A flexible disassembling and recycling device and method for waste and old electric energy meters

Abstract

The application discloses a kind of flexible disassembly and recycling device and method of waste electric energy meter, wherein the device includes conveying line, intelligent robot, electric energy meter disassembly device and classification unloading position, also includes vision system.Electric energy meter disassembly device includes rack, disassembly station, positioning clamping mechanism, disassembly robot, cutting mechanism, melting gun, turnover mechanism and vacuum system;Disassembly robot is configured with the cutting path and disassembly path corresponding to different models of waste electric energy meter.And through vision system, the model, attitude and key structural features of electric energy meter are identified, the corresponding disassembly path is selected, and the cutting of upper box, liquid crystal module suction, relay / terminal melting or cutting, PCB board and bottom box overturning separation, capacitor removal and classification unloading are sequentially completed.The application realizes the automatic conveying, flexible disassembly and classification recycling of waste electric energy meter, adapts to different models and damaged state of electric energy meter, and improves the disassembly efficiency and resource recovery rate.

Description

Technical Field

[0001] This invention relates to the field of waste electricity meter recycling and processing technology, and in particular to a flexible dismantling and recycling device and method for waste electricity meters. Background Technology

[0002] With the continuous advancement of smart grid construction and the upgrading of electricity metering equipment, a large number of used electricity meters are entering the scrapping and recycling process. The internal components of these used electricity meters typically include plastic casings, terminals, relays, LCD modules, PCB boards, capacitors, and various metal connectors. The materials, recycling value, and subsequent processing methods of different components vary significantly. Therefore, if used electricity meters can be meticulously disassembled before recycling, and different types of components collected separately, it will help improve resource recovery rates and reduce subsequent sorting and reuse costs.

[0003] Current methods for recycling used electricity meters mainly include manual dismantling, whole crushing followed by sorting, and partially automated dismantling. While manual dismantling can separate and remove some components, it is inefficient, labor-intensive, and may contain sharp structures, residual contaminants, or aged and damaged parts, posing safety hazards to operators. Whole crushing followed by sorting, although faster, easily leads to a mixture of plastics, metals, PCBs, LCD modules, capacitors, and other components, making subsequent sorting more difficult and potentially damaging recyclable parts, thus reducing the resource recycling value.

[0004] Some existing automated dismantling equipment can achieve assembly-line dismantling and component conveying of waste electricity meters. However, in the actual recycling process, waste electricity meters often exhibit inconsistencies in model, size, screw position, charred casing, stripped screws, partial damage, and misaligned internal components. For these different models or damaged conditions of waste electricity meters, conventional automated dismantling equipment often relies on fixed workstations, fixed clamps, or fixed dismantling paths. It is difficult to adapt to the model, orientation, and critical structural positions of the electricity meters, resulting in a high dismantling failure rate and insufficient equipment versatility and flexibility.

[0005] Furthermore, the PCB boards, capacitors, relays, terminals, and LCD modules inside discarded energy meters typically have different connection methods. For example, the outer casing and the base box may be connected by screws or clips, the LCD module may be embedded inside the casing, and relays, terminals, and capacitors are usually connected to the PCB board via pins or solder joints. If only a single cutting, clamping, or crushing method is used for disassembly, it is difficult to balance disassembly efficiency, component integrity, and classification accuracy. Especially during the separation of the PCB board from the base box, capacitor removal, and LCD module recycling processes, the lack of a targeted disassembly structure can easily lead to PCB board breakage, component scattering, or different materials being mixed in the same recycling channel. Summary of the Invention

[0006] To address the problems of poor structural adaptability and a single dismantling mechanism in existing automated dismantling equipment for waste electricity meters, which makes it difficult to adapt to different models and different damage conditions of electricity meters, one objective of this invention is to provide a flexible dismantling and recycling device for waste electricity meters. To achieve the above objectives, the present invention adopts the following technical solution: a flexible dismantling and recycling device for waste electricity meters, comprising a conveyor line, an intelligent robot, an electricity meter dismantling device, and a sorting and unloading station; the conveyor line forms a conveying channel for waste electricity meters and / or turnover boxes, and the intelligent robot is positioned between the conveyor line and the electricity meter dismantling device; It also includes a vision system, which is installed on the intelligent robot and / or the electricity meter dismantling device, and the vision system is communicatively connected to the intelligent robot and / or the electricity meter dismantling device; The electricity meter dismantling device includes a frame, a dismantling station, a positioning and clamping mechanism, a dismantling robot, a cutting mechanism, a melting gun, a flipping mechanism, and a vacuum system; The disassembly station is located on the frame, and the positioning and clamping mechanism is located on the disassembly station; The disassembly robot is mounted on the frame and is located on one side or above the disassembly station; The cutting mechanism and the melting gun are mounted on the disassembly robot, and both the cutting mechanism and the melting gun are oriented towards the disassembly station. The flipping mechanism is located on one side of the disassembly station and is positioned between the bottom box of the waste electricity meter and the PCB board. The vacuum system includes a vacuum nozzle, which is disposed on the disassembly robot and / or near the disassembly station; The dismantling robot is equipped with cutting and dismantling paths corresponding to different models of waste electricity meters. The sorting and unloading points are located around the conveyor line and / or the electricity meter dismantling device.

[0007] Preferably, the acquisition end of the vision system is oriented towards the waste energy meters on the conveyor line and / or the waste energy meters at the dismantling station.

