End effector and method for disassembling waste power battery pack

Abstract

The invention relates to the technical field of industrial robot end executors, in particular to an end executor and method for disassembling a waste power battery pack, and the end executor comprises a mounting base, and a screw unscrewing mechanism, a hot shearing mechanism and a visual identification module which are integrated on the mounting base, the screw unscrewing mechanism is composed of a screw magnetic suction sleeve, an unscrewing module and a telescopic module and can achieve disassembly, assembly, thermal gel breaking and automatic recovery of screws, the thermal shearing mechanism arranged on one side of the mounting base is used for fusing cables and rubber, interference can be avoided through the turnover mechanism, and the screw unscrewing mechanism can be used for unscrewing the cables and the rubber. Through multifunctional integration and intelligent perception, the problems of low efficiency, high safety risk, poor adaptability and the like in the battery disassembling process are solved, most of disassembling operations can be automatically completed, and the disassembling safety, efficiency and reliability are improved.

Description

Technical Field

[0001] This invention relates to the field of end effector technology for industrial robots, and in particular to an end effector and method for dismantling waste power battery packs. Background Technology

[0002] In the dismantling of used power battery packs, screw tightening is one of the key functions of a robotic arm. However, existing end effectors still have defects and shortcomings: First, most end effectors have a single function, only able to tighten or loosen screws, and cannot perform cutting, clamping or other auxiliary operations in the same system. They are difficult to adapt to complex work processes, such as in the process of dismantling lithium-ion energy storage batteries, where cables need to be cut before screw tightening, or where destructive force is needed to cut rubber before screw tightening. Second, existing end effectors can usually only be used with one or a few types of bits and screws. In actual dismantling scenarios, the type, specifications and orientation of screws may be different. For different screws, the entire end effector needs to be replaced, resulting in poor compatibility and versatility.

[0003] Therefore, there is an urgent need for an efficient, safe, and intelligent end effector that can integrate multiple functions such as visual positioning, intelligent force control, thermal assisted dismantling, shearing and screw recycling, and can adapt to the unstructured dismantling environment of waste power battery packs. Summary of the Invention

[0004] The purpose of this invention is to provide an end effector and method for dismantling waste power battery packs, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides an end effector for dismantling waste power battery packs, including a mounting base, a screw loosening mechanism, a thermal shearing mechanism, and a vision recognition module. The screw loosening mechanism is located at the center of the mounting base, and the thermal shearing mechanism and the vision recognition module are respectively located on both sides of the mounting base.

[0006] Preferably, the mounting base consists of a first substrate, a second substrate, a third substrate, and a support rod that fixes the three substrates together.

[0007] Preferably, the screw loosening mechanism includes a screw magnetic sleeve, a loosening module, and a telescopic module. The screw magnetic sleeve is provided with several cylindrical heating rods. One end of the loosening module is fixedly connected to the screw magnetic sleeve, and the other end is connected to a force sensor and connected to the telescopic module.

[0008] Preferably, the telescopic module includes a motor, a screw sleeve, and a screw. The screw sleeve and the motor are respectively fixed on both sides of the base plate. The screw is disposed inside the screw sleeve and rotatably connected to the screw sleeve. One end of the screw is connected to the output shaft of the motor, and the other end is connected to the force sensor.

[0009] The loosening module includes a second motor, a first motor sleeve, and a first sleeve fixing plate. The first motor sleeve is disposed outside the second motor and is fixedly connected to the first sleeve fixing plate with bolts. One end of the second motor is fixedly connected to a force sensor, and the other end is connected to the screw magnetic sleeve through the first sleeve fixing plate.

[0010] Preferably, the hot shearing mechanism includes a guide rail base plate, a hot shearing module, a flipping and lifting mechanism, and a cover plate. The cover plate is connected to the guide rail base plate via a fixing column. The hot shearing module is mounted on the guide rail base plate. One end of the guide rail base plate is hinged to the base plate, and the other end is connected to the flipping and lifting mechanism via a connecting rod.

