

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