CN112139674A - Automatic disassembling equipment and method for charging pile - Google Patents
Automatic disassembling equipment and method for charging pile Download PDFInfo
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- CN112139674A CN112139674A CN202011007275.XA CN202011007275A CN112139674A CN 112139674 A CN112139674 A CN 112139674A CN 202011007275 A CN202011007275 A CN 202011007275A CN 112139674 A CN112139674 A CN 112139674A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000005520 cutting process Methods 0.000 claims description 110
- 238000000605 extraction Methods 0.000 claims description 46
- 238000003698 laser cutting Methods 0.000 claims description 23
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000005452 bending Methods 0.000 claims description 11
- 229910052742 iron Inorganic materials 0.000 claims description 7
- 238000004064 recycling Methods 0.000 claims description 4
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- 238000009434 installation Methods 0.000 description 6
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- 238000010586 diagram Methods 0.000 description 5
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- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B09—DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
- B09B—DISPOSAL OF SOLID WASTE NOT OTHERWISE PROVIDED FOR
- B09B3/00—Destroying solid waste or transforming solid waste into something useful or harmless
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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Abstract
The invention discloses automatic disassembling equipment for charging piles, and discloses an automatic disassembling method for charging piles. The disassembling equipment adopts full-automatic operation from feeding to disassembling, can realize continuous disassembling work, and has high intelligent degree, high disassembling speed and high efficiency.
Description
Technical Field
The invention relates to the technical field of charging pile recycling, in particular to automatic charging pile disassembling equipment and method.
Background
Under the drive of the new energy automobile industry, charging piles become indispensable supporting facilities and are widely built. According to statistics, the holding capacity of new energy vehicles in China reaches 610 thousands of vehicles by 2020, the holding capacity of charging piles constructed in a matched mode reaches 174.3 thousands of vehicles, the service life of the charging piles is generally 5-10 years, and due to the fact that charging protocols and charging interfaces are not unified, the charging piles installed in the early stage are withdrawn from the market continuously and need to be scrapped and disassembled urgently. With the lapse of time, the charging pile installed in recent years is scrapped in an explosive manner after 3-5 years, and the standard disassembly of the scrapped charging pile becomes an indispensable link for the sustainable development of the whole industry chain of the new energy automobile.
The tradition thinks to fill electric pile belongs to general electron discarded object, fills the scrapping of electric pile and disassembles the problem and is not paid attention to by masses all the time. However, the charging pile contains a large number of circuit boards, and according to the regulations of national hazardous waste records, the circuit boards belong to hazardous waste, the category is HW49, and the codes are 900-. If the charging pile can not be disassembled normally, the environment is greatly damaged.
The traditional charging pile disassembly is to cut the shell by adopting a manual handheld cutter, and then shear the shell by using scissors and separate the modules by using an electric/pneumatic screw disassembling tool. The traditional disassembling mode is manual handheld cutting operation, so that great potential safety hazards exist, and people are easily injured; in addition, the manual disassembly efficiency is low, the disassembly of scrapping the charging pile in batches cannot be met, and the limitation is obvious.
The existing charging pile is structured as shown in fig. 1, and comprises a power supply module 1110, a power supply control module 1120, a display screen 1130, a charging control unit 1140, a relay module 1150, a charging gun electric meter module 1160, an electric wire 1170, a left side door 1180, a right side door 1180, and a top-bottom lock 1190. Fill and be equipped with the world lock on electric pile 1100's the left and right sides door, the last pull ring 1111 that is convenient for the extraction that is equipped with of power module, power module takes out to insert and fixes through the screw of both sides on the box of filling electric pile, power control module and relay front and back symmetry installation, rifle ammeter module that charges is also front and back symmetry installation, install the same position at the case iron sheet that charges promptly, only partly in the front behind, can the girdling iron sheet take out it together, the charging control unit passes through the fix with screw on the support, the electric wire switches on the head and the tail of the connection that each module cut the electric wire all is equipped with white lasso 1171, this provides fine setpoint for the cutting of electric wire, the electric wire is with the very regular range of form of pencil on the box of filling electric pile, the electric wire in figure.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides automatic disassembly equipment for the charging pile in the background technology, which can realize batch disassembly of retired charging piles and solve the limitations of low manual disassembly efficiency and high cost.
The invention further provides a disassembling method for utilizing the automatic disassembling equipment for the charging pile.
