WO2022062411A1 - 充电桩自动化拆解装备及方法 - Google Patents

充电桩自动化拆解装备及方法 Download PDF

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Publication number
WO2022062411A1
WO2022062411A1 PCT/CN2021/091600 CN2021091600W WO2022062411A1 WO 2022062411 A1 WO2022062411 A1 WO 2022062411A1 CN 2021091600 W CN2021091600 W CN 2021091600W WO 2022062411 A1 WO2022062411 A1 WO 2022062411A1
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WIPO (PCT)
Prior art keywords
cutting device
dismantling
power module
cutting
charging
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PCT/CN2021/091600
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English (en)
French (fr)
Inventor
余海军
吴金东
谢英豪
刘述敏
Original Assignee
广东邦普循环科技有限公司
湖南邦普循环科技有限公司
湖南邦普汽车循环有限公司
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Application filed by 广东邦普循环科技有限公司, 湖南邦普循环科技有限公司, 湖南邦普汽车循环有限公司 filed Critical 广东邦普循环科技有限公司
Publication of WO2022062411A1 publication Critical patent/WO2022062411A1/zh

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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
    • 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
    • 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

Definitions

  • the invention relates to the technical field of recycling and utilization of charging piles, in particular to an equipment and method for automatic dismantling of charging piles.
  • charging piles have become an indispensable supporting facility and have been widely constructed. According to statistics, by 2020, the number of new energy vehicles in my country will reach 6.1 million, and the number of supporting charging piles will reach 1.743 million. The life of charging piles is generally 5 to 10 years. The protocol and charging interface are not unified, and the charging piles installed in the early stage have gradually withdrawn from the market and need to be scrapped and dismantled. With the passage of time, the charging piles installed in recent years will usher in explosive scrapping after 3 to 5 years. Standardized dismantling of scrapped charging piles will become an indispensable part of the sustainable development of the entire industry chain of new energy vehicles. .
  • charging piles belong to general electronic waste, and the problem of scrapping and dismantling of charging piles has not been paid attention to by the public.
  • the inside of the charging pile contains a large number of circuit boards.
  • the circuit boards are classified as hazardous waste, the category is HW49, and the code is 900 ⁇ 045 ⁇ 49. If the charging pile cannot be dismantled in a standardized manner, it will cause huge harm to the environment.
  • the traditional dismantling of the charging pile is to cut the shell with a manual hand-held cutting machine, and then use scissors to cut and electric/pneumatic screw removal tools to separate the modules.
  • the traditional dismantling method is a manual hand-held cutting operation, which has a large potential safety hazard and can easily hurt people; in addition, the manual dismantling is inefficient and cannot meet the dismantling of a large number of scrapped charging piles, with obvious limitations.
  • the structure of the existing charging pile is shown in Figure 1. It consists of a power module 1110, a power control module 1120, a display screen 1130, a billing control unit 1140, a relay module 1150, a charging gun meter module 1160, wires 1170, left and right side doors 1180, heaven and earth Lock 1190 composition.
  • the left and right side doors of the charging pile 1100 are provided with heaven and earth locks, and the power module is provided with a pull ring 1111 for easy extraction.
  • the power module is inserted into the box of the charging pile and fixed by screws on both sides.
  • the power control module and the relay are symmetrical in front and back.
  • the electric meter module of the charging gun is also installed symmetrically, that is, it is installed in the same position of the iron sheet of the charging box, except that one part is behind the front part, and the iron sheet can be cut out and taken out together.
  • the billing control unit is fixed on the bracket by screws.
  • white ferrules 1171 at the beginning and end of the connection between the wires connected to each module and the cutting wires, which provides a good positioning point for the cutting of the wires.
  • the wires in 1 are only drawn as two for representation.
  • the present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention proposes an automatic dismantling equipment for charging piles for charging piles in the background art, which can realize batch dismantling of decommissioned charging piles, and solve the limitations of low efficiency and high cost of manual dismantling.
  • the present invention also provides a dismantling method for automatically dismantling the equipment by using the charging pile.
  • a rotating platform including a rotating disk for loading charging piles, the rotating platform can move on the dismantling platform;
  • a number of mechanical arms are sequentially arranged on the side of the dismantling table
  • a laser cutting device, a grasping device, a wire cutting device, an electromagnetic suction device, a suction cup extracting device, a ring cutting device and a power module extracting device are sequentially arranged along the dismantling table.