[0011] Preferably, the hot shearing module includes a motor three, a connecting seat, and hot shears. The hot shears include a hot blade one and a hot blade two. One end of the hot blade one and the hot blade two are arranged crosswise. The motor three is fixed on the guide rail base plate, and its output shaft is connected to the screw two through a coupling. One end of the connecting seat is connected to the screw two through a movable seat one, and the other end of the connecting seat is connected to the hot blade one and the hot blade two through screws.

[0012] Preferably, both the hot knife one and the hot knife two are provided with a cylindrical heating rod one and an insulating connector. The hot knife one is also provided with a limiting screw one, and the hot knife two is also provided with a limiting screw two. The upper surface of the guide rail base is provided with a sliding groove one, a sliding groove two and a sliding groove three. The connecting seat moves within the first slide groove, and the first limiting screw and the second limiting screw move within the second slide groove and the third slide groove, respectively.

[0013] Preferably, the tilting and lifting mechanism includes a motor four, a screw three, a guide rod and a movable seat two, the motor four is disposed on one side of the base plate three, and a motor sleeve two is disposed outside the motor four; The screw three and the guide rod are disposed on the other side of the base plate three. The movable seat two is disposed on the screw three and moves along the guide rod. The movable seat two is hinged to the connecting rod.

[0014] Preferably, the visual recognition module is fixed to the bottom of the substrate.

[0015] A method for dismantling an end effector used in the dismantling of waste power battery packs includes the following steps: S1. After receiving the disassembly command from the upper control system, the vision recognition module is activated to scan the work area, identify and locate the target screw, cable or sealant, and guide the robotic arm to move the end effector to the position of the first target screw, so that the main shaft of the screw loosening mechanism is roughly aligned with the screw axis. S2. The screw loosening mechanism starts working. The telescopic module is activated, pushing the loosening module to extend axially. When the screw magnetic sleeve is put into the target screw head, the cylindrical heating rod 2 is energized to locally heat the screw and its surrounding sealing rubber. After heating is completed, the motor 2 starts and performs the loosening operation under the real-time monitoring of the force sensor. The screw is then attracted and recycled by the screw magnetic sleeve. Afterward, the telescopic module retracts, the thermal shearing mechanism rises, the thermal shears open and close, and the screw is clamped by the thermal shears, taken away from the threaded hole and transported to the top of the designated recycling container. The thermal shears open and release the screw. S3. If it is necessary to cut cables, cable ties, or sealing strips, the hot shearing mechanism is activated, and the tilting and lifting mechanism drives the hot shearing module to tilt to the working position; the cylindrical heating rods in hot blade one and hot blade two are energized to heat the cutting edge to the set temperature; the robotic arm moves the hot shears to the target to be cut according to the positioning data of the vision system; motor four is activated to drive the hot shears to close, melting or cutting the target object; after the operation is completed, the hot shearing module tilts and retracts to avoid interfering with subsequent operations; S4. Based on the vision recognition module, the robotic arm is moved to the next target position, and steps S1-S3 are repeated until all target screws are disassembled and all materials to be cut are processed. The vision system verifies the results between each step to ensure the integrity and safety of the operation.

[0016] Therefore, the present invention provides an end effector and method for dismantling waste power battery packs, which has the following beneficial effects: This invention integrates a screw loosening mechanism, a thermal shearing mechanism, and a visual recognition module into a single end effector, enabling the disassembly and processing of various connection methods such as screws, cables, and sealants in battery modules.

[0017] To address the challenges of disassembling materials commonly found in battery modules, such as sealants and thread-locking agents, this invention integrates a cylindrical heating rod into the screw magnetic sleeve and hot knife. This localized heating softens the screws, reducing the difficulty of disassembly, avoiding the risk of damage from mechanical force, and enhancing the actuator's adaptability to complex operating conditions. The thermal shearing module can melt and cut cables and rubber strips, preventing accidental damage from mechanical pulling and solving a key obstacle in automated disassembly.