[0008] Preferably, the intelligent robot includes a base and grippers, the base being disposed between the conveyor line and the electricity meter dismantling device, and the grippers being connected to the execution end of the intelligent robot.

[0009] Preferably, the gripper includes a quick-change mechanism, a buffer mechanism, a first gripper, and a second gripper. The quick-change mechanism is connected to the end of the intelligent robot, and the buffer mechanism is disposed between the quick-change mechanism and the first gripper and / or the second gripper. The first gripper and the second gripper have different gripping spacing and / or different gripping surface structures.

[0010] Preferably, the disassembly robot includes an X-axis moving component, a Y-axis moving component, and a Z-axis moving component. The X-axis moving component is mounted on the frame, the Y-axis moving component is connected to the X-axis moving component, the Z-axis moving component is connected to the Y-axis moving component, and the cutting mechanism and the melting torch are mounted on the movable end of the Z-axis moving component.

[0011] Preferably, the cutting mechanism includes a horizontal cutting component and / or a vertical cutting component, wherein the horizontal cutting component and / or the vertical cutting component includes a cutting drive and a cutting tool, a grinding tool, or a cutting and grinding integrated tool connected to the cutting drive.

[0012] Preferably, the melting torch is connected to a first up-and-down motion assembly, and the vacuum nozzle is connected to a second up-and-down motion assembly. The first up-and-down motion assembly and the second up-and-down motion assembly each include a mounting base, a vertical guide, and a linear drive.

[0013] Preferably, the positioning and clamping mechanism includes clamping members disposed opposite to each other and clamping driving members connected to the clamping members. The clamping members are disposed above or on both sides of the bearing surface of the disassembly station, and the clamping driving members are installed on the disassembly station and / or the frame.

[0014] Preferably, the vacuum system further includes a vacuum generating component and a vacuum pipeline, the vacuum generating component being connected to the vacuum nozzle via the vacuum pipeline, and the suction end of the vacuum nozzle being positioned towards the disassembly station.

[0015] Preferably, the flipping mechanism includes a flipping bracket, a rotating mechanism, an insert, and a clamping member. The flipping bracket is mounted on the frame, the rotating mechanism is mounted on the flipping bracket, the insert and the clamping member are disposed at the output end of the rotating mechanism, and the insert is positioned toward the disassembly station.

[0016] Preferably, the flipping mechanism further includes a lifting assembly, which is disposed between the flipping bracket and the rotating mechanism, and the rotating mechanism is connected to the flipping bracket through the lifting assembly.

[0017] Preferably, the electricity meter dismantling device further includes a capacitor dismantling mechanism, which is disposed on one side of the flipping mechanism. The capacitor dismantling mechanism includes a capacitor dismantling station and a lifting support assembly disposed on the capacitor dismantling station.

[0018] Preferably, it also includes a depalletizer and a lifting and transplanting unit, wherein the depalletizer is located on the conveyor line and the lifting and transplanting unit is located at the transfer position of the conveyor line; The depalletizer includes a mounting frame, a movable baffle, a clamping mechanism, a lifting mechanism, and a box quantity verification sensor. The mounting frame is set on the conveyor line, the movable baffle is set at the turnover box positioning position on the conveyor line, the lifting mechanism is set on the mounting frame, the clamping mechanism is connected to the movable end of the lifting mechanism, and the box quantity verification sensor is set on the mounting frame and / or the conveyor line. The classified material cutting positions include one or more of the following: PCB board cutting position, upper and lower box cutting position, relay and terminal cutting position, capacitor cutting position, and LCD module cutting position.

[0019] The beneficial effects of the flexible dismantling and recycling device for waste electricity meters of the present invention are as follows: By cooperating with the set conveyor line, intelligent robot, vision system, electricity meter dismantling device and sorting unloading position, the device can realize the automatic conveying, identification and positioning, flexible dismantling and sorting recycling of waste electricity meters. It solves the problems of low automation, poor adaptability and mixed recycling of components in the existing waste electricity meter dismantling methods, and enables waste electricity meters of different models and different conditions to be dismantled in an orderly manner, which facilitates subsequent resource utilization.

[0020] To address the problems of low dismantling efficiency, difficulty in handling abnormal meters, and easy mixing of dismantled materials caused by the reliance on manual judgment and fixed dismantling paths in existing waste electricity meter dismantling methods, another objective of this invention is to provide a flexible dismantling and recycling method for waste electricity meters. To achieve the above objectives, the present invention adopts the following technical solution: a flexible dismantling and recycling method for waste electricity meters, using the aforementioned flexible dismantling and recycling device for waste electricity meters, and operating according to the following steps: S1. The vision system acquires image information of the waste energy meter and identifies the model, posture and key structural features of the waste energy meter. The key structural features include one or more of the following: shell seam, screw hole position, liquid crystal module position, relay position, terminal position and capacitor position. S2. Select the corresponding cutting path and dismantling path according to the model, orientation and key structural features of the waste electricity meter; S3. The intelligent robot picks up the used electricity meter and places it at the dismantling station. S4. Positioning and clamping mechanism clamps the waste energy meter; S5. The disassembly robot drives the cutting mechanism to cut or grind along the edge of the upper box of the waste electricity meter. The intelligent robot picks up the cut upper box and transfers it to the sorting and unloading position. S6. The disassembly robot drives the cutting mechanism to cut or grind the LCD module. The vacuum system sucks up the LCD module through the vacuum nozzle and transfers the LCD module to the sorting and unloading position. S7. The melting gun melts the pin of the relay and / or terminal, or the cutting mechanism cuts or grinds the connection position of the relay and / or terminal. S8. The flipping mechanism is inserted between the bottom box of the waste electricity meter and the PCB board, and separates the PCB board from the bottom box. S9. The melting gun melts the capacitor connection on the PCB board, or the cutting mechanism cuts or grinds the capacitor connection. S10. The vacuum system picks up the capacitors through the vacuum nozzle and transfers them to the sorting and unloading position. S11. The intelligent robot will transfer the relays, terminals, PCB boards and back boxes to the corresponding sorting and unloading positions.