  • the laser cutting device, the grasping device, The wire cutting device, the electromagnetic suction device, the suction cup extraction device, the ring cutting device and the power module extraction device are each moved in three-dimensional space through the mechanical arm;
  • the power module extraction device includes a telescopic rod assembly and an extraction bracket, the telescopic rod assembly and the extraction bracket form a closed-loop structure, and the closed-loop structure is used to fasten the pull ring of the power module.
  • the present invention provides an intelligent dismantling device for charging piles for the first time, which prevents employees from dismantling the charging piles with dismantling tools by hand, and solves the danger of physical damage during manual dismantling.
  • the dismantling equipment of the present invention adopts fully automatic operation from feeding to completion of dismantling, which can realize continuous dismantling work, and has a high degree of intelligence, fast disassembly speed and high efficiency.
  • the equipment of the present invention can realize batch dismantling of retired charging piles, and solve the limitations of low efficiency and high cost of manual dismantling.
  • the intelligent dismantling method used in the present invention has high precision, strong stability, and little damage to the extraction module, which can well preserve the integrity of the module and facilitate the subsequent step utilization of the module. Improve the economic benefits of dismantling.
  • the rotating platform includes a moving base and a rotating plate, the moving base moves on the dismantling platform through a rack and pinion, and the rotating plate is rotatably connected to the upper surface of the moving base.
  • the grabbing device includes a fixing frame, a lifting frame and a first gripper, the lifting frame can move up and down, and the lower end surface of the lifting frame is provided with two or more vertical
  • the end of the pull rod is provided with a horizontal elongated through hole
  • the first gripper includes more than two fingers, each finger has a first fixed position and a first movable position, the first fixed position The position is hinged with the fixed frame, the first active position is connected with the pull rod through the long through hole, and the up and down movement of the pull frame can drive each finger to rotate around the first fixed position to Realize the opening and closing of the first gripper.
  • the grabbing device further includes a lead screw, the lifting frame is sleeved on the lead screw, the lead screw is threadedly connected with the lifting frame, and the lead screw rotates
  • the lifting frame can be driven to move up and down.
  • the wire cutting device includes a main frame of the cutting device, a second gripper, a saw wheel, a rotary cutting disc and a movable link
  • the second gripper includes two gripping bars, each Each grab bar has a second fixed point and a second movable point, the second fixed point is hinged with the main frame of the cutting device, the second movable point is hinged with the connecting rod, the connecting rod
  • the movement of the rotary cutter can drive each grab bar to rotate around the second fixed position to realize the opening and closing of the second grab.
  • the rotary cutting disc is rotatably connected to the main frame of the cutting device, and is eccentrically connected to the saw wheel.
  • the wire cutting device further includes a push rod, the push rod is connected with the connecting rod, and a rack is provided on the push rod.
  • the circumcision device includes a rotatable circumcision head comprising a front cover, a back cover, a double-layered turntable, a knob, and an annular array of several cutters mounted on the front cover
  • the cutting knife is slidably connected to the front cover
  • the double-layer turntable is installed between the front cover and the rear cover
  • the knob is located on the rear side of the double-layer turntable
  • the double-layer turntable The front end surface of the double-layer turntable is provided with a plane thread and cooperates with the cutting knife thread
  • the rear end surface of the double-layer turntable is a bevel gear and cooperates with the knob.
  • the power module extraction device includes a telescopic rod assembly and an extraction bracket
  • the telescopic rod assembly is composed of a central gear and telescopic rods located on both sides of the central gear, and the inner side of the telescopic rod is
  • the rack is meshed with the central gear, and the outer side is slidably connected to the extraction bracket.
  • Both ends of the extraction bracket are bent toward the telescopic rod to form a bending structure.
  • the central gear can drive the two telescopic rods to reverse. The direction is moved until contact with the bent structure to form a closed loop structure for clasping the pull ring.
  • the bending structure is provided with a through hole, and the telescopic rod can extend into the through hole.
  • the transport trolley transports the charging pile to the dismantling platform
  • FIG. 1 is a schematic structural diagram of an existing charging pile
  • Figure 2 is a schematic diagram of the internal structure of an existing charging pile from a certain perspective
  • FIG. 3 is a schematic diagram of the internal structure of the existing charging pile from another perspective
  • FIG. 4 is a schematic diagram of the overall structure of an embodiment of the present invention.