[0018] By integrating a force sensor and a vision recognition module, the end effector has dual sensing capabilities of "visual positioning" and "force feedback". The vision recognition module enables target recognition and precise positioning, while the force control system ensures that the screw disassembly and assembly process is under precise torque control, effectively preventing stripping, breakage or component damage, and improving disassembly quality and operational safety. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of an end effector for dismantling waste power battery packs according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of an end effector for dismantling waste power battery packs from another perspective in an embodiment of the present invention; Figure 3 This is a top view of an end effector for dismantling waste power battery packs according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the hot shears in the working state in an embodiment of the present invention; Figure 5 This is an exploded view of the screw loosening module structure in an embodiment of the present invention; Figure 6 This is a schematic diagram of the thermal shearing module in an embodiment of the present invention; Figure Labels 1. Mounting base; 11. Base plate one; 12. Base plate two; 13. Base plate three; 14. Support rod; 2. Screw loosening mechanism; 21. Screw magnetic sleeve; 211. Cylindrical heating rod two; 22. Loosening module; 221. Motor two; 222. Motor sleeve one; 223. Sleeve fixing plate one; 23. Telescopic module; 231. Motor one; 232. Screw sleeve; 233. Screw one; 24. Force sensor; 3. Thermal shearing mechanism; 31. Guide rail base plate; 311. Slide groove one; 312. Slide groove two; 313. Slide groove three; 32 1. Hot shearing module; 321. Motor 3; 322. Connecting seat; 323. Hot shears; 3231. Hot knife 1; 3232. Cylindrical heating rod 1; 3233. Insulating connector; 3234. Limit screw 1; 3235. Limit screw 2; 3236. Hot knife 2; 324. Screw 2; 325. Moving seat 1; 33. Tilting and lifting mechanism; 331. Motor 4; 332. Screw 3; 333. Guide rod; 334. Moving seat 2; 335. Motor sleeve 2; 34. Cover plate; 35. Connecting rod; 4. Vision recognition module. Detailed Implementation

[0020] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limiting this invention.

[0021] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0023] Example like Figure 1-6 As shown, the present invention provides an end effector for dismantling waste power battery packs. The end effector is integrated into the end of a robotic arm and includes a mounting base 1, a screw loosening mechanism 2, a thermal shearing mechanism 3, and a vision recognition module 4. The screw loosening mechanism 2 is located at the center of the mounting base 1, and the thermal shearing mechanism 3 and the vision recognition module 4 are respectively located on both sides of the mounting base 1.

[0024] Mounting base 1 is the basic framework of the entire end effector. In this embodiment, mounting base 1 consists of base plate 11, base plate 2 12, base plate 3 13, and support rod 14 that fixes the three together. The vision recognition module 4 is fixed to the bottom of base plate 11. In this embodiment, the vision recognition module 4 adopts an industrial-grade image-stabilized, wide-angle binocular stereo camera. This camera provides depth vision information and can perform real-time 3D reconstruction and image capture of the working area. Through integrated vision algorithms, such as deep learning-based target detection algorithms (such as YOLO and Faster R-CNN), it can accurately identify and locate the screw type, position, and angle to be operated, as well as identify the cables and rubber strips to be cut, and perform result verification after operation, providing the robotic arm with the function of "eyes" and realizing true intelligent and adaptive operation.

[0025] The screw loosening mechanism 2, arranged along the actuator's main shaft, is the core module for screw disassembly and retrieval. It includes a screw magnetic sleeve 21, a loosening module 22, and a telescopic module 23. One end of the loosening module 22 is fixedly connected to the screw magnetic sleeve 21, and the other end is connected to a force sensor 24 and then to the telescopic module 23. The primary function of the screw magnetic sleeve 21 is to disassemble screws, and secondarily, to capture them. The magnetic function ensures that the disassembled screws are retrieved, preventing them from falling into the battery and causing serious safety hazards such as short circuits. Furthermore, the screw magnetic sleeve 21 features a detachable design, allowing for quick replacement of the entire sleeve depending on the screw type, such as M6, M8, or M10, to increase adaptability to different types of screw disassembly scenarios.

