Automatic screw dismounting machine and coordinate type screw dismounting method

Abstract

The invention relates to an automatic screw dismounting machine and a coordinate type screw dismounting method, and the method comprises the steps: obtaining coordinate data of screws of a power battery pack to be dismounted, generating operation area coordinate data corresponding to each screw according to the coordinate data of each screw, and carrying out the detection and positioning of the screws in scanned three-dimensional data, the three-dimensional data is obtained by scanning the retired power battery pack by using a visual system; an X-direction moving mechanism, a Y-direction transmission mechanism and a Z-direction driving device are controlled to transmit an air screwdriver device arranged on each screw, the air screwdriver devices move to corresponding operation areas and screw the screws, torque parameters of the air screwdriver devices in the screw screwing process are detected through a torque detection sensor, and the torque parameters comprise the torque change rate of magnetic screwdriver heads of the air screwdriver devices; and according to the torque change rate, whether the screws are normally dismounted or not is judged, and according to the judgment result, the normally dismounted screws are discharged to a screw box or the retired power battery pack is conveyed to a fault screw dismounting station for manual dismounting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lithium battery recycling, and particularly relates to an automatic screw dismounting machine and a coordinate type screw dismounting method. BACKGROUND

[0002] In related technologies, during the dismounting process of a power battery pack of a new energy vehicle, the screws of the battery pack are dismounted to dismount the shell of the battery pack and then take out the corresponding battery cell.

[0003] In related technologies, for the dismounting of the screws of the battery pack, manual dismounting is low in efficiency, and automatic equipment is used for screw dismounting, and due to inaccurate positioning or positioning error, the screw head cannot be fitted when the screw is dismounted, causing missed dismounting or failure to normally dismount, and secondary dismounting is required, resulting in low dismounting efficiency; meanwhile, during the dismounting process of the screw by the automatic equipment, the dismounting tool will heat up due to the threaded screw, and long-time dismounting operation will accelerate the aging of the dismounting tool, affecting the service life of the equipment.

[0004] In view of the low screw dismounting efficiency of the retired power battery in related technologies, there is still a lack of a better technical solution. SUMMARY

[0005] Therefore, it is necessary to provide an automatic screw dismounting machine and a coordinate type screw dismounting method to at least solve the problem of low screw dismounting efficiency of the retired power battery in related technologies.

[0006] In a first aspect, the present application provides an automatic screw dismounting machine, comprising a rack, a plurality of X-direction moving mechanisms arranged in parallel in the X-direction are arranged on the rack, at least one Y-direction transmission mechanism is arranged on each X-direction moving mechanism, a Z-direction driving device is arranged on each Y-direction transmission mechanism, and a wind batch device is connected to the Z-direction driving device, wherein the X-direction moving mechanism is used to drive the Y-direction transmission mechanism to move in the X-direction; the Y-direction transmission mechanism is used to drive the Z-direction driving device and the wind batch device to move in the Y-direction; after the wind batch device moves to the position directly above the screw arranged on the retired power battery to be dismounted following the movement of the Z-direction driving device, the Z-direction driving device is used to drive the wind batch device to move to cover the corresponding screw, so that the wind batch device screws out the screw, and after the wind batch device adsorbs the screwed-out screw, the Z-direction driving device drives the wind batch device to move back, cooperates with the Y-direction transmission of the Y-direction transmission mechanism and the X-direction transmission of the X-direction moving mechanism, so as to discharge the screwed-out screw.

[0007] In some embodiments, the X-direction moving mechanism comprises a sliding plate, a first sliding rail and a first driving unit, the first sliding rail is arranged on the girders on both sides of the frame in the Y-direction, the sliding plate is arranged on the two first sliding rails and is movably connected with the first sliding rails, the sliding plate is further drivingly connected with the first driving unit arranged on the girders, the Y-direction transmission mechanism is arranged on the corresponding sliding plate, wherein the first driving unit drives the sliding plate to drive the corresponding Y-direction transmission mechanism, Z-direction driving device and the wind batch device to slide along the first sliding rail, so as to adjust the position of the wind batch device in the X-direction.

[0008] In some embodiments, the Y-direction transmission mechanism comprises a second sliding rail, a sliding seat and a second driving unit, each of the sliding plates is provided with at least one Y-direction extending second sliding rail, the second sliding rail is provided with a plurality of sliding seats, each of the sliding seats is drivingly connected with one of the second driving units, wherein the second driving unit drives the corresponding sliding seat to drive the Z-direction driving device and the wind batch device arranged on the sliding seat to slide along the second sliding rail, so as to adjust the position of the wind batch device in the Y-direction.