According to the automatic disassembly equipment of the charging pile of the embodiment of the first aspect of the invention, the automatic disassembly equipment comprises:
disassembling the table;
a rotating platform comprising a rotating disk for loading a charging pile, the rotating platform being movable on the un-mating platform;
the mechanical arms are sequentially arranged on the side edge of the disassembling table;
a laser cutting device, a gripping device, a wire cutting device, an electromagnetic suction device, a sucker extraction device, a circular cutting device and a power module extraction device are sequentially arranged along the disassembling table, and the laser cutting device, the gripping device, the wire cutting device, the electromagnetic suction device, the sucker extraction device, the circular cutting device and the power module extraction device respectively perform three-dimensional space motion through the mechanical arm;
the power module extraction device comprises a telescopic rod assembly and an extraction support, wherein the telescopic rod assembly and the extraction support form a closed-loop structure, and the closed-loop structure is used for buckling a pull ring of the power module.
The automatic disassembly equipment for the charging pile provided by the embodiment of the invention at least has the following beneficial effects:
1. the invention provides the intelligent disassembling equipment for the charging pile for the first time, so that a worker is prevented from manually disassembling the charging pile by using a disassembling tool, and the danger of physical injury during manual disassembling is solved.
2. The disassembling equipment adopts full-automatic operation from feeding to disassembling, can realize continuous disassembling work, and has the advantages of high intelligent degree, high disassembling speed and high efficiency.
3. The equipment can realize batch disassembly of the retired charging piles, and solves the limitations of low manual disassembly efficiency and high cost.
4. Compared with the traditional disassembling method, the intelligent disassembling method has the advantages of high precision, strong stability, small damage to the extraction module, well preservation of the integrity of the module, convenience for subsequent cascade utilization of the module and improvement of the economic benefit of disassembling.
According to some embodiments of the invention, the rotating platform comprises a mobile base that moves on the dismantling station by means of a rack and pinion and a rotating disc that is rotatably connected to the mobile base.
According to some embodiments of the invention, the gripping device comprises a fixed frame, a pulling frame and a first gripper, the pulling frame can move up and down, the lower end surface of the pulling frame is provided with more than two vertical pull rods, the tail ends of the pull rods are provided with horizontal long through holes, the first gripper comprises more than two fingers, each finger is provided with a first fixed position point and a first movable position point, the first fixed position point is hinged with the fixed frame, the first movable position point is connected with the pull rods through the long through holes, and the up-and-down movement of the pulling frame can drive each finger to rotate around the first fixed position point so as to realize the opening and closing of the first gripper.
According to some embodiments of the invention, the gripping device further comprises a lead screw, the pulling frame is sleeved on the lead screw, the lead screw is in threaded connection with the pulling frame, and the lead screw rotates to drive the pulling frame to move up and down.
According to some embodiments of the present invention, the wire cutting device comprises a cutting device main frame, a second gripper, a saw wheel, a rotary cutting disc and a movable connecting rod, the second gripper comprises two gripping rods, each gripping rod has a second fixed location and a second movable location, the second fixed location is hinged to the cutting device main frame, the second movable location is hinged to the connecting rod, the movement of the connecting rod can drive each gripping rod to rotate around the second fixed location to achieve the opening and closing of the second gripper, and the rotary cutting disc is rotatably connected to the cutting device main frame and eccentrically connected to the saw wheel.
According to some embodiments of the invention, the wire cutting device further comprises a push rod connected with the connecting rod, and the push rod is provided with a rack.
According to some embodiments of the present invention, the ring cutting device comprises a rotatable ring cutting head, the ring cutting head comprises a front cover, a rear cover, a double-layer turntable, a knob and a plurality of cutting knives which are arranged on the front cover in an annular array manner, the cutting knives are slidably connected with the front cover, the double-layer turntable is arranged between the front cover and the rear cover, the knob is located at the rear side of the double-layer turntable, the front end surface of the double-layer turntable is provided with a plane thread and is in thread fit with the cutting knives, and the rear end surface of the double-layer turntable is a bevel gear and is in thread fit with the knob.
According to some embodiments of the present invention, the power module extraction device includes a telescopic rod assembly and an extraction bracket, the telescopic rod assembly includes a central gear and telescopic rods located at two sides of the central gear, the inner side of the telescopic rods is a rack and engaged with the central gear, the outer side of the telescopic rods is slidably connected with the extraction bracket, two ends of the extraction bracket are bent towards the telescopic rods to form a bending structure, and the central gear can drive two telescopic rods to move in opposite directions until the two telescopic rods contact with the bending structure to form a closed loop structure for buckling the pull ring.
According to some embodiments of the invention, the bending structure is provided with a through hole, and the telescopic rod can extend into the through hole.