[0026] In this embodiment, the screw magnetic sleeve 21 is also equipped with two cylindrical heating rods 211. These cylindrical heating rods need to be connected to a high-power 24VDC or 220VAC industrial power supply to provide heat. The on / off state of this power supply is controlled by a relay, which receives commands from the controller. Secondly, it needs to be connected to a closed-loop temperature control system. Temperature sensors, such as thermocouples or resistance temperature detectors (PT100), are integrated inside or adjacent to the cylindrical heating rods to monitor the temperature in real time and feed the signal back to the temperature controller. The temperature controller compares the measured temperature with the set value and dynamically adjusts the duty cycle of the relay switch using a PID algorithm, thereby achieving precise constant temperature control and ensuring stable debonding or shearing effects. The temperature controller itself receives the target temperature and operating commands sent by the main control system through a communication interface (e.g., RS485, Modbus, or analog interface). Finally, to ensure safety, the entire heating circuit also integrates hardware protection facilities. Typically, a thermal fuse or temperature switch is connected in series to physically cut off the power supply in case of accidental overheating of the system, providing crucial safety redundancy for precision actuators and the entire system. The added cylindrical heating rod can be used for threadlocking agents such as Loctite, whose strength decreases significantly at certain temperatures (typically 80°C-260°C). The heating rod provides localized, targeted heating to the screw head area, efficiently and safely softening or breaking down the adhesive. This reduces subsequent loosening torque, preventing damage to parts caused by forceful tightening. This thermal debonding treatment heats the screw, softening the surrounding sealant, rubber gasket, or threadlocking agent, greatly reducing disassembly difficulty and the risk of screw stripping or breakage.

[0027] The telescopic module 23 includes a motor 231, a screw sleeve 232, and a screw 233. The screw sleeve 232 and the motor 231 are respectively fixed on both sides of the base plate 12. The screw 233 is disposed inside the screw sleeve 232 and is rotatably connected to the screw sleeve 232. One end of the screw 233 is connected to the output shaft of the motor 231, and the other end is connected to the force sensor 24. The screw 233 is driven to rotate by the motor 231, which in turn causes the screw sleeve 232 to move along the screw 233, thereby realizing the axial advance and retreat of the tightening module. The telescopic module 23 provides axial feed, which can adapt to the changes in the depth of the screw hole and press the screw head with a constant contact force. This ensures that the screw magnetic sleeve 21 is in contact before applying force to rotate. The retraction movement during axial movement, combined with the magnetic attraction function of the screw magnetic sleeve 21, can promptly remove the loosened screw. The screw is brought to a fixed position so that the side hot shears 323 can clamp it, preventing it from falling into the battery and causing serious safety hazards such as short circuits.

[0028] The loosening module 22 includes a second motor 221, a first motor sleeve 222, and a first sleeve fixing plate 223. The first motor sleeve 222 is located outside the second motor 221 and is fixedly connected to the first sleeve fixing plate 223 by bolts. One end of the second motor 221 is fixedly connected to the force sensor 24, and the other end is fixedly connected to the first sleeve fixing plate 223. The first sleeve fixing plate 223 is connected to the screw magnetic sleeve 21 by threads, so that the entire screw magnetic sleeve 21 can be replaced to increase the adaptability to different types of screw disassembly occasions.