[0021] Preferably, after step S3 and before step S5, the meter number information of the waste energy meter is read by RFID, and / or the button of the waste energy meter is pressed by the button pressing mechanism, and the display information of the waste energy meter is collected by the vision system. When the vision system fails to identify the connection location of a relay, terminal, or capacitor, a cutting mechanism is used to cut or grind the connection location of the relay, terminal, or capacitor.

[0022] The beneficial effects of the flexible dismantling and recycling method for waste electricity meters of the present invention are as follows: By coordinating the steps of visual recognition, path selection, robot loading, positioning and clamping, cutting and dismantling, melting and dismantling, flipping and separating, and sorting and unloading, continuous dismantling and sorting of waste electricity meters from the whole machine to various parts can be realized. This solves the problems of low efficiency, insufficient flexibility and poor sorting accuracy of existing dismantling methods, making the dismantling process of waste electricity meters more efficient and stable, and facilitating the improvement of recycling rate. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a flexible dismantling and recycling device for waste electricity meters according to the present invention.

[0024] Figure 2 This is a schematic diagram of the structure of the intelligent robot in this invention.

[0025] Figure 3 This is a schematic diagram of the gripper structure in this invention.

[0026] Figure 4This is a schematic diagram of the structure of the electricity meter disassembly device in this invention.

[0027] Figure 5 This is a schematic diagram of the disassembly robot, disassembly station, and flipping mechanism in this invention.

[0028] Figure 6 This is a schematic diagram of the flipping mechanism in this invention.

[0029] Figure 7 This is a schematic diagram of the depalletizer in this invention.

[0030] Figure 8 This is a flowchart of a flexible dismantling and recycling method for waste electricity meters according to the present invention.

[0031] In the diagram: 1. Electricity meter dismantling device; 101. Vacuum system; 102. Dismantling robot; 103. Dismantling station; 104. Frame; 105. Tilting mechanism; 105a. Tilting bracket; 105b. Rotation mechanism; 106. Component unloading robot; 107. Cutting mechanism; 108. Melting gun; 109. Button pressing mechanism; 1010. Vacuum nozzle; 1011. Positioning and clamping mechanism; 1012. Capacitor dismantling mechanism; 2. Intelligent robot; 201. Base; 202. Gripper; 202a. Quick change mechanism; 202b. Buffer mechanism; 202c. First gripper; 202d. Second gripper; 3. Depalletizer; 301. Mounting frame; 302. Movable baffle; 303. Clamping mechanism; 304. Lifting mechanism; 305. Meter box quantity verification sensor; 4. Conveyor line; 5. Lifting and transplanting; 6. Vision system; A. Loading position for electricity meters to be dismantled; B. Loading position for used electricity meter turnover boxes; C. Loading position for empty turnover box stacks; D. Buffer line; a. PCB board unloading position; b. Upper and lower box unloading positions; c. Relay and terminal unloading positions; d. Capacitor unloading position; e. LCD module unloading position. Detailed Implementation

[0032] To make the objectives, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0034] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0035] Example 1 Reference Figure 1 This is the first embodiment of the present invention, which provides a flexible dismantling and recycling device for waste electricity meters. It can achieve automatic conveying, identification and positioning, dismantling and loading, and sorting and unloading of waste electricity meters. The device includes: an electricity meter dismantling device 1, an intelligent robot 2, a conveyor line 4, a lifting and transferring system 5, a vision system 6, and sorting and unloading stations. The conveyor line 4 forms a conveying channel for waste electricity meters and turnover boxes; the intelligent robot 2 facilitates the clamping of waste electricity meters from the side of the conveyor line 4 and their placement into the electricity meter dismantling device 1; the vision system 6 facilitates the identification of the model, orientation, and position of the waste electricity meters; and the sorting and unloading stations facilitate the separate collection of different dismantled components.

[0036] Specifically, conveyor line 4 is equipped with a loading position A for electricity meters to be dismantled, a loading position B for waste electricity meter turnover boxes, a loading position C for empty turnover box stacks, and a buffer line D. The waste electricity meter turnover box loading position B facilitates the entry of turnover boxes containing waste electricity meters into conveyor line 4; the waste electricity meter loading position A facilitates the intelligent robot 2 to pick up the waste electricity meters from this position; the empty turnover box stack loading position C facilitates the entry of empty turnover boxes into conveyor line 4; and the buffer line D facilitates the temporary storage of turnover boxes during conveying and unloading.