  • Fig. 5 is the structural representation of the rotating platform
  • FIG. 6 is a schematic structural diagram of a robotic arm
  • FIG. 7 is a schematic structural diagram of a laser cutting device
  • FIG. 8 is a schematic structural diagram of a grabbing device
  • Figure 9 is an exploded view of the grasping device
  • Figure 10 is a schematic structural diagram of a wire cutting device
  • FIG. 11 is a schematic structural diagram of the wire cutting device after removing the main frame of the cutting device
  • Figure 12 is an exploded view of the circumcision device
  • FIG. 13 is a schematic structural diagram of a power module extraction device
  • FIG. 14 is a schematic structural diagram of the telescopic rod assembly of the power module extraction device
  • FIG. 15 is a state diagram of the use state of the power module extraction device.
  • Dismantling table 100 rotating platform 200, mobile base 210, rotating disk 220, several mechanical arms 300, base 310, rotating table 320, big arm 330, connecting piece 340, rotating sleeve 350, small arm 360, gripper connecting mechanism 370, laser cutting device 400, nozzle 410, focusing lens 420, focus tracking system connecting line 430, fiber laser connecting line 440, grabbing device 500, fixing frame 510, pulling frame 520, nut 521, finger 530, pulling 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, Connecting rod 650, second fixed position 660, second movable position 670, push rod 680, push rod sliding sleeve 681, electromagnetic suction device 700, suction cup extraction device 800, ring cutting device 900, front cover 910, rear cover
  • a charging pile automatic dismantling equipment including:
  • the rotating platform 200 includes a rotating disk 220 for loading charging piles.
  • the rotating platform 200 for automatic dismantling equipment for charging piles can move on the dismantling table 100 for automatic dismantling equipment for charging piles.
  • the movement direction in FIG. 4 is from right to left ;
  • a plurality of robotic arms 300 are sequentially arranged on the side of the charging pile automatic dismantling equipment dismantling table (100);
  • a laser cutting device 400, a grabbing device 500, a wire cutting device 600, an electromagnetic suction device 700, a suction cup extracting device 800, a ring cutting device 900 and a power module extracting device 1000 are arranged along the charging pile automatic dismantling equipment dismantling table 100 in sequence.
  • the suction cup extracting device 800 , the loop cutting device 900 for automatic dismantling equipment for charging piles, and the power module extracting device 1000 for automatic dismantling equipment for charging piles are each moved in three-dimensional space through the robotic arm 300 of automatic dismantling equipment for charging piles;
  • the power module extraction device 1000 of the automatic disassembly equipment for charging piles includes a telescopic rod assembly and an extraction bracket 1010.
  • the telescopic rod assembly and the extraction bracket 1010 for the automatic disassembly of charging piles form a closed-loop structure, and the closed-loop structure of the automatic disassembly equipment for charging piles is used to hold the power supply. Pull tab 1111 of module 1110.
  • the dismantling table 100 is divided into four functional areas, a robotic arm 300 is provided on both sides of the first functional area, and a laser cutting device 400 and a grabbing device 500 are respectively installed, and one of the second functional area is A mechanical arm 300 is installed on the side, a wire cutting device 600 is installed, a mechanical arm 300 is installed on both sides of the third functional area, an electromagnetic suction device 700 and a suction cup extraction device 800 are installed respectively, and both sides of the fourth functional area are installed. There is a robotic arm 300, and a ring cutting device 900 and a power module extraction device 1000 are respectively installed.
  • the specific disassembly method is as follows:
  • the transport trolley 1200 transports the charging pile 1100 to the dismantling table 100, and the transport trolley 1200 moves according to a preset trajectory under the control of the program, which can realize automatic alignment with the dismantling table 100;
  • the wire cutting device 600 uses the wire cutting device 600 to cut and clamp all the wires 1170.
  • the white wire 1170 ferrules are provided at the two ends of the wires 1170 inside the charging pile 1100, and the cutting of the wires 1170 can be positioned by identifying the position of the white ferrules 1171.