[0029] The hot shearing mechanism 3 includes a guide rail base plate 31, a hot shearing module 32, a tilting and lifting mechanism 33, and a cover plate 34. The cover plate 34 is connected to the guide rail base plate 31 via a fixing post. The hot shearing module 32 is mounted on the guide rail base plate 31. One end of the guide rail base plate 31 is hinged to the base plate 11, and the other end is connected to the tilting and lifting mechanism 33 via a connecting rod 35. The hot shearing module 32 includes a motor 321, a connecting seat 322, and hot shears 323. The hot shears 323 includes a hot blade 3231 and a hot blade 3236. One end of the hot blade 3231 and the hot blade 3236 are arranged crosswise. The motor 321 is fixed on the guide rail base plate 31, and its output shaft is connected to the screw 324 via a coupling. One end of the connecting seat 322 is connected to the screw 324 via a moving seat 325, and the other end of the connecting seat 322 is connected to the hot blade 3231 and the hot blade 3236 via screws. Both the first hot blade 3231 and the second hot blade 3236 are equipped with a cylindrical heating rod 3232 and an insulating connector 3233. The first hot blade 3231 is also equipped with a limiting screw 3234, and the second hot blade 3236 is equipped with a limiting screw 3235. The upper surface of the guide rail base plate 31 is provided with a sliding groove 311, a sliding groove 312, and a sliding groove 313. The connecting seat 322 moves within the sliding groove 311, while the limiting screws 3234 and 3235 move within the sliding grooves 312 and 313, respectively. The motor 321 drives the screw 324 to rotate, and the connecting seat 322 moves along the sliding groove 311 on the screw 324, thereby driving the hot shears 323 to open and close. In this embodiment, both the first hot blade 3231 and the second hot blade 3236 are fixed to the guide rail base plate 31 with screws, facilitating disassembly and replacement if any components are damaged.

[0030] The tilting and lifting mechanism 33 allows the thermal shearing mechanism 3 to be retracted when not in operation, greatly reducing the overall envelopment space of the actuator and preventing collisions when moving within the narrow battery compartment. The tilting and lifting mechanism 33 includes a motor 331, a screw 332, a guide rod 333, and a movable seat 334. The motor 331 is located on one side of the base plate 333, and a motor sleeve 335 is located outside the motor 331. The screw 332 and the guide rod 333 are located on the other side of the base plate 333. The movable seat 334 is mounted on the screw 332 and moves along the guide rod 333. The movable seat 334 is hinged to the connecting rod 35. The motor 331 drives the screw 332, thereby causing the movable seat 334 to move on the screw 332. The connecting rod 35 drives the guide rail base plate 31 for angle adjustment.

[0031] In this embodiment, the thermal shearing mechanism 3 has two functions. First, similar to conventional scissors, it melts and cuts target objects, such as cables, cable ties, or suspended adhesive strips, between the blades through the closing action of the thermal scissors 323. Second, it uses the opened thermal blades as two independent, heated, pointed cutting tools. The robotic arm can control the blades to contact the target surface at a certain angle and pressure, and performs fine operations such as cutting, slicing, prying, and peeling by moving the robotic arm.

[0032] This invention discloses a method for dismantling an end effector used in the dismantling of used power battery packs, comprising the following steps: S1. After receiving the disassembly command from the upper control system, the vision recognition module is activated to scan the work area, identify and locate the target screw, cable or sealant, and guide the robotic arm to move the end effector to the position of the first target screw, so that the main shaft of the screw loosening mechanism is roughly aligned with the screw axis.

[0033] S2. The screw loosening mechanism starts working, the telescopic module starts, and pushes the loosening module to extend axially. During this process, the force sensor continuously monitors the change of axial force. When the screw magnetic sleeve is fitted into the target screw head, and the screw magnetic sleeve is fully in contact with the screw head, the telescopic device stops advancing. The second cylindrical heating rod is energized, and PID temperature control is performed under the feedback of the thermocouple to locally heat and soften the screw and its surrounding sealing rubber. After heating is completed, the second motor starts and performs the loosening operation under the real-time monitoring of the force sensor. The screw is attracted by the screw magnetic sleeve. Then the telescopic module retracts, the thermal shearing mechanism rises, the thermal shears open and close, and the screw is clamped by the clamping structure of the thermal shears, removed from the threaded hole and transported to the top of the designated recycling container. The thermal shears open and release the screw.

[0034] S3. If it is necessary to cut cables, cable ties, or sealing strips, the hot shearing mechanism is activated, and the flipping and lifting mechanism drives the hot shearing module to flip to the working position; the cylindrical heating rods in hot blade one and hot blade two are energized to heat the cutting edge to the set temperature; the robotic arm moves the hot shears to the target to be cut according to the positioning data of the vision system; motor four is activated to drive the hot shears to close, melting or cutting the target object; after the operation is completed, the hot shearing module flips and retracts to avoid interfering with subsequent operations.