[0037] Furthermore, the categorized unloading locations include PCB board unloading location a, upper and lower box unloading location b, relay and terminal unloading location c, capacitor unloading location d, and LCD module unloading location e. Setting up PCB board unloading location a facilitates the collection of PCB boards; setting up upper and lower box unloading location b facilitates the collection of disassembled upper and lower boxes; setting up relay and terminal unloading location c facilitates the collection of relays and terminals; setting up capacitor unloading location d facilitates the collection of capacitors; and setting up LCD module unloading location e facilitates the collection of LCD modules.

[0038] The lifting and transferring mechanism 5 is located at the transfer point of the conveyor line 4. By setting up the lifting and transferring mechanism 5, it is convenient to transfer the turnover boxes between the conveyor line 4, the loading position A of the electricity meters to be dismantled, the loading position B of the waste electricity meter turnover boxes, the loading position C of the empty turnover box stack, the buffer line D, and the sorting and unloading position.

[0039] Preferably, the vision system 6 is installed on at least one of the intelligent robot 2 and the electricity meter dismantling device 1, with the acquisition end of the vision system 6 facing at least one of the waste electricity meters on the conveyor line 4 and the waste electricity meters on the dismantling station 103. By setting up the vision system 6, it is convenient to identify the waste electricity meters and cooperate with the intelligent robot 2 to complete the grasping and placement of the waste electricity meters.

[0040] Working principle: The turnover box containing used electricity meters is conveyed by conveyor line 4 to the vicinity of the meter loading position A to be dismantled. The vision system 6 identifies the used electricity meters, and the intelligent robot 2 picks up the used electricity meters according to the identification results and places them in the electricity meter dismantling device 1. After being dismantled by the electricity meter dismantling device 1, different categories of components enter their corresponding sorting and unloading positions.

[0041] In summary, by setting up a conveyor line 4, an intelligent robot 2, a vision system 6, an electricity meter dismantling device 1, a lifting and transferring device 5, and a sorting and unloading station, the automatic conveying, identification, positioning, and sorting collection of waste electricity meters can be realized. This solves the problems of existing waste electricity meter dismantling and feeding relying on manual labor and discontinuous material transfer, enabling waste electricity meters to stably enter the subsequent dismantling process and facilitating the improvement of dismantling and recycling efficiency.

[0042] Example 2 Reference Figures 2 to 5 This is the second embodiment of the present invention. Unlike the previous embodiment, this embodiment further provides the specific structure of the intelligent robot 2, the gripper 202 and the electricity meter dismantling device 1, which solves the problems of insufficient adaptability to gripping different models of waste electricity meters, unstable positioning during dismantling and a single dismantling mechanism.

[0043] Specifically, the intelligent robot 2 includes a base 201 and a gripper 202. The base 201 is located between the conveyor line 4 and the electricity meter dismantling device 1, and the gripper 202 is connected to the execution end of the intelligent robot 2. The base 201 facilitates support for the intelligent robot 2; the gripper 202 facilitates the gripping of used electricity meters and their placement at the dismantling station 103.

[0044] Furthermore, the gripper 202 includes a quick-change mechanism 202a, a buffer mechanism 202b, a first gripper 202c, and a second gripper 202d. The quick-change mechanism 202a is connected to the end of the intelligent robot 2, and the buffer mechanism 202b is disposed between the quick-change mechanism 202a and at least one of the first gripper 202c and the second gripper 202d. The first gripper 202c and the second gripper 202d have at least one of different clamping distances and different clamping surface structures. By setting the quick-change mechanism 202a, it is convenient to switch the clamping structure according to different waste energy meters; by setting the buffer mechanism 202b, it is convenient to reduce the impact on the waste energy meters during the clamping process; by setting the first gripper 202c and the second gripper 202d, it is convenient to adapt to waste energy meters of different models or different shapes.

[0045] The electricity meter dismantling device 1 includes a vacuum system 101, a dismantling robot 102, a dismantling station 103, a frame 104, a flipping mechanism 105, a component unloading robot 106, a cutting mechanism 107, a melting torch 108, a button pressing mechanism 109, a vacuum nozzle 1010, a positioning and clamping mechanism 1011, and a capacitor dismantling mechanism 1012. The dismantling station 103 is mounted on the frame 104, and the positioning and clamping mechanism 1011 is also mounted on the dismantling station 103. The frame 104 facilitates the support of the various components of the electricity meter dismantling device 1; the dismantling station 103 facilitates the support of the waste electricity meters to be dismantled; and the positioning and clamping mechanism 1011 facilitates the positioning and clamping of the waste electricity meters.

[0046] Preferably, the positioning and clamping mechanism 1011 includes clamping members disposed opposite to each other and clamping drive members connected to the clamping members. The clamping members are disposed above or on both sides of the bearing surface of the disassembly station 103, and the clamping drive members are mounted on at least one of the disassembly station 103 and the frame 104. By providing the clamping members and clamping drive members, it is convenient to center and clamp the waste energy meters placed on the disassembly station 103, so that the waste energy meters remain stable during the cutting, melting, and flipping separation process.

[0047] Furthermore, the dismantling robot 102 is mounted on the frame 104 and located on one side or above the dismantling station 103. The dismantling robot 102 includes an X-axis moving component, a Y-axis moving component, and a Z-axis moving component. The X-axis moving component is mounted on the frame 104, the Y-axis moving component is connected to the X-axis moving component, and the Z-axis moving component is connected to the Y-axis moving component. The cutting mechanism 107 and the melting torch 108 are mounted on the movable end of the Z-axis moving component. By setting up the X-axis, Y-axis, and Z-axis moving components, the cutting mechanism 107 and the melting torch 108 can move in different directions at the dismantling station 103 to adapt to the dismantling positions of different models of waste electricity meters.