[0009] In some embodiments, the Z-direction driving device comprises a moving seat, the moving seat is slidingly connected with a third guide rail arranged vertically on the side plate of the sliding seat, the moving seat is further drivingly connected with a third driving unit arranged on the sliding seat through a connecting rod, the moving seat is connected with the wind batch device through a connecting plate, wherein the third driving unit drives the moving seat to drive the connecting plate and the wind batch device to move vertically along the third guide rail, so as to make the wind batch device vertically move downward to cover the corresponding screw or take the screwed-out screw away from the material.

[0010] In some embodiments, the first driving unit, the second driving unit and the third driving unit each comprise a driving motor, a transmission belt and a driven wheel, the driving motor and the driven wheel of the first driving unit are arranged on the girders and are arranged at intervals in the X-direction, the driving motor and the driven wheel of the second driving unit are arranged on the sliding plate and are arranged at intervals in the Y-direction, the driving motor and the driven wheel of the third driving unit are arranged on the moving seat and are arranged at intervals in the Z-direction, the driven wheel is further drivingly connected with a transmission wheel arranged on the output shaft of the driving motor through the transmission belt, the transmission belt of the first driving unit, the second driving unit and the third driving unit is respectively fixedly connected with the sliding plate, the sliding seat and the moving seat, wherein, the driving motor of the first driving unit drives the transmission belt to roll, so as to pull the sliding plate to slide along the first sliding rail; The driving motor of the second driving unit drives the transmission belt to roll, so as to pull the sliding seat to slide along the second sliding rail, and drive the Z-direction driving device and the air gun device arranged on the sliding seat to move in the Y-direction. The driving motor of the third driving unit drives the transmission belt to roll, so as to pull the moving seat to slide along the third guide rail, and drive the air gun device to move vertically.

[0011] In some embodiments, the air gun device comprises a mounting frame, an air gun, a magnetic suction head, a suction and blowing negative pressure valve, and a pre-press buffer device. The mounting frame is fixedly connected with the connecting plate. The air gun is arranged on the mounting frame. The magnetic suction head is movably arranged on the head opening of the air gun. The suction and blowing negative pressure valve is sleeved on the magnetic suction head and is in communication with the air duct arranged in the magnetic suction head. The pre-press buffer device is arranged on one side of the air gun close to the head opening and movably abuts against the air gun and the magnetic suction head. The suction and blowing negative pressure valve is further connected with an external air source through an air pipe. After the third driving unit drives the moving seat to move vertically downward to the magnetic suction head to be sleeved on the screw located at the corresponding position, the air gun is used to drive the magnetic suction head to rotate and unscrew the corresponding screw. After the magnetic suction head is used to unscrew the screw, the magnetic suction head is used to magnetically attract the screw and move the screw away during the movement of the air gun. The suction and blowing negative pressure valve is used to generate negative pressure in the air duct of the magnetic suction head, so that the magnetic suction head magnetically attracts the screw and negatively adsorbs the screw, and air is introduced into the air duct, so that the magnetic suction head blows the magnetically attracted screw to the collection box. The pre-press buffer device is used to buffer the magnetic suction head to press the screw.

[0012] In some embodiments, a conveyor embedded under the rack is further included. The conveyor is used to convey the tray loaded with the retired power battery pack to the preset disassembly area.

[0013] In a second aspect, the embodiments of the present application further provide a coordinate type screw disassembly method for disassembling the screw of the retired power battery pack, comprising the automatic screw disassembly machine of the first aspect, and comprising the following steps: Coordinate data of the screw of the power battery pack to be disassembled is acquired, and a work area corresponding to each screw is generated according to the coordinate data of each screw. The coordinate data is obtained by detecting and positioning the screw in the scanned three-dimensional data. The three-dimensional data is obtained by scanning the retired power battery pack by using a preset vision system. The wind driver device configured to each screw is driven by the X-direction moving mechanism, the Y-direction transmission mechanism and the Z-direction driving device to move to the corresponding work area and screw, and the torque parameter of the wind driver device during screwing is detected by the torque detection sensor, wherein the torque parameter includes the torque change rate of the magnetic suction head of the wind driver device. According to the torque change rate, it is judged whether the screw is normally removed, and according to the judgment result, the normally removed screw is discharged to the screw box or the retired power battery pack is transported to the fault screw removal station and manually removed.

[0014] In some embodiments, according to the torque change rate, it is judged whether the screw is normally removed, comprising: According to the torque value corresponding to the wind driver device in the preset detection period, and according to the torque value, the torque change rate of the wind driver device in the corresponding detection period is determined; According to the torque change rate, it is judged whether the torque change of the wind driver device is a target change state, wherein the target change state includes one of the following: no torque change, sudden torque drop change; In the case where it is judged that the torque change of the wind driver device is the target change state, it is determined that the screw removal fails; In the case where it is judged that the torque change of the wind driver device does not include the target change state, it is determined that the screw is normally removed.