According to the second aspect of the invention, the disassembling method of the automatic disassembling equipment by using the charging pile comprises the following steps:
s1, conveying a charging pile to the disassembling platform by a transport trolley;
s2, cutting an outer handle of the charging pile top-bottom lock by using the laser cutting device, then opening a side door by using the gripping device, then performing circular cutting on the installation positions of the display screen, the power supply control module, the charging gun ammeter module and the charging control unit by using the laser cutting device, and finally cutting a connecting hinge of a left side door and a right side door;
s3, cutting and clamping all the electric wires by using an electric wire cutting device;
s4, correspondingly sucking a left side door, a right side door, a power supply control module, a charging gun ammeter module, a charging control unit and a display screen by using an electromagnetic sucking device and a sucking disc extracting device;
s5, performing rotary cutting on the mounting screw of the power module by using a circular cutting device, and extracting the power module by using a power module extraction device;
and S6, finally, transporting the remaining charging pile shells to a scrap iron recycling place.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a conventional charging pile;
fig. 2 is a schematic diagram of an internal structure of a conventional charging pile at a certain viewing angle;
fig. 3 is a schematic view of an internal structure of a conventional charging pile at another view angle;
FIG. 4 is a schematic diagram of the overall structure of an embodiment of the present invention;
FIG. 5 is a schematic structural view of a rotary platform;
FIG. 6 is a schematic view of a robotic arm;
FIG. 7 is a schematic structural view of a laser cutting apparatus;
FIG. 8 is a schematic view of the grasping apparatus;
FIG. 9 is an exploded view of the grasping device;
fig. 10 is a schematic structural view of the wire cutting device;
fig. 11 is a schematic structural view of the wire cutting apparatus after the main frame of the cutting apparatus is removed;
FIG. 12 is an exploded view of the ring cutting apparatus;
FIG. 13 is a schematic structural diagram of a power module extraction device;
FIG. 14 is a schematic view of the telescopic rod assembly of the power module extraction device;
fig. 15 is a state diagram of the power module extraction device in use.
The disassembly table 100, the rotation platform 200, the moving base 210, the rotation disc 220, the plurality of robot arms 300, the base 310, the rotation table 320, the large arm 330, the connecting member 340, the rotation sleeve 350, the small arm 360, the gripper connecting mechanism 370, the laser cutting device 400, the nozzle 410, the focusing lens 420, the focusing tracking system connecting wire 430, the fiber laser connecting wire 440, the gripping device 500, the fixing frame 510, the lifting frame 520, the nut 521, the finger 530, the pull rod 540, the elongated through hole 550, the first fixing point 560, the first movable point 570, the lead screw 580, the wire cutting device 600, the cutting device main frame 610, the second gripper 620, the saw wheel 630, the rotary cutting disc 640, the connecting rod 650, the second fixing point 660, the second movable point 670, the push rod 680, the push sliding sleeve 681, the electromagnetic suction device 700, the suction cup extraction device 800, the circular cutting device 900, the front cover 910, the rear cover 920, the double-layer turntable 930, the electric charging device comprises a cutting knife 950, a power supply module extraction device 1000, an extraction bracket 1010, a central gear 1020, an expansion link 1030, a bending structure 1040, a through hole 1050, a charging pile 1100, a power supply module 1110, a pull ring 1111, a power supply control module 1120, a display screen 1130, a charging control unit 1140, a relay module 1150, a charging gun electric meter module 1160, an electric wire 1170, a white ferrule 1171, a left side door 1180, a right side door 1180, a world lock 1190 and a transport trolley 1200.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 4, an automatic equipment of disassembling of electric pile fills includes:
a disassembly station 100;
the rotating platform 200 comprises a rotating disc 220 for loading the charging pile, and the charging pile automatic disassembling equipment rotating platform 200 can move on the charging pile automatic disassembling equipment disassembling platform 100, wherein the moving direction in fig. 4 is from right to left;
the mechanical arms 300 are sequentially arranged at the side edge of the charging pile automatic disassembling equipment disassembling platform (100);
the automatic charging pile dismantling device comprises a laser cutting device 400, a gripping device 500, a wire cutting device 600, an electromagnetic suction device 700, a sucker extraction device 800, an annular cutting device 900 and a power module extraction device 1000 which are sequentially arranged along a charging pile automatic dismantling device dismantling platform 100, wherein the charging pile automatic dismantling device comprises the laser cutting device 400, the charging pile automatic dismantling device gripping device 500, the charging pile automatic dismantling device wire cutting device 600, the charging pile automatic dismantling device electromagnetic suction device 700, the charging pile automatic dismantling device sucker extraction device 800, the charging pile automatic dismantling device annular cutting device 900 and the charging pile automatic dismantling device power module extraction device 1000 are respectively subjected to three-dimensional space motion through a charging pile automatic dismantling device mechanical arm 300;
fill electric pile automation and disassemble and equip power module extraction element 1000 and include telescopic rod subassembly and extraction support 1010, fill electric pile automation and disassemble and equip telescopic rod subassembly and extract support 1010 and constitute closed loop construction, fill electric pile automation and disassemble and equip closed loop construction and be used for withholding power module 1110's pull ring 1111.