[0048] The cutting mechanism 107 includes at least one of a horizontal cutting component and a vertical cutting component. Each component includes a cutting drive and a cutting tool, a grinding tool, or an integrated cutting and grinding tool connected to the cutting drive. By providing the cutting mechanism 107, horizontal or vertical cutting or grinding can be easily performed according to the different positions of the waste electricity meter's upper box edge, LCD module, relay, terminal, or capacitor.

[0049] Preferably, the dismantling robot 102 is equipped with cutting and dismantling paths corresponding to different models of used electricity meters. After the vision system 6 identifies the model, orientation, and key structural features of the used electricity meter, the dismantling robot 102 drives the cutting mechanism 107, the melting torch 108, and the vacuum nozzle 1010 to operate according to the corresponding cutting and dismantling paths. This configuration facilitates adaptable dismantling of used electricity meters of different models, orientations, or damage conditions.

[0050] Working Principle: The intelligent robot 2 uses grippers 202 to pick up used electricity meters and place them at the dismantling station 103. After the positioning and clamping mechanism 1011 clamps the used electricity meter, the dismantling robot 102 drives the cutting mechanism 107 and the melting gun 108 to operate according to the cutting and dismantling path corresponding to the model of the used electricity meter. The cutting mechanism 107 can cut or grind the edge of the upper box and the LCD module of the used electricity meter, and the melting gun 108 can melt the connection positions of relays, terminals or capacitors. The vacuum system 101 picks up components such as LCD modules or capacitors through the vacuum nozzle 1010 and works with the component unloading robot 106 to complete the unloading.

[0051] In summary, by using the intelligent robot 2, gripper 202, dismantling station 103, positioning and clamping mechanism 1011, dismantling robot 102, cutting mechanism 107, melting gun 108, and vacuum system 101 in combination, it is possible to grip, position, and dismantle different models of waste electricity meters. This solves the problems of poor adaptability of existing dismantling equipment to different models of waste electricity meters and unstable dismantling positions, enabling waste electricity meters to be dismantled in an orderly manner, thus improving dismantling stability and recycling efficiency.

[0052] Example 3 Reference Figures 5 to 7 This is the third embodiment of the present invention. Unlike the previous embodiment, this embodiment further provides specific structures for the vacuum system 101, the flipping mechanism 105, the capacitor disassembly mechanism 1012, the depalletizer 3, and the lifting and transferring mechanism 5. This solves the problems of inconvenience in picking up LCD modules and capacitors, inconvenience in separating PCB boards from the bottom box, inconvenience in depalletizing and disassembling turnover boxes, and discontinuous material unloading. The remaining structures are the same as in Embodiment 1 or Embodiment 2.

[0053] Specifically, the vacuum system 101 includes a vacuum generating component, a vacuum pipeline, and a vacuum nozzle 1010. The vacuum generating component is connected to the vacuum nozzle 1010 via the vacuum pipeline, and the suction end of the vacuum nozzle 1010 is positioned facing the disassembly station 103. By setting up the vacuum generating component, vacuum pipeline, and vacuum nozzle 1010, it is convenient to pick up and transfer smaller components such as LCD modules and capacitors.

[0054] Furthermore, the melting torch 108 is connected to a first up-and-down movement assembly, and the vacuum nozzle 1010 is connected to a second up-and-down movement assembly. The first and second up-and-down movement assemblies respectively include a mounting base, a vertical guide, and a linear drive. By setting the first up-and-down movement assembly, the melting torch 108 can be conveniently located near the connection position of the relay, terminal, or capacitor during use, and away from the disassembly station 103 when not in use. By setting the second up-and-down movement assembly, the vacuum nozzle 1010 can be conveniently located near the liquid crystal module or capacitor, and interference between the vacuum nozzle 1010 and the waste energy meter is reduced.

[0055] The flipping mechanism 105 includes a flipping bracket 105a, a rotating mechanism 105b, an insert, and a clamping component. The flipping bracket 105a is mounted on the frame 104, and the rotating mechanism 105b is mounted on the flipping bracket 105a. The insert and clamping component are located at the output end of the rotating mechanism 105b, with the insert facing the disassembly station 103. The flipping bracket 105a facilitates support for the rotating mechanism 105b; the rotating mechanism 105b facilitates the movement of the insert and clamping component; the insert facilitates insertion between the bottom box and the PCB board of the waste electricity meter; and the clamping component facilitates clamping the PCB board after it has been separated from the bottom box.

[0056] Preferably, the flipping mechanism 105 further includes a lifting assembly, which is disposed between the flipping bracket 105a and the rotating mechanism 105b. The rotating mechanism 105b is connected to the flipping bracket 105a via the lifting assembly. By providing the lifting assembly, the height of the rotating mechanism 105b relative to the dismantling station 103 can be easily adjusted to accommodate waste energy meters of different thicknesses or structures.

[0057] Furthermore, the capacitor disassembly mechanism 1012 is disposed on one side of the flipping mechanism 105. The capacitor disassembly mechanism 1012 includes a capacitor disassembly station and a lifting support assembly disposed on the capacitor disassembly station. By setting up the capacitor disassembly station, it is convenient to receive the PCB board separated by the flipping mechanism 105; by setting up the lifting support assembly, it is convenient to adjust the height of the PCB board during the capacitor disassembly process to cooperate with the operation of the melting gun 108, the cutting mechanism 107, or the vacuum nozzle 1010.