[0015] In some embodiments, when it is determined that the screw is normally removed, the method further comprises: controlling the magnetic suction head of the wind driver device to form a negative pressure, cooperating with the magnetic suction of the magnetic suction head, so as to double-adsorb the screw by the magnetic suction head; controlling the X-direction moving mechanism and the Y-direction transmission mechanism to drive the Z-direction driving device to move the wind driver device to the screw box directly above along the X-direction and the Y-direction; positively ventilating the magnetic suction head to blow the screw to the screw box by the magnetic suction head.

[0016] Compared with the prior art, the automatic screw dismounting machine and the coordinate type screw dismounting method have the following beneficial effects: the screw dismounting method comprises the following steps: obtaining coordinate data of screws of a to-be-dismounted power battery pack, and generating a work area corresponding to each screw according to the coordinate data of each screw, wherein the coordinate data is obtained by detecting and positioning the screws in scanned three-dimensional data, and the three-dimensional data is obtained by scanning the retired power battery pack by using a preset vision system; controlling an X-direction moving mechanism, a Y-direction transmission mechanism and a Z-direction driving device to drive a wind batch device configured to each screw to move to the corresponding work area and screw, and detecting a torque parameter of the wind batch device during screwing by using a torque detection sensor, wherein the torque parameter comprises a torque change rate of a magnetic suction head of the wind batch device; determining whether the screw is normally dismounted according to the torque change rate, and performing the following operations according to the determination result: discharging the normally dismounted screw to a screw box or conveying the retired power battery pack to a faulty screw dismounting station and manually dismounting the screw. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a perspective structural schematic diagram of the automatic screw dismounting machine of the embodiment of the present application; Figure 2 is an assembly diagram of the Y-direction transmission mechanism, the Z-direction driving device and the wind batch device of the embodiment of the present application; Figure 3 is a local schematic diagram of the Y-direction transmission mechanism, the Z-direction driving device and the wind batch device of the embodiment of the present application; Figure 4 is a sectional view of the assembly diagram of the Y-direction transmission mechanism, the Z-direction driving device and the wind batch device of the embodiment of the present application; Figure 5 is a sectional view of another assembly diagram of the Y-direction transmission mechanism, the Z-direction driving device and the wind batch device of the embodiment of the present application; Figure 6 is another perspective structural schematic diagram of the automatic screw dismounting machine of the embodiment of the present application; Figure 7 is a flow schematic diagram of the coordinate type screw dismounting method of the embodiment of the present application; Figure 8 is a torque detection curve diagram of the embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0019] It should be noted that when a component is referred to as "mounted on" another component, it can be directly mounted on the other component or there can be a middle component. When a component is referred to as "disposed on" another component, it can be directly disposed on the other component or there can be a middle component. When a component is referred to as "fixed on" another component, it can be directly fixed on the other component or there can be a middle component.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "including" and "having" are intended to be inclusive and mean that there can be additional Embodiments

[0021] Reference Figures 1 to 6 The embodiment of the present application provides an automatic screw dismounting machine, comprising a rack 100, a plurality of X-direction moving mechanisms 200 arranged in parallel in the X-direction are arranged on the rack 100, at least one Y-direction transmission mechanism 300 is arranged on each X-direction moving mechanism 200, one Z-direction driving device 400 is arranged on each Y-direction transmission mechanism 300, and the Z-direction driving device 400 is connected with a pneumatic chuck 500, wherein, The X-direction moving mechanism 200 is used for driving the Y-direction transmission mechanism 300 to move in the X-direction.

[0022] In the embodiment, a plurality of pneumatic chucks 500 driven by the Y-direction transmission mechanism 300 and the Z-direction driving device 400 are distributed on one X-direction moving mechanism 200, and the X-direction moving mechanism 200 synchronously drives the pneumatic chucks 500 in the same row to move in the X-direction.

[0023] The Y-direction transmission mechanism 300 is used for driving the Z-direction driving device 400 and the pneumatic chuck 500 to move in the Y-direction.

[0024] In the embodiment, when one of the plurality of screw removing devices 500 located on the same X-direction moving mechanism 200 is in the process of moving in the X-direction or has completed the movement in the X-direction, the corresponding Y-direction transmission mechanism 300 drives the Z-direction driving device 400 and the screw removing device 500 to move in the Y-direction.