  • the wire cutting device 600 is mounted on the mechanical arm by the mechanical arm connector 340, and the movement of the control mechanical arm can make the wire cutting device 600 reach the designated clamping and cutting position;
  • the ring cutting device 900 uses the ring cutting device 900 to perform rotary cutting on the mounting screws of the power module 1110, and cut out a circle from the iron ring on the power module 1110 to which the screws are connected, so that the power module 1110 can be extracted without disassembling the screws. , which solves the problem that the screws cannot be accurately positioned during intelligent disassembly and the damaged screws are detachable. Then, the power module extracting device 1000 is used to fasten the pull ring 1111 on the power module 1110 and pull it outwards. The power module 1110 is extracted;
  • the dismantling table 100 is composed of a guide rail rack, a dismantling platform, and a robotic arm mounting platform.
  • the guide rail and rack are installed on the dismantling platform so that the rotating platform 200 moves along the dismantling platform, and the robotic arm mounting platform is used for fixing the robotic arm.
  • the rotating platform 200 includes a moving base 210 and a rotating disk 220. Gears are provided on both sides of the moving base 210, and the rotating platform 200 moves on the dismantling table 100 through the meshing of gear racks and rotates.
  • the disk 220 is rotatably connected to the upper surface of the moving base 210, and the rotation direction of the rotating disk 220 is controlled by a motor.
  • racks are provided on both sides of the upper surface of the transport trolley 1200 , so that the rotating platform 200 can be moved from the transport trolley 1200 to the dismantling platform.
  • the robotic arm consists of a base 310 , a rotating table 320 , a large arm 330 , a connecting piece 340 , a rotating sleeve 350 , a small arm 360 , and a gripper connecting mechanism from bottom to top. 370 compositions.
  • the big arm 330 is hinged with the rotary table 320
  • the rotary sleeve 350 is hinged with the big arm 330
  • the two ends of the connecting piece 340 are respectively hinged with the big arm 330 and the rotary sleeve 350
  • the rotary sleeve 350 is fixedly connected with the small arm 360
  • the small arm 360 is hinged with the gripper connection mechanism 370
  • the top of the gripper connection mechanism 370 is used to connect various actuators, and the three-dimensional space movement of each actuator is realized through the cooperation between the various components.
  • the laser cutting device 400 is composed of a nozzle 410, a focusing lens 420, a focusing tracking system, and a fiber laser.
  • the mouthpiece, the focusing lens 420, and the focusing and tracking system constitute the cutting knife 950 of the laser cutting device 400, which is responsible for the output end of the laser, and the fiber laser is the generator of the laser.
  • the laser cutting device 400 is installed on the mechanical arm. The laser cutting device 400 is driven by the mechanical arm to first cut off the outer handle of the heaven and earth lock 1190.
  • the outer handle of the ordinary heaven and earth lock 1190 will be tilted up under the action of the spring, and then Use the grab device 500 to grab and rotate the outer handle of the heaven and earth lock 1190 that is tilted up in half to open the side door.
  • the iron sheet is cut circularly, and finally the connecting hinges of the left and right side doors 1180 are cut to prepare for the extraction of the display screen 1130, the power control module 1120 + the relay module 1150, the charging gun meter module 1160, the billing control unit 1140 and the left and right side doors 1180.
  • the laser cutting device 400 can generate a very small laser spot, has high energy density and fast cutting speed, and thus can obtain better cutting quality.
  • the grabbing device 500 includes a fixing frame 510 , a lifting frame 520 and a first gripper, the pulling frame 520 can move up and down, and the lower end surface of the pulling frame 520 More than two vertical pull rods 540 are provided, and the end of the pull rod 540 is provided with a horizontal elongated through hole 550.
  • the first gripper includes more than two fingers 530, each finger 530 has a first fixing point 560 and a first The movable position 570, the first fixed position 560 is hinged with the fixed frame 510, the first movable position 570 is connected with the pull rod 540 through the long through hole 550, and the up and down movement of the pull frame 520 can drive each finger 530 to go around the first The fixation point 560 is rotated to achieve the opening and closing of the first gripper.
  • the first fixed point 560 and the first movable point 570 are both cylindrical shafts.
  • the charging pile 1100 after the laser cutting of the handle of the Tiandi lock 1190 is rotated 180 degrees, and the mechanical arm connector 340 will grab the
  • the device 500 is connected to the mechanical arm, and the mobile grabbing device 500 of the mechanical arm moves to the front of the outer handle of the heaven and earth lock 1190, which is half-bounced due to laser cutting, and the pull-up frame 520 moves up and down, so that the first gripper can move with the first
  • the fixed position 560 is the rotating shaft to realize the grasping action of opening and closing.