[0035] S4. Based on the vision recognition module, the robotic arm is moved to the next target position, and steps S1-S3 are repeated until all target screws are disassembled and all materials to be cut are processed. The vision system verifies the results between each step to ensure the integrity and safety of the operation.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An end effector for disassembling a used power battery pack, characterized in that: The installation base, screw loosening mechanism, hot shearing mechanism and visual identification module are arranged on the installation base.

2. The end effector for disassembling a used power battery pack according to claim 1, characterized in that: The installation base is composed of a base plate one, a base plate two, a base plate three and a support rod.

3. The end effector for disassembling a used power battery pack according to claim 2, characterized in that: The screw loosening mechanism includes a screw magnetic suction sleeve, a loosening module and a telescopic module.

4. The end effector for disassembling a used power battery pack according to claim 3, characterized in that: The telescopic module includes a motor one, a screw sleeve and a screw one. The loosening module includes a motor two, a motor sleeve one and a sleeve fixing plate one.

5. The end effector for disassembling a used power battery pack according to claim 4, characterized in that: The hot shearing mechanism includes a guide rail base plate, a hot shearing module, a turnover lifting mechanism and a cover plate.

6. The end effector for disassembling a used power battery pack according to claim 5, characterized in that: The hot shearing module includes a motor three, a connecting seat and hot scissors.

7. The end effector for disassembling a used power battery pack according to claim 6, characterized in that: The hot scissors include a hot knife one and a hot knife two. The hot knife one and the hot knife two are arranged in an intersecting manner.

8. The end effector for disassembling a used power battery pack according to claim 5, characterized in that: The connecting seat is movably arranged in the sliding groove one. The limiting screw one and the limiting screw two are movably arranged in the sliding groove two and the sliding groove three, respectively.

9. The end effector for disassembling a used power battery pack according to claim 2, characterized in that: The turnover lifting mechanism includes a motor four, a screw three, a guide rod and a moving seat two.

10. The disassembly method of an end effector for disassembling a used power battery pack according to any one of claims 1-9, characterized in that, The visual identification module is fixed on one side of the base plate one. The method includes the following steps: S1, after receiving the disassembly instruction from the upper control system, the visual recognition module is started, the working area is scanned, the target screw, cable or sealant is identified and positioned, the mechanical arm is guided to move the end effector to the position of the first target screw, and the main shaft of the screw loosening mechanism is roughly aligned with the screw axis; S2, the screw loosening mechanism starts working, the telescopic module is started, the loosening module is pushed to extend axially, when the screw magnetic suction sleeve is sleeved into the target screw head, the two-way electric heating rod in the cylinder type heating rod is powered on, the screw and the surrounding seal rubber are locally heated, after the heating is completed, the motor two is started, the loosening operation is performed under the real-time monitoring of the force sensor, and the screw is adsorbed and recycled by the screw magnetic suction sleeve, then the telescopic module is retracted, the hot shearing mechanism is raised, the hot shears are opened and then closed, the screw is clamped and taken away from the thread hole by the hot shears and transported to the upper side of the specified recycling container, and the hot shears are opened and the screw is taken away; S3, if the cable, cable tie or sealant strip needs to be sheared, the hot shearing mechanism is started, the hot shearing module is turned over to the working position by the overturning lifting mechanism, the cylinder type heating rod in the hot knife one and the hot knife two is powered on, the blade edge is heated to the set temperature, the hot shears are moved to the target to be sheared according to the positioning data of the visual system, the motor four is started to drive the hot shears to close, and the target is melted or cut off; After the work is completed, the hot shearing module is turned over and retracted to avoid interference with subsequent operations; S4, the mechanical arm is moved to the next target position according to the visual recognition module, the steps S1-S3 are repeated, until all target screws are disassembled and all objects to be sheared are processed, the visual system checks the results between steps to ensure the integrity and safety of the work.

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