[0025] After the screw removing device 500 moves to the position above the screw to be removed on the retired power battery package, the Z-direction driving device 400 is used to drive the screw removing device 500 to move to cover the corresponding screw 001, so that the screw removing device 500 can unscrew the screw 001, and after the screw removing device 500 adsorbs the unscrewed screw 001, the Z-direction driving device 400 drives the screw removing device 500 to move back, cooperates with the Y-direction transmission of the Y-direction transmission mechanism 300 and the X-direction transmission of the X-direction moving mechanism 200, so as to unload the unscrewed screw 001.

[0026] In the automatic screw removing machine, the work area determined according to the coordinate data of the screw is used to control the X-direction moving mechanism 200, the Y-direction transmission mechanism 300 and the Z-direction driving device 400 to drive the corresponding screw removing device 500 to move to the corresponding position to perform the screwing work, so as to realize the precise screw removal and improve the screw removal efficiency.

[0027] It should be noted that during the operation of the automatic screw disassembling machine, the X-direction moving mechanism 200, the Y-direction transmission mechanism 300 and the Z-direction driving device 400 will be synchronously driven, so as to realize the movement of the corresponding air batch device 500 into the matching work area and the disassembly of the screw 001 located in the work area. At the same time, due to the different distribution positions of the screw 001, the corresponding air batch device 500 will be allocated according to the work area of the screw 001, and a plurality of Y-direction transmission mechanisms 300 and Z-direction driving devices 400 are allocated on the X-direction moving mechanism 200. Therefore, when disassembling screws 001 at different positions, the X-direction moving mechanism 200 and the Y-direction transmission mechanism 300 will be controlled in the order of coordinate positions to move the air batch device 500 to the corresponding screw 001 above, and then the Z-direction driving device 400 drives the air batch device 500 to move vertically and align the screw 001. During the movement of the air batch device 500 to the corresponding work area, the X-direction moving mechanism 200 will simultaneously drive a plurality of air batch devices 500 to move in the X-direction. When the X-direction movement is completed, the other air batch devices 500 allocated to the work area will stop moving in the Y-direction and Z-direction, and the corresponding air batch device 500 will be driven to move in the X-direction and Y-direction in sequence after completing the screw 001 in the work area. When the Y-direction movement is completed and the corresponding air batch device 500 moves into the corresponding work area, the Y-direction transmission mechanism 300 will be started to drive the Z-direction driving device 400 and the air batch device 500 to move in the Z-direction.

[0028] To adjust the positions of the Y-direction transmission mechanism 300, the Z-direction driving device 400 and the air batch device 500 in the X-direction, refer to Figure 1 and Figure 6 In some embodiments, the X-direction moving mechanism 200 includes a sliding plate 21, a first sliding rail 22 and a first driving unit. The first sliding rail 22 is arranged on the girder 101 on both sides of the Y-direction of the rack 100, the sliding plate 21 is arranged on the two first sliding rails 22 and is movably connected with the first sliding rails 22, and the sliding plate 21 is further connected with the first driving unit arranged on the girder 101. The Y-direction transmission mechanism 300 is arranged on the corresponding sliding plate 21. The first driving unit drives the sliding plate 21 to drive the corresponding Y-direction transmission mechanism 300, the Z-direction driving device 400 and the air batch device 500 to slide along the first sliding rail 22, so as to adjust the position of the air batch device 500 in the X-direction.

[0029] To adjust the positions of the Z-direction driving device 400 and the air batch device 500 in the Y-direction, refer to Figures 1 to 6In some embodiments, the Y-direction transmission mechanism 300 comprises a second sliding rail 31, a sliding seat 32, and a second driving unit 33. Each sliding plate 21 is provided with at least one second sliding rail 31 extending in the Y-direction. The second sliding rail 31 is provided with a plurality of sliding seats 32. Each sliding seat 32 is drivingly connected to a second driving unit 33. The second driving unit 33 drives the corresponding sliding seat 32 to drive the Z-direction driving device 400 and the air batch device 500 provided on the sliding seat 32 to slide along the second sliding rail 31, so as to adjust the position of the air batch device 500 in the Y-direction.

[0030] To adjust the position of the air batch device 500 in the Z-direction, refer to Figures 1 to 6 In some embodiments, the Z-direction driving device 400 comprises a moving seat 41 slidingly connected to a third guide rail 42 vertically arranged on the side plate 321 of the sliding seat 32. The moving seat 41 is further drivingly connected to a third driving unit 44 provided on the sliding seat 32 through a connecting rod 43. The moving seat 41 is connected to the air batch device 500 through a connecting plate 45. The third driving unit 44 drives the moving seat 41 to drive the connecting plate 45 and the air batch device 500 to move vertically along the third guide rail 42, so as to vertically move the air batch device 500 downward to cover the corresponding screw 001 or to take the unscrewed screw 001 away from the material.