In this embodiment, the disassembling table 100 is divided into four functional areas, the first functional area is provided with a mechanical arm 300 on both sides, the laser cutting device 400 and the gripping device 500 are respectively installed, the mechanical arm 300 is provided on one side of the second functional area, the wire cutting device 600 is installed, the mechanical arm 300 is provided on both sides of the third functional area, the electromagnetic suction device 700 and the suction cup extraction device 800 are respectively installed, the mechanical arm 300 is provided on both sides of the fourth functional area, and the circular cutting device 900 and the power module extraction device 1000 are respectively installed.
The specific disassembling method comprises the following steps:
s1, the transport trolley 1200 conveys the charging pile 1100 to the disassembling platform 100, and the transport trolley 1200 moves according to a preset track under the control of a program, so that automatic alignment with the disassembling platform 100 can be realized;
s2, firstly entering a first functional area, cutting an outer handle of a charging pile 1100 sky and ground lock 1190 by using a laser cutting device 400, then opening a side door by using a gripping device 500, then performing circular cutting on the installation positions of a display screen 1130, a power supply control module 1120, a charging gun electricity meter module 1160 and a charging control unit 1140 by using the laser cutting device 400, and finally cutting a connecting hinge of a left side door 1180 and a right side door 1180 to prepare for subsequent extraction;
s3, cutting and clamping all the electric wires 1170 by using the electric wire cutting device 600, arranging white electric wire 1170 ferrules at the joint of two ends of the electric wires 1170 in the charging pile 1100, positioning the cutting of the electric wires 1170 by identifying the position of the white ferrules 1171, installing the electric wire cutting device 600 on a mechanical arm by using a mechanical arm connecting piece 340, and controlling the movement of the mechanical arm to enable the electric wire cutting device 600 to reach a designated clamping and shearing position;
s4, correspondingly sucking a left side door 1180, a right side door 1180, a power supply control module 1120, a charging gun ammeter module 1160, a charging control unit 1140 and a display screen 1130 by using the electromagnetic sucking device 700 and the sucking disc extracting device 800;
s5, the ring cutting device 900 is used for rotationally cutting the mounting screw of the power supply module 1110, a circle is cut on an iron sheet ring on the power supply module 1110 connected with the screw, the power supply module 1110 can be extracted without disassembling the screw, the problems that the screw is not accurately positioned during intelligent disassembly and the damaged screw is not detachable are solved, the pull ring 1111 on the power supply module 1110 is buckled by the power supply module extracting device 1000, the screw is pulled outwards, and the power supply module 1110 can be extracted;
and S6, finally, transporting the rest charging pile 1100 shells to a scrap iron recycling place by using a transport trolley 1200.
In some of these embodiments, the disassembly station 100 is comprised of a rack and rail, a disassembly platform, and a robotic arm mounting platform. The guide rail rack is installed on the disassembling platform so that the rotary platform 200 moves along the disassembling platform, and the mechanical arm installation platform is used for fixing the mechanical arm.
In some embodiments, the rotating platform 200, as shown in fig. 5, includes a moving base 210 and a rotating disc 220, wherein gears are disposed on two sides of the moving base 210, the moving base moves on the disassembling table 100 through rack-and-pinion engagement, the rotating disc 220 is rotatably connected to the upper surface of the moving base 210, and the rotating direction of the rotating disc 220 is controlled by a motor.
In some of these embodiments, the upper surface of the transport trolley 1200 is provided with racks on both sides so that the rotary platform 200 can be moved from the transport trolley 1200 to the dismantling platform.
In some embodiments, the robotic arm is composed of, from bottom to top, a base 310, a rotary table 320, a large arm 330, a link 340, a rotary sleeve 350, a small arm 360, and a gripper linkage 370, as shown in fig. 6. The big arm 330 is hinged with the rotating platform 320, the rotating sleeve 350 is hinged with the big arm 330, two ends of the connecting piece 340 are respectively hinged with the big arm 330 and the rotating sleeve 350, the rotating sleeve 350 is fixedly connected with the small arm 360, the small arm 360 is hinged with the gripper connecting mechanism 370, the top of the gripper connecting mechanism 370 is used for connecting various actuating mechanisms, and three-dimensional space motion of the actuating mechanisms is realized through matching of the components.
In some of these embodiments, the laser cutting apparatus 400 is shown in fig. 7 and is comprised of a nozzle 410, a focusing lens 420, a focus tracking system, and a fiber laser. The touch nozzle, the focusing lens 420 and the focusing tracking system form a cutting knife 950 of the laser cutting device 400, which is responsible for the output end of the laser, and the fiber laser is a generator of the laser. The laser cutting device 400 is installed on the mechanical arm, the outer handle of the top-bottom lock 1190 is firstly cut off by the laser cutting device 400 driven by the mechanical arm, the outer handle of the general top-bottom lock 1190 is tilted under the action of a spring, then the outer handle of the top-bottom lock 1190 tilted in half is grabbed and rotated through the grabbing device 500, so that a side door is opened, then the iron sheets of the installation positions of the display screen 1130, the power supply control module 1120, the charging gun ammeter module 1160 and the charging control unit 1140 are circularly cut, and finally the connecting hinges of the left side door 1180 and the right side door 1180 are cut, so that preparation is made for extracting the display screen 1130, the power supply control module 1120, the relay module 1150, the charging gun ammeter module 1160, the charging control unit 1140 and the left side door 1180 and the. The laser cutting device 400 can generate extremely small laser spots, has high energy density and high cutting speed, and therefore can obtain better cutting quality.