[0058] The depalletizer 3 includes a mounting frame 301, a movable baffle 302, a clamping mechanism 303, a lifting mechanism 304, and a box quantity verification sensor 305. The mounting frame 301 is mounted on the conveyor line 4. The movable baffle 302 is positioned at the turnover box location on the conveyor line 4. The lifting mechanism 304 is mounted on the mounting frame 301. The clamping mechanism 303 is connected to the movable end of the lifting mechanism 304. The box quantity verification sensor 305 is mounted on at least one of the mounting frame 301 and the conveyor line 4. The mounting frame 301 facilitates support for the depalletizer 3; the movable baffle 302 facilitates positioning of the turnover boxes; the lifting mechanism 304 and clamping mechanism 303 facilitate clamping and lifting of the turnover boxes; and the box quantity verification sensor 305 facilitates verification of the turnover box quantity.

[0059] Working principle: After the stack of turnover boxes is conveyed to the depalletizer 3 by the conveyor line 4, the movable baffle 302 positions the stack of turnover boxes. The lifting mechanism 304 drives the clamping mechanism 303 to move to the corresponding turnover box position. After the clamping mechanism 303 clamps the turnover box, the lifting mechanism 304 drives the turnover box to rise or fall, thereby realizing the depalletizing or stacking of turnover boxes. The lifting and transferring 5, in conjunction with the conveyor line 4, transfers the turnover boxes to the corresponding positions. After the waste energy meter completes the dismantling of components such as the upper box, LCD module, relay and terminals at the dismantling station 103, the flipping mechanism 105 is inserted between the bottom box and the PCB board of the waste energy meter, and the PCB board is separated from the bottom box by the rotating mechanism 105b. Then the PCB board enters the position of the capacitor dismantling mechanism 1012 for subsequent capacitor dismantling.

[0060] In summary, by setting up a vacuum system 101, a flipping mechanism 105, a capacitor dismantling mechanism 1012, a depalletizer 3, a lifting and transferring mechanism 5, and a sorting and unloading station in coordination, the system can realize the depalletizing and unloading of turnover boxes, the picking up of LCD modules and capacitors, the separation of PCB boards from the bottom box, the dismantling of capacitors, and the sorting and unloading of materials. This solves the problems of inconvenience in picking up and placing small parts, inconvenience in removing PCB boards, and discontinuous transfer of turnover boxes in the existing waste electricity meter dismantling process, making the waste electricity meter dismantling and recycling process more continuous and stable, and facilitating the improvement of dismantling efficiency.

[0061] Example 4 Reference Figure 8This is the fourth embodiment of the present invention, which provides a flexible dismantling and recycling method for waste electricity meters. This method achieves continuous dismantling and classified collection of waste electricity meters, from the complete unit to different components. It employs one of the flexible dismantling and recycling devices for waste electricity meters from embodiments 1 to 3. Waste electricity meters are identified by a vision system 6, fed by an intelligent robot 2, positioned and clamped by a positioning and clamping mechanism 1011, dismantled by a dismantling robot 102, a cutting mechanism 107, a melting torch 108, a flipping mechanism 105, and a vacuum system 101, and then classified and collected by a classified unloading station.

[0062] Specifically, the vision system 6 acquires image information of the discarded energy meters and identifies their model, orientation, and key structural features. Key structural features include one or more of the following: casing seams, screw holes, LCD module location, relay location, terminal location, and capacitor location. This step facilitates determining the subsequent dismantling locations based on the different models, orientations, or states of the discarded energy meters.

[0063] Furthermore, based on the model, orientation, and key structural features of the waste energy meter, the corresponding cutting and dismantling paths are selected. The intelligent robot 2 picks up the waste energy meter and places it at the dismantling station 103. The positioning and clamping mechanism 1011 holds the waste energy meter, ensuring its stability during dismantling.

[0064] In this process, the disassembly robot 102 drives the cutting mechanism 107 to cut or grind along the edge of the upper box of the waste electricity meter. The intelligent robot 2 picks up the cut upper box and transfers it to the upper and lower box unloading position b. Subsequently, the disassembly robot 102 drives the cutting mechanism 107 to cut or grind the LCD module. The vacuum system 101 picks up the LCD module through the vacuum nozzle 1010 and transfers it to the LCD module unloading position e.

[0065] Preferably, the melting torch 108 melts at least one of the pins of the relay and the terminal, or the cutting mechanism 107 cuts or grinds at least one of the connection positions of the relay and the terminal. The flipping mechanism 105 is inserted between the bottom box and the PCB board of the waste energy meter and separates the PCB board from the bottom box. The melting torch 108 melts the capacitor connection position on the PCB board, or the cutting mechanism 107 cuts or grinds the capacitor connection position. The vacuum system 101 picks up the capacitor through the vacuum nozzle 1010 and transfers the capacitor to the capacitor unloading position d. The intelligent robot 2 transfers the relay, terminal, PCB board, and bottom box to the relay and terminal unloading position c, the PCB board unloading position a, and the upper and lower box unloading positions b, respectively.