[0031] To drive the air batch device 500 to move in the X, Y, and Z directions, refer to Figures 1 to 6 The first driving unit, the second driving unit 33, and the third driving unit 44 each comprise a driving motor 331, a transmission belt 332, and a driven wheel 333. The driving motor 331 and the driven wheel 333 of the first driving unit are arranged on the beam 101 and are spaced apart in the X-direction. The driving motor 331 and the driven wheel 333 of the second driving unit 33 are arranged on the sliding plate 21 and are spaced apart in the Y-direction. The driving motor 331 and the driven wheel 333 of the third driving unit 44 are arranged on the moving seat 41 and are spaced apart in the Z-direction. The driven wheel 333 is further drivingly connected to a transmission wheel 334 arranged on the output shaft of the driving motor 331 through the transmission belt 332. The transmission belt 332 of the first driving unit, the second driving unit 33, and the third driving unit 44 is respectively fixedly connected to the sliding plate 21, the sliding seat 32, and the moving seat 41 (the transmission belt 332 is locked to the sliding plate 21, the sliding seat 32, and the moving seat 41 through a locking member). In this way, The driving motor 331 of the first driving unit drives the transmission belt 332 to roll, so as to pull the sliding plate 21 to slide along the first sliding rail 22.

[0032] The driving motor 331 of the second driving unit 33 drives the transmission belt 332 to roll, so as to pull the sliding seat 32 to slide along the second sliding rail 31, and drive the Z-direction driving device 400 and the air gun device 500 arranged on the sliding seat 32 to move along the Y-direction.

[0033] The driving motor 331 of the third driving unit 44 drives the transmission belt 332 to roll, so as to pull the moving seat 41 to slide along the third sliding rail 42, and drive the air gun device 500 to move vertically.

[0034] In the embodiment, the moving driving units in the X, Y and Z directions are all in the structure of driving motor + synchronous wheel + synchronous belt.

[0035] In order to realize screwing of the screw and ensure that the screw is taken away after being screwed out, and improve the service life of the air gun head, referring to Figure 1 In some embodiments, the air gun device 500 comprises a mounting frame 51, an air gun 52, a magnetic air gun head 53, a suction and blowing negative pressure valve 54 and a pre-press buffer device 55, the mounting frame 51 is fixedly connected with the connecting plate 45, the air gun 52 is arranged on the mounting frame 51, the magnetic air gun head 53 is movably arranged in a head opening 521 of the air gun 52, the suction and blowing negative pressure valve 54 is sleeved on the magnetic air gun head 53 and is in communication with an air channel 531 arranged in the magnetic air gun head 53, and the pre-press buffer device 55 is arranged on one side of the air gun 52 close to the head opening 521 and movably abuts against the air gun 52 and the magnetic air gun head 53, and the suction and blowing negative pressure valve 54 is further connected with an external air source through an air pipe 56. After the third driving unit 44 drives the moving seat 41 to move the air gun device 500 vertically downward to the magnetic air gun head 53 to be sleeved on the screw 001 in the corresponding position, the air gun 52 is used to drive the magnetic air gun head 53 to rotate and unscrew the corresponding screw 001. The magnetic air gun head 53 is also used to unscrew the screw 001 and take the screw 001 away during the movement of the air gun 52. The suction and blowing negative pressure valve 54 is used to generate negative pressure in the air channel 531 of the magnetic air gun head 53, so as to adsorb the screw 001 by negative pressure when the magnetic air gun head 53 is magnetized, and air is introduced into the air channel 531, so that the magnetic air gun head 53 blows the magnetized screw 001 to the collecting box 600.

[0036] In the embodiment, the air channel 531 in the magnetic air gun head 53 is vacuumized by the suction and blowing negative pressure valve 54, so that negative pressure is formed in the magnetic air gun head 53, thereby adsorbing the screw by negative pressure, and cooperating with the magnetic adsorption of the magnetic air gun head 53, double operations ensure that the screw 001 is taken away; when the screw 001 is discharged, air is introduced into the magnetic air gun head 53 to generate positive pressure, so as to blow out the screw 001, and the air cooling of the magnetic air gun head 53 prolongs the service life of the magnetic air gun head 53.

[0037] The pre-press buffering device 55 is used to buffer the magnetic chuck 53 to press the screw 001.

[0038] In the embodiment, the spring type pre-press buffering mechanism is adopted to ensure the safety of the mechanism and ensure that the screw head can be tightly sleeved; in the embodiment, the pre-press buffering mechanism adjusts the radial relative position of the chuck and the screw head to ensure that the head can be sleeved into the screw head.