In some embodiments, the grasping apparatus 500 is shown in fig. 8 to 9, and includes a fixed frame 510, a pulling frame 520, and a first grip, wherein the pulling frame 520 is movable up and down, the lower end surface of the pulling frame 520 is provided with two or more vertical pull rods 540, the end of each pull rod 540 is provided with a horizontal elongated through hole 550, the first grip includes two or more fingers 530, each finger 530 has a first fixing point 560 and a first movable point 570, the first fixing point 560 is hinged to the fixed frame 510, the first movable point 570 is connected to the pull rod 540 through the elongated through hole 550, and the up and down movement of the pulling frame 520 can drive each finger 530 to rotate around the first fixing point 560 to achieve the opening and closing of the first grip. The first fixing point 560 and the first movable point 570 are cylindrical rotating shafts, the charging pile 1100 subjected to laser cutting by the handle of the top-bottom lock 1190 is rotated by 180 degrees through the rotating platform 200, the grabbing device 500 is connected to the mechanical arm by the mechanical arm connecting piece 340, the movable grabbing device 500 of the mechanical arm is moved to the position right in front of the outer handle of the top-bottom lock 1190 which bounces by the laser cutting, the pulling frame 520 is lifted up and down, so that the first grabbing hand can realize opening and closing grabbing actions by taking the first fixing point 560 as a rotating shaft, after the grabbing device 500 grabs the outer handle of the tilted top-bottom lock 1190, the mechanical arm is rotated to open the top-bottom lock 1190, and after the side doors on the left side and the right side are opened, the charging pile 1100 is rotated by 180 degrees by the rotating platform 200 to perform laser cutting inside the charging pile 1100. The grabbing device 500 is simple in structure, grabbing actions can be completed only by one motor, and operation stability is high.
In some embodiments, the grasping apparatus 500 further includes a lead screw 580, the lifting frame 520 is sleeved on the lead screw 580, a nut 521 is fixedly disposed on the lifting frame 520, so that the lead screw 580 is in threaded connection with the lifting frame 520, and the lead screw 580 rotates to drive the lifting frame 520 to move up and down. The motor is installed on the main frame and is connected lead screw 580, is equipped with the bearing on the lead screw 580 and makes lead screw 580 can the steady operation, and lead screw 580 and nut 521 cooperation upwards pull up nut 521 under the drive of motor, and nut 521 connects and makes on pulling up frame 520 and then rise together, and the rotation direction of motor can control the lift that pulls up frame 520.
In some of these embodiments, the wire cutting device 600 as shown in fig. 10-11 comprises a cutting device main frame 610, a second hand grip 620, a saw wheel 630, a rotary cutter disc 640, and a movable link 650, wherein the second hand grip 620 comprises two grip levers, each grip lever has a second fixed position 660 and a second movable position 670, the second fixed position 660 is hinged to the cutting device main frame 610, the second movable position 670 is hinged to the link 650, the movement of the link 650 can drive each grip lever to rotate around the second fixed position 660 to open and close the second hand grip 620, and the rotary cutter disc 640 is rotatably connected to the cutting device main frame 610 and eccentrically connected to the saw wheel 630. The connection of the two ends of the electric wire 1170 inside the charging pile 1100 is provided with a white electric wire 1170 ferrule. It should be noted that, because the number of the electric wires in the charging pile 1100 is large, the electric wire 1170 is only taken as an example in this embodiment. The cutting of the wire 1170 may be positioned by recognizing the position of the white ferrule 1171, and the wire cutting device 600 is mounted to a robot arm by a robot arm connector 340, and controlling the movement of the robot arm may allow the wire cutting device 600 to reach a designated gripping and cutting position. The motor drives the connecting rod 650 to push the second movable point 670 on the grasping rod, so that the grasping rod rotates by taking the second fixed point 660 as a central point, thereby grasping the electric wire 1170, then the saw wheel 630 is driven by the motor to rotate, the rotary cutting disc 640 is driven by another motor and is driven by a worm gear, the rotary cutting disc 640 rotates to drive the saw wheel 630 rotating at a high speed to cut the electric wire 1170, and after the head and the tail of the electric wire 1170 are cut, the electric wire 1170 can be clamped and taken out by a gripper. This wire cutting device 600 has combined the cutting and has snatched the function, can press from both sides the electric wire at once after accomplishing the cutting, need not to change other final controlling element, and the operation is convenient high-efficient more.