[0066] If the used electricity meter can still display a reading, at least one of the following methods can be used before dismantling: reading the meter number information via RFID, or pressing the button on the used electricity meter via the button pressing mechanism 109. The display information of the used electricity meter is then collected by the vision system 6. When the vision system 6 fails to identify the connection position of the relay, terminal, or capacitor, the cutting mechanism 107 can be used to cut or grind the connection position of the relay, terminal, or capacitor.

[0067] Working principle: After the waste electricity meter enters the meter loading station A, the vision system 6 first identifies the model, orientation, and key structural features of the waste electricity meter. Then, the intelligent robot 2 places the waste electricity meter in the dismantling station 103, and the positioning and clamping mechanism 1011 clamps the waste electricity meter. The dismantling robot 102 sequentially drives the cutting mechanism 107, the melting gun 108, and the vacuum nozzle 1010 to dismantle or collect the upper box, LCD module, relay, terminals, and capacitors. The flipping mechanism 105 separates the PCB board from the bottom box. Finally, each component enters its corresponding sorting and unloading station.

[0068] In summary, by using the vision system 6, intelligent robot 2, positioning and clamping mechanism 1011, dismantling robot 102, cutting mechanism 107, melting gun 108, flipping mechanism 105, vacuum system 101, and sorting and unloading station in combination, the identification, feeding, clamping, cutting, melting, flipping and separation, and sorting and unloading of waste electricity meters can be realized. This solves the problems of existing waste electricity meter dismantling methods that rely on manual judgment, have fixed dismantling paths, are difficult to handle abnormal meters, and are prone to mixing of materials after dismantling. It makes the waste electricity meter dismantling process more flexible and orderly, and facilitates the improvement of dismantling success rate and sorting and recycling rate.

[0069] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. 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 be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A flexible dismantling and recycling device for waste electricity meters, comprising a conveyor line (4), an intelligent robot (2), an electricity meter dismantling device (1), and a sorting and unloading station; the conveyor line (4) forms a conveying channel for waste electricity meters and / or turnover boxes, and the intelligent robot (2) is located between the conveyor line (4) and the electricity meter dismantling device (1); Its features are, It also includes a vision system (6), which is installed on the intelligent robot (2) and / or the electricity meter dismantling device (1), and the vision system (6) is communicatively connected to the intelligent robot (2) and / or the electricity meter dismantling device (1); The electricity meter dismantling device (1) includes a frame (104), a dismantling station (103), a positioning and clamping mechanism (1011), a dismantling robot (102), a cutting mechanism (107), a melting gun (108), a flipping mechanism (105), and a vacuum system (101). The disassembly station (103) is located on the frame (104), and the positioning and clamping mechanism (1011) is located on the disassembly station (103); The disassembly robot (102) is mounted on the frame (104) and located on one side or above the disassembly station (103); The cutting mechanism (107) and the melting gun (108) are mounted on the disassembly robot (102), and both the cutting mechanism (107) and the melting gun (108) are positioned facing the disassembly station (103). The flipping mechanism (105) is located on one side of the disassembly station (103) and is positioned between the bottom box of the waste electricity meter and the PCB board. The vacuum system (101) includes a vacuum nozzle (1010), which is disposed on the disassembly robot (102) and / or near the disassembly station (103); The dismantling robot (102) is equipped with cutting and dismantling paths corresponding to different models of waste electricity meters; The sorting and unloading positions are located around the conveyor line (4) and / or the electricity meter dismantling device (1).

2. The flexible dismantling and recycling device for waste electricity meters as described in claim 1, characterized in that: The acquisition end of the vision system (6) is directed toward the waste electricity meter on the conveyor line (4) and / or the waste electricity meter on the dismantling station (103).

3. The flexible dismantling and recycling device for waste electricity meters as described in claim 1, characterized in that: The intelligent robot (2) includes a base (201) and grippers (202). The base (201) is located between the conveyor line (4) and the electricity meter dismantling device (1), and the grippers (202) are connected to the execution end of the intelligent robot (2).

4. The flexible dismantling and recycling device for waste electricity meters as described in claim 3, characterized in that: The gripper (202) includes a quick-change mechanism (202a), a buffer mechanism (202b), a first gripper (202c), and a second gripper (202d). The quick-change mechanism (202a) is connected to the end of the intelligent robot (2). The buffer mechanism (202b) is disposed between the quick-change mechanism (202a) and the first gripper (202c) and / or the second gripper (202d). The first gripper (202c) and the second gripper (202d) have different clamping distances and / or different clamping surface structures.

5. The flexible dismantling and recycling device for waste electricity meters as described in claim 1, characterized in that: The disassembly robot (102) includes an X-axis moving component, a Y-axis moving component and a Z-axis moving component. The X-axis moving component is mounted on the frame (104). The Y-axis moving component is connected to the X-axis moving component. The Z-axis moving component is connected to the Y-axis moving component. The cutting mechanism (107) and the melting gun (108) are mounted on the movable end of the Z-axis moving component.

6. The flexible dismantling and recycling device for waste electricity meters as described in claim 1, characterized in that: The cutting mechanism (107) includes a horizontal cutting component and / or a vertical cutting component. The horizontal cutting component and / or the vertical cutting component includes a cutting drive and a cutting tool, a grinding tool or a cutting and grinding integrated tool connected to the cutting drive.

7. The flexible dismantling and recycling device for waste electricity meters as described in claim 1, characterized in that: The melting torch (108) is connected to a first up-and-down motion assembly, and the vacuum nozzle (1010) is connected to a second up-and-down motion assembly. The first up-and-down motion assembly and the second up-and-down motion assembly respectively include a mounting base, a vertical guide, and a linear drive.