[0039] In some embodiments, a conveyor 700 embedded under the rack 100 is further included, and the conveyor 700 is used to convey the tray 800 carrying the retired power battery pack to a preset disassembly area. Embodiments

[0040] The application further provides a coordinate type screw disassembly method for disassembling the screw of the retired power battery pack, and the method comprises the automatic screw disassembly machine in the embodiment 1, and further comprises the following steps. In step S101, the coordinate data of the screw of the power battery pack to be disassembled is acquired, and the work area corresponding to each screw is generated according to the coordinate data of each screw, wherein the coordinate data is acquired by detecting and positioning the screw in the scanned three-dimensional data, and the three-dimensional data is acquired by scanning the retired power battery pack by using a preset vision system.

[0041] In step S102, the X-direction moving mechanism, the Y-direction transmission mechanism and the Z-direction driving device are controlled to drive the air chuck device configured to each screw to move to the corresponding work area and screw, and the torque parameter in the screwing process of the air chuck device is detected by the torque detection sensor, wherein the torque parameter comprises the torque change rate of the magnetic chuck head of the air chuck device.

[0042] In step S103, whether the screw is normally disassembled is judged according to the torque change rate, and according to the judgment result, the normally disassembled screw is discharged to the screw box or the retired power battery pack is conveyed to the fault screw disassembly station and manually disassembled.

[0043] In some optional embodiments, the following steps are further implemented. Step 1: The front-end process scans the entire battery pack by using a vision system (CCD), accurately positions (XYZ coordinates) each screw and records, reads the parameter coordinates of each screw to be disassembled by the system, and reasonably allocates the work area of each axis.

[0044] Step 2: The air chuck device moves along the X and Y directions to move above the screw, and the air chuck device moves downward along the Z direction to sleeve the head to the screw head.

[0045] In this embodiment, a spring-type pre-compression buffer mechanism is used to ensure the safety of the mechanism and to ensure that the screw head can be tightened. In this embodiment, the pre-compression buffer mechanism adjusts the radial relative position of the bit and the screw head to ensure that the bit fits snugly into the screw head.

[0046] Step 3: Rotate the air screwdriver of the air screwdriver device and unscrew the screw.

[0047] In this embodiment, a torque sensing detection feedback mechanism is used to determine whether the disassembly is normal or faulty based on the actual torque value curve.

[0048] Step 4: Normal disassembly. The negative pressure system of the air passage inside the magnetic screwdriver bit is working. A negative pressure is formed inside the magnetic screwdriver bit, which brings out the screw. With the magnetic attraction of the magnetic screwdriver bit, the double operation ensures that the screw is removed.

[0049] Step 5: Drive the air screwdriver to move along the X and Y directions above the screw waste box, connect the compressed air inside the magnetic screwdriver head to generate positive pressure, blow out the screw, and at the same time, blow air to cool the magnetic screwdriver head and extend its service life.

[0050] In some embodiments, reference Figure 8 To determine whether a screw has been properly removed based on the rate of change of torque, the following steps are involved: Step 21: Based on the torque value of the air screwdriver within the preset detection cycle, determine the torque change rate of the air screwdriver within the corresponding detection cycle.

[0051] Step 22: Based on the torque change rate, determine whether the torque change of the pneumatic screwdriver is a target change state. The target change state includes one of the following: no change in torque, or a sudden drop in torque.

[0052] Step 23: If the change in torque of the pneumatic screwdriver is determined to be a target change state, then the screw removal fault is identified.

[0053] Step 24: If it is determined that the change in torque of the pneumatic screwdriver does not include the target change state, then the screw is removed normally.

[0054] In this embodiment, within a detection cycle T0, the detected torque remains at a relatively high value, and the rate of change of torque does not change (the slope of the corresponding torque curve is k=0, see reference). Figure 8 If the horizontal straight line curve indicates that the screw removal failed and it is considered a faulty screw, it should be treated as such. Within a detection cycle T0, if the detected torque is initially high with no change in the rate of change, then suddenly drops to a minimum, the torque plummets, and the slope K of the torque curve approaches infinity (refer to...). Figure 8 If the vertical straight line curve is in the middle, it is treated as a faulty screw.

[0055] In some embodiments, when the screw is determined to be removed normally, the following steps are further implemented: Step 31, control the magnetic suction head of the air suction device to form a negative pressure, and cooperate with the magnetic suction of the magnetic suction head, so that the magnetic suction head double-adsorbs the screw.

[0056] Step 32, control the X-direction moving mechanism, the Y-direction transmission mechanism and the Z-direction driving device to drive the air suction device to move along the X-direction and the Y-direction to the screw box directly above; Step 33, positively ventilate the magnetic suction head, so that the magnetic suction head blows the screw to the screw box.