In some embodiments, the electric wire cutting device 600 further includes a push rod 680, the push rod 680 is connected to the link 650, a rack is disposed on the push rod 680, a sliding sleeve of the push rod 680 is sleeved on the push rod 680, the push rod 680 is slidably fixed to the cutting device main frame 610, and a gear is driven by a motor and meshed with the rack so that the push rod 680 can push the link 650 forward along the sliding sleeve of the push rod 680.
In some embodiments, the ring cutting device 900 is as shown in fig. 12, and includes a rotatable ring cutting head, the ring cutting head includes a front cover 910, a rear cover 920, a double-layer turntable 930, a knob 940, and a plurality of cutters 950 mounted on the front cover 910 in an annular array, the cutters 950 are slidably connected to the front cover 910, the double-layer turntable 930 is mounted between the front cover 910 and the rear cover 920, the knob 940 is located at a rear side of the double-layer turntable 930, a front end surface of the double-layer turntable 930 is provided with a planar thread and is in threaded engagement with the cutters, and a rear end surface of the double-layer turntable 930 is a bevel gear and is in engagement with the. Firstly, the mechanical arm drives the mechanical arm connecting piece 340 to move, so that the circular cutting device 900 reaches a specified position, the motor is a power source for rotary cutting, the motor transmits rotary power to the circular cutting head through the meshing of two bevel gears, the bevel gear on the knob 940 is meshed with the bevel gear on the rear end face of the double-layer turntable 930 to drive the double-layer turntable 930 to rotate, and when the double-layer turntable 220 rotates, the plane thread on the front end face is matched with the thread on the cutting knife, so that the cutting knife moves outwards or inwards along the sliding rail on the front cover 910 to realize the adjustment of the circular cutting radius of the circular cutting head. Therefore, before the ring cutting device 900 works, the ring cutting radius of the ring cutting head needs to be adjusted according to the type of the connection screw of the power module 1110, specifically, the ring cutting radius is adjusted by rotating the knob 940. The ring-cutting device 900 can adjust the ring-cutting radius, and is more versatile than the conventional fixed ring-cutting radius.
In some embodiments, as shown in fig. 13 to 15, the power module extraction device 1000 includes an expansion link 1030 component and an extraction support 1010, where the expansion link 1030 component includes a central gear 1020 and expansion links 1030 located at two sides of the central gear 1020, an inner side of each expansion link 1030 is a rack and engaged with the central gear 1020, an outer side of each expansion link 1030 is slidably connected with the extraction support 1010, two ends of each extraction support 1010 are bent towards the expansion link 1030 to form a bending structure 1040, and specifically, the bending angle of the bending structure 1040 is 90 °. The central gear 1020 drives the two extension rods 1030 in opposite directions until they contact the bending structures 1040 to form a closed loop for catching the pull ring 1111. After the power module 1110 is connected with the screw by the circular cutting device 900, the power module extraction device 1000 moves to the pull ring 1111 in front of the power module 1110 through the mechanical arm, the central gear 1020 is driven to rotate by the cooperation of the motor and the worm and gear, the central gear 1020 is meshed with the rack on the telescopic rod 1030, so that the telescopic rod 1030 moves in the opposite direction until contacting with the bending structure 1040, the extraction support 1010 and the telescopic rod 1030 form a closed loop structure, at this time, the pull ring 1111 is buckled into the closed loop, and then the power module 1110 can be extracted by moving the mechanical arm. This source module extraction element 1000 can buckle two pull rings on power module 1110 simultaneously, only adopts comparatively light telescopic link can obtain great bearing capacity, guarantees that the level pulls out power module 1110, and the movement resistance is littleer.
In some embodiments, the bending structure 1040 has a through hole 1050, the telescopic rod 1030 can extend into the through hole 1050, and the through hole 1050 can assist in stressing the telescopic rod 1030, so that the closed loop is more tightly closed and firm, and the power module 1110 is prevented from falling off.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. The utility model provides an automatic equipment of disassembling of electric pile fills, its characterized in that includes:
a disassembly station (100);
a rotating platform (200) comprising a rotating disc (220) for loading charging poles, said rotating platform (200) being movable on said dismantling station (100);
the mechanical arms (300) are sequentially arranged on the side edge of the disassembling platform (100);
a laser cutting device (400), a grabbing device (500), a wire cutting device (600), an electromagnetic suction device (700), a sucker extraction device (800), an annular cutting device (900) and a power module extraction device (1000) are sequentially arranged along the disassembling table (100), and the laser cutting device (400), the grabbing device (500), the wire cutting device (600), the electromagnetic suction device (700), the sucker extraction device (800), the annular cutting device (900) and the power module extraction device (1000) respectively perform three-dimensional space motion through the mechanical arm (300);
the power module extraction device (1000) comprises a telescopic rod assembly and an extraction bracket (1010), wherein the telescopic rod assembly and the extraction bracket (1010) form a closed-loop structure, and the closed-loop structure is used for buckling a pull ring (1111) of the power module (1110).