8. The flexible dismantling and recycling device for waste electricity meters as described in claim 1, characterized in that: The positioning and clamping mechanism (1011) includes clamping members arranged opposite to each other and clamping driving members connected to the clamping members. The clamping members are arranged above or on both sides of the bearing surface of the disassembly station (103), and the clamping driving members are installed on the disassembly station (103) and / or the frame (104).

9. The flexible dismantling and recycling device for waste electricity meters as described in claim 1, characterized in that: The vacuum system (101) also includes a vacuum generating component and a vacuum pipeline. The vacuum generating component is connected to the vacuum nozzle (1010) through the vacuum pipeline. The adsorption end of the vacuum nozzle (1010) is set towards the disassembly station (103).

10. The flexible dismantling and recycling device for waste electricity meters as described in claim 1, characterized in that: The flipping mechanism (105) includes a flipping bracket (105a), a rotating mechanism (105b), an insert, and a clamping member. The flipping bracket (105a) is mounted on the frame (104), the rotating mechanism (105b) is mounted on the flipping bracket (105a), the insert and the clamping member are disposed at the output end of the rotating mechanism (105b), and the insert is disposed toward the disassembly station (103).

11. The flexible dismantling and recycling device for waste electricity meters as described in claim 10, characterized in that: The flipping mechanism (105) further includes a lifting assembly, which is disposed between the flipping bracket (105a) and the rotating mechanism (105b). The rotating mechanism (105b) is connected to the flipping bracket (105a) through the lifting assembly.

12. The flexible dismantling and recycling device for waste electricity meters as described in claim 1, characterized in that: The electricity meter dismantling device (1) further includes a capacitor dismantling mechanism (1012), which is located on one side of the flipping mechanism (105). The capacitor dismantling mechanism (1012) includes a capacitor dismantling station and a lifting support assembly located on the capacitor dismantling station.

13. The flexible dismantling and recycling device for waste electricity meters as described in claim 1, characterized in that: It also includes a depalletizer (3) and a lifting and transplanting machine (5), wherein the depalletizer (3) is installed on the conveyor line (4) and the lifting and transplanting machine (5) is installed at the transfer position of the conveyor line (4); The depalletizer (3) includes a mounting frame (301), a movable baffle (302), a clamping mechanism (303), a lifting mechanism (304), and a box quantity verification sensor (305). The mounting frame (301) is mounted on the conveyor line (4), the movable baffle (302) is mounted at the turnover box positioning position of the conveyor line (4), the lifting mechanism (304) is mounted on the mounting frame (301), the clamping mechanism (303) is connected to the movable end of the lifting mechanism (304), and the box quantity verification sensor (305) is mounted on the mounting frame (301) and / or the conveyor line (4). The classified material cutting positions include one or more of the following: PCB board cutting position (a), upper and lower box cutting position (b), relay and terminal cutting position (c), capacitor cutting position (d), and LCD module cutting position (e).

14. A method for flexibly dismantling and recycling waste electricity meters, comprising a flexible dismantling and recycling device for waste electricity meters as described in any one of claims 1 to 13. Its features include the following steps: S1. The vision system (6) collects image information of the waste energy meter and identifies the model, posture and key structural features of the waste energy meter. The key structural features include one or more of the following: shell seam, screw hole position, liquid crystal module position, relay position, terminal position and capacitor position. S2. Select the corresponding cutting path and dismantling path according to the model, orientation and key structural features of the waste electricity meter; S3. Intelligent robot (2) picks up the waste electricity meter and places the waste electricity meter at the dismantling station (103). S4, Positioning and clamping mechanism (1011) clamps the waste electricity meter; S5. The disassembly robot (102) drives the cutting mechanism (107) to cut or grind along the edge of the upper box of the waste electricity meter. The intelligent robot (2) picks up the cut upper box and transfers it to the sorting and unloading position. S6. The disassembly robot (102) drives the cutting mechanism (107) to cut or grind the liquid crystal module. The vacuum system (101) picks up the liquid crystal module through the vacuum nozzle (1010) and transfers the liquid crystal module to the sorting and unloading position. S7. The melting gun (108) melts the pin of the relay and / or terminal, or the cutting mechanism (107) cuts or grinds the connection position of the relay and / or terminal. S8. The flipping mechanism (105) is inserted between the bottom box of the waste energy meter and the PCB board, and separates the PCB board from the bottom box. S9. The melting gun (108) melts the capacitor connection on the PCB board, or the cutting mechanism (107) cuts or grinds the capacitor connection. S10, The vacuum system (101) picks up the capacitor through the vacuum nozzle (1010) and transfers the capacitor to the sorting and unloading position; S11, Intelligent robot (2) transfers relays, terminals, PCB boards and bottom boxes to the corresponding sorting and unloading positions respectively.

15. A flexible dismantling and recycling method for waste electricity meters as described in claim 14, characterized in that: After step S3 and before step S5, the meter number information of the waste energy meter is read by RFID, and / or the button of the waste energy meter is pressed by the button pressing mechanism (109), and the display information of the waste energy meter is collected by the vision system (6). When the vision system (6) fails to identify the connection position of the relay, terminal or capacitor, the cutting mechanism (107) cuts or grinds the connection position of the relay, terminal or capacitor.

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