[0057] The above is not any limitation on the technical scope of the present application, any modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still belong to the scope of the technical solution of the present application.

Claims

1. An automatic screw unscrambler characterized by, The application relates to a rack (100) provided with a plurality of X-direction moving mechanisms (200) arranged in parallel in the X-direction, at least one Y-direction transmission mechanism (300) arranged on each X-direction moving mechanism (200), a Z-direction driving device (400) arranged on each Y-direction transmission mechanism (300), and a wind batch device (500) connected to the Z-direction driving device (400), wherein, the X-direction moving mechanism (200) is used for driving the Y-direction transmission mechanism (300) to move in the X-direction; the Y-direction transmission mechanism (300) is used for driving the Z-direction driving device (400) and the wind batch device (500) to move in the Y-direction; after the wind batch device (500) moves to the position above the screw of the packaging of the to-be-disassembled retired power battery pack and follows the Z-direction driving device (400), the Z-direction driving device (400) is used for driving the wind batch device (500) to move to the position of sleeving the corresponding screw (001), so that the wind batch device (500) unscrews the screw (001), and after the wind batch device (500) adsorbs the unscrewed screw (001), the Z-direction driving device (400) drives the wind batch device (500) to move back, cooperates with the Y-direction transmission of the Y-direction transmission mechanism (300) and the X-direction transmission of the X-direction moving mechanism (200), and discharges the unscrewed screw (001).

2. The automatic screw unscrambler of claim 1, wherein, The X-direction moving mechanism (200) comprises a sliding plate (21), a first sliding rail (22) and a first driving unit, the first sliding rail (22) is arranged on the girders (101) on the Y-direction two sides of the rack (100), the sliding plate (21) is arranged on the two first sliding rails (22) and is movably connected with the first sliding rails (22), the sliding plate (21) is further in transmission connection with the first driving unit arranged on the girders (101), and the Y-direction transmission mechanism (300) is arranged on the corresponding sliding plate (21). The first driving unit drives the sliding plate (21) to drive the corresponding Y-direction transmission mechanism (300), Z-direction driving device (400) and wind batch device (500) to slide along the first sliding rail (22), so as to adjust the position of the wind batch device (500) in the X-direction.

3. The automatic screw unscrambler of claim 2, wherein, The Y-direction transmission mechanism (300) comprises a second sliding rail (31), a sliding seat (32) and a second driving unit (33), each sliding plate (21) is provided with at least one Y-direction extending second sliding rail (31), a plurality of sliding seats (32) are arranged on the second sliding rail (31), each sliding seat (32) is in transmission connection with one second driving unit (33), and the second driving unit (33) drives the corresponding sliding seat (32) to drive the Z-direction driving device (400) and the wind batch device (500) arranged on the sliding seat (32) to slide along the second sliding rail (31), so as to adjust the position of the wind batch device (500) in the Y-direction.

4. The automatic screw unscrambler of claim 3, wherein, The Z-direction driving device (400) comprises a moving seat (41) which is slidingly connected with a third guide rail (42) vertically arranged on the side plate (321) of the sliding seat (32), the moving seat (41) is further drivingly connected with a third driving unit (44) arranged on the sliding seat (32) through a connecting rod (43), the moving seat (41) is connected with the wind batch device (500) through a connecting plate (45), wherein the third driving unit (44) drives the moving seat (41) to drive the connecting plate (45) and the wind batch device (500) to move vertically along the third guide rail (42), so that the wind batch device (500) moves vertically downward to cover the corresponding screw (001) or moves the unscrewed screw (001) away from the blanking.

5. The automatic screw unscrambler of claim 4, wherein, The first driving unit, the second driving unit (33) and the third driving unit (44) all comprise a driving motor (331), a transmission belt (332) and a driven wheel (333), the driving motor (331) and the driven wheel (333) of the first driving unit are both arranged on the beam (101) and are arranged at intervals in the X-direction, the driving motor (331) and the driven wheel (333) of the second driving unit (33) are both arranged on the sliding plate (21) and are arranged at intervals in the Y-direction, the driving motor (331) and the driven wheel (333) of the third driving unit (44) are both arranged on the moving seat (41) and are arranged at intervals in the Z-direction, the driven wheel (333) is further drivingly connected with a transmission wheel (334) arranged on the output shaft of the driving motor (331) through the transmission belt (332), the transmission belt (332) of the first driving unit, the second driving unit (33) and the third driving unit (44) is respectively fixedly connected with the sliding plate (21), the sliding seat (32) and the moving seat (41), wherein, The driving motor (331) of the first driving unit drives the transmission belt (332) to roll, so as to pull the sliding plate (21) to slide along the first slide rail (22); The driving motor (331) of the second driving unit (33) drives the transmission belt (332) to roll, so as to pull the sliding seat (32) to slide along the second slide rail (31), so that the sliding seat (32) drives the Z-direction driving device (400) and the wind batch device (500) arranged on the sliding seat (32) to move in the Y-direction; The driving motor (331) of the third driving unit (44) drives the transmission belt (332) to roll, so as to pull the moving seat (41) to slide along the third guide rail (42), so that the moving seat (41) drives the wind batch device (500) to move vertically.