2. The automated charging pile dismantling apparatus of claim 1, wherein said rotating platform (200) further comprises a moving base (210), said moving base (210) moves on said dismantling station (100) through a rack and pinion, and said rotating disk (220) is rotatably connected to an upper side of said moving base (210).
3. The automated charging pile dismantling apparatus according to claim 1, wherein the gripping device (500) includes a fixed frame (510), a pulling frame (520), and a first gripper, the pulling-up frame (520) can move up and down, more than two vertical pull rods (540) are arranged on the lower end surface of the pulling-up frame (520), the tail end of the pull rod (540) is provided with a horizontal long through hole (550), the first hand grip comprises more than two fingers (530), each finger (530) is provided with a first fixing position (560) and a first movable position (570), the first fixing point (560) is hinged with the fixing frame (510), the first movable point (570) is connected with the pull rod (540) through the long through hole (550), the up-and-down motion of the pulling-up frame (520) can drive each finger (530) to rotate around the first fixing point (560) to realize the opening and closing of the first gripper.
4. The automatic disassembly device of charging pile of claim 3, wherein the gripping device (500) further comprises a lead screw (580), the pulling-up frame (520) is sleeved on the lead screw (580), the lead screw (580) is in threaded connection with the pulling-up frame (520), and the lead screw (580) rotates to drive the pulling-up frame (520) to move up and down.
5. The automated charging pile dismantling equipment according to claim 1, wherein the wire cutting device (600) includes a cutting device main frame (610), a second gripper (620), a saw wheel (630), a rotary cutter (640), and a movable link (650), the second gripper (620) comprising two gripping bars, each gripping bar having a second fixation point (660) and a second active point (670), the second fixing site (660) is hinged with the cutting device main frame (610), the second movable point (670) is hinged with the connecting rod (650), the movement of the connecting rod (650) can drive each grabbing rod to rotate around the second fixed point (660) to realize the opening and closing of the second grabbing hand (620), the rotary cutting disc (640) is rotatably connected to the cutting device main frame (610) and eccentrically connected with the saw wheel (630).
6. The automatic disassembly device of charging pile of claim 5, characterized in that the wire cutting device (600) further comprises a push rod (680), the push rod (680) is connected with the connecting rod (650), and a rack is arranged on the push rod (680).
7. The automatic disassembly equipment of charging pile of claim 1, wherein the circular cutting device (900) comprises a rotatable circular cutting head, the circular cutting head comprises a front cover (910), a rear cover (920), a double-layer turntable (930), a knob (940) and a plurality of cutting knives (950) which are arranged on the front cover (910) in an annular array mode, the cutting knives (950) are in sliding connection with the front cover (910), the double-layer turntable (930) is arranged between the front cover (910) and the rear cover (920), the knob (940) is located on the rear side of the double-layer turntable (930), the front end face of the double-layer turntable (930) is provided with plane threads and is in threaded fit with the cutting knives (950), and the rear end face of the double-layer turntable (930) is a bevel gear and is in fit with the knob (940).
8. The automatic disassembly equipment of charging pile of claim 1, characterized in that the telescopic rod assembly is composed of a central gear (1020) and telescopic rods (1030) located at two sides of the central gear (1020), the telescopic rods (1030) are rack-shaped on the inner side and meshed with the central gear (1020), the outer side is connected with the extraction bracket (1010) in a sliding manner, two ends of the extraction bracket (1010) are bent towards the telescopic rods (1030) to form a bent structure (1040), and the central gear (1020) can drive the two telescopic rods (1030) to move in opposite directions until the telescopic rods are contacted with the bent structure (1040) to form a closed loop structure for buckling the pull ring (1111).
9. Automatic disassembly equipment of charging pile according to claim 6, characterized in that bending structure (1040) is provided with through hole (1050), and telescopic rod (1030) can stretch into through hole (1050).
10. A disassembling method for automatic disassembling equipment for charging piles according to claim 1 is characterized by comprising the following steps:
s1, a transport trolley (1200) conveys a charging pile (1100) to the disassembling platform (100);
s2, cutting an outer handle of a charging pile (1100) top-bottom lock (1190) by using the laser cutting device (400), then opening a side door by using the grabbing device (500), then performing circular cutting on mounting positions of a display screen (1130), a power supply control module (1120), a charging gun electricity meter module (1160) and a charging control unit (1140) by using the laser cutting device (400), and finally cutting connecting hinges of a left side door (1180) and a right side door (1180);
s3, cutting and clamping all the electric wires (1170) by using the electric wire cutting device (600);
s4, correspondingly sucking a left side door (1180), a right side door (1180), a power supply control module (1120), a charging gun ammeter module (1160), a charging control unit (1140) and a display screen (1130) by using the electromagnetic sucking device (700) and the sucker extracting device (800);
s5, performing rotary cutting on the mounting screw of the power module (1110) by using the circular cutting device (900), and extracting the power module (1110) by using the power module extraction device (1000);
and S6, finally, transporting the remaining charging pile (1100) shell to a scrap iron recycling place.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011007275.XA CN112139674A (en) | 2020-09-23 | 2020-09-23 | Automatic disassembling equipment and method for charging pile |
| PCT/CN2021/091600 WO2022062411A1 (en) | 2020-09-23 | 2021-04-30 | Automatic disassembling apparatus and method for charging pile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011007275.XA CN112139674A (en) | 2020-09-23 | 2020-09-23 | Automatic disassembling equipment and method for charging pile |
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| CN112139674A true CN112139674A (en) | 2020-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011007275.XA Pending CN112139674A (en) | 2020-09-23 | 2020-09-23 | Automatic disassembling equipment and method for charging pile |
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| Country | Link |
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| CN (1) | CN112139674A (en) |
| WO (1) | WO2022062411A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114178285A (en) * | 2021-10-19 | 2022-03-15 | 中国电器科学研究院股份有限公司 | Charging pile disassembly and recovery processing method |
| WO2022062411A1 (en) * | 2020-09-23 | 2022-03-31 | 广东邦普循环科技有限公司 | Automatic disassembling apparatus and method for charging pile |
| CN115446587A (en) * | 2022-08-25 | 2022-12-09 | 西南交通大学 | Railway freight car wheel counter bearing front cover dismounting system |
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| CN115156887B (en) * | 2022-07-14 | 2024-02-27 | 北京北方华创微电子装备有限公司 | Dismounting mechanism |
| CN115647637B (en) * | 2022-11-18 | 2024-03-22 | 东莞市澜顺鑫实业有限公司 | Shell welding process of charging pile |
| CN115922753B (en) * | 2023-01-09 | 2023-06-30 | 郴州市海通电子有限公司 | Integrated mechanical arm |
| CN116811633A (en) * | 2023-08-28 | 2023-09-29 | 国网天津市电力公司滨海供电分公司 | Mobile sharing umbrella-shaped charging pile |
| CN117855661B (en) * | 2024-03-08 | 2024-05-14 | 山东希格斯新能源有限责任公司 | Lithium battery disassembling platform |
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| DE19527250C2 (en) * | 1995-07-26 | 1998-05-28 | Ruthmann Anton Gmbh & Co | Plant for dismantling old motor vehicles |
| CN206432623U (en) * | 2017-01-17 | 2017-08-22 | 西安交通大学 | A kind of combination barrier clearing device that foreign matter robot is removed for transmission line of electricity |
| CN207616596U (en) * | 2017-11-24 | 2018-07-17 | 西安科技大学 | A kind of drive lacking three-jaw clamping device |
| CN107994285A (en) * | 2017-12-06 | 2018-05-04 | 上海国际汽车城（集团）有限公司 | A kind of retired battery of electric automobile disassembles being assembled into one production system automatically |
| CN210350642U (en) * | 2019-09-21 | 2020-04-17 | 河北嘉日电力设施安装工程有限公司 | Peeling device for cable |
| CN112139674A (en) * | 2020-09-23 | 2020-12-29 | 广东邦普循环科技有限公司 | Automatic disassembling equipment and method for charging pile |
-
2020
- 2020-09-23 CN CN202011007275.XA patent/CN112139674A/en active Pending
-
2021
- 2021-04-30 WO PCT/CN2021/091600 patent/WO2022062411A1/en active Application Filing
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022062411A1 (en) * | 2020-09-23 | 2022-03-31 | 广东邦普循环科技有限公司 | Automatic disassembling apparatus and method for charging pile |
| CN114178285A (en) * | 2021-10-19 | 2022-03-15 | 中国电器科学研究院股份有限公司 | Charging pile disassembly and recovery processing method |
| CN114178285B (en) * | 2021-10-19 | 2023-02-28 | 中国电器科学研究院股份有限公司 | Charging pile disassembly and recovery processing method |
| CN115446587A (en) * | 2022-08-25 | 2022-12-09 | 西南交通大学 | Railway freight car wheel counter bearing front cover dismounting system |
| CN115446587B (en) * | 2022-08-25 | 2023-07-14 | 西南交通大学 | Railway wagon wheel pair bearing front cover dismounting system |
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| Publication number | Publication date |
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| WO2022062411A1 (en) | 2022-03-31 |
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