6. The automatic screw unscrambler of claim 5, wherein, The air batch device (500) comprises a mounting frame (51), an air batch (52), a magnetic suction head (53), a suction and blowing negative pressure valve (54) and a pre-press buffer device (55), the mounting frame (51) is fixedly connected with the connecting plate (45), the air batch (52) is arranged on the mounting frame (51), the magnetic suction head (53) is movably arranged in a head opening (521) of the air batch (52), the suction and blowing negative pressure valve (54) is sleeved on the magnetic suction head (53) and is in communication with an air duct (531) in the magnetic suction head (53), the pre-press buffer device (55) is arranged on one side of the air batch (52) close to the head opening (521) and movably abuts against the air batch (52) and the magnetic suction head (53), and the suction and blowing negative pressure valve (54) is further connected with an external air source through an air pipe (56). After the third driving unit (44) drives the moving seat (41) to vertically move downward to make the air batch device (500) move downward to the magnetic suction head (53) to be sleeved on the screw (001) located at the corresponding position, the air batch (52) is used for driving the magnetic suction head (53) to rotate and unscrew the corresponding screw (001). The magnetic suction head (53) is further used for unscrewing the screw (001) and then magnetically attracting the screw (001) and moving the screw (001) away during the movement of the air batch (52). The suction and blowing negative pressure valve (54) is used for generating negative pressure in the air duct (531) of the magnetic suction head (53), attracting the screw (001) by negative pressure when the magnetic suction head (53) magnetically attracts the screw (001), and introducing air into the air duct (531) to make the magnetic suction head (53) blow the magnetically attracted screw (001) to the collection box (600). The pre-press buffer device (55) is used for buffering the magnetic suction head (53) to press towards the screw (001).

7. The automatic screw unscrambler of claim 1, wherein, A conveyor (700) embedded in the rack (100) is further provided, and the conveyor (700) is used for conveying a loading plate (800) loaded with the retired power battery pack to a preset disassembly area.

8. A coordinate screw disassembling method for disassembling screws of a retired power battery pack, comprising the automatic screw disassembling machine of any one of claims 1 to 7, characterized in that, The method comprises the following steps: Coordinate data of screws of the power battery pack to be disassembled are acquired, and a work area corresponding to each screw is generated according to the coordinate data of each screw, wherein the coordinate data is acquired by detecting and positioning the screws in scanned three-dimensional data, and the three-dimensional data is acquired by scanning the retired power battery pack by using a preset vision system; An air batch device arranged for each screw is driven by an X-direction moving mechanism, a Y-direction transmission mechanism and a Z-direction driving device to move to the corresponding work area and screw, and a torque parameter in the screwing process of the air batch device is detected by a torque detection sensor, wherein the torque parameter comprises a torque change rate of a magnetic suction head of the air batch device; Whether the screw is normally disassembled is judged according to the torque change rate, and according to the judgment result, the normally disassembled screw is discharged to a screw box or the retired power battery pack is conveyed to a fault screw disassembly station and manually disassembled.

9. The method of claim 8, wherein, According to the torque change rate, it is judged whether the screw is normally removed, comprising: According to the torque value corresponding to the wind batch device in the preset detection period, and according to the torque value, the torque change rate of the wind batch device in the corresponding detection period is determined; According to the torque change rate, it is judged whether the torque change of the wind batch device is the target change state, wherein the target change state includes one of the following: no torque change, torque sudden change; In the case where it is judged that the torque change of the wind batch device is the target change state, it is determined that the screw removal fails; In the case where it is judged that the torque change of the wind batch device does not include the target change state, it is determined that the screw is normally removed.

10. The method of claim 8, wherein, When it is determined that the screw is normally removed, the method further comprises: Controlling the magnetic suction head of the wind batch device to form negative pressure, cooperating with the magnetic suction of the magnetic suction head, so as to double adsorb the screw by the magnetic suction head; Controlling the X-direction moving mechanism, the Y-direction transmission mechanism and the Z-direction driving device to drive the wind batch device to move to the screw box directly above along the X-direction and the Y-direction; The magnetic suction head is positively ventilated to blow the screw to the screw box by the magnetic suction head.

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