  • the grasping device 500 grasps the outer handle of the lifted heaven and earth lock 1190
  • the heaven and earth lock 1190 can be opened by the rotation of the mechanical arm.
  • the charging pile 1100 is rotated 180 degrees by the rotating platform 200 to perform laser cutting inside the charging pile 1100 .
  • the grasping device 500 has a simple structure, only needs one motor to drive to complete the grasping action, and has strong running stability.
  • the grabbing device 500 further includes a lead screw 580 , the lift frame 520 is sleeved on the lead screw 580 , and a nut 521 is fixed on the lift frame 520 , so that the lead screw 580 is connected to the lift frame 520 Threaded connection, the rotation of the lead screw 580 can drive the lifting frame 520 to move up and down.
  • the motor is installed on the main frame and connected to the lead screw 580.
  • the lead screw 580 is provided with a bearing so that the lead screw 580 can run stably.
  • the lead screw 580 cooperates with the nut 521. Driven by the motor, the nut 521 is pulled up, and the nut 521 is connected. On the pulling frame 520, the pulling frame 520 is raised along with it, and the rotation direction of the motor can control the lifting and lowering of the pulling frame 520.
  • the wire cutting device 600 includes a cutting device main frame 610, a second gripper 620, a saw wheel 630, a rotary cutting disc 640, and a movable link 650.
  • the second gripper 620 includes two gripping rods, each gripping rod has a second fixing position 660 and a second movable position 670, the second fixing position 660 is hinged with the main frame 610 of the cutting device, and the second movable position 670 is connected with the main frame 610 of the cutting device.
  • the connecting rod 650 is hinged, and the movement of the connecting rod 650 can drive each grab bar to rotate around the second fixed position 660 to realize the opening and closing of the second grab handle 620.
  • the rotary cutting disc 640 is rotatably connected to the main frame 610 of the cutting device, and is connected with the main frame 610 of the cutting device.
  • the saw wheel 630 is eccentrically connected.
  • White wire 1170 ferrules are provided at both ends of the inner wire 1170 of the charging pile 1100 at the connection. It should be noted that, due to the large number of wires inside the charging pile 1100, only the wires 1170 are used as an example in this embodiment. By identifying the position of the white ferrule 1171, the cutting of the wire 1170 can be positioned.
  • the wire cutting device 600 is installed on the mechanical arm by the mechanical arm connector 340, and the movement of the mechanical arm can be controlled so that the wire cutting device 600 can reach the designated clamping and cutting Location.
  • the second movable point 670 on the grab bar is pushed by the motor-driven link 650, so that the grab bar rotates with the second fixed point 660 as the center point, so as to realize the grasping of the wire 1170, and then the saw wheel 630 is driven to rotate by the motor , the rotary cutting disc 640 is driven by another motor and driven by a worm gear.
  • the rotation of the rotary cutting disc 640 will drive the high-speed rotating saw wheel 630 to cut the wire 1170.
  • the wire cutting device 600 combines the functions of cutting and grabbing, and the wire can be clamped immediately after the cutting is completed, no need to replace other execution devices, and the operation is more convenient and efficient.
  • the wire cutting device 600 further includes a push rod 680, the push rod 680 is connected with the connecting rod 650, the push rod 680 is provided with a rack, and the push rod 680 is sleeved with a push rod 680 sliding sleeve, which pushes the push rod 680.
  • the rod 680 is slidably fixed on the main frame 610 of the cutting device, and the gear is driven by the motor, and the gear meshes with the rack, so that the push rod 680 can push the connecting rod 650 forward along the sliding sleeve of the push rod 680 .
  • the circumcision device 900 includes a rotatable circumcision head, and the circumcision head includes a front cover 910, a rear cover 920, a double-layer turntable 930, a knob 940, and an annular array mounted on the A plurality of cutting knives 950 of the front cover 910, the cutting knives 950 are slidably connected with the front cover 910, the double-layer turntable 930 is installed between the front cover 910 and the rear cover 920, and the knob 940 is located at the rear side of the double-layered turntable 930.
  • the front end surface of the 930 is provided with a plane thread and is matched with the thread of the cutting knife.
  • the mechanical arm connecting piece 340 is driven by the mechanical arm to move the ring cutting device 900 to the designated position.
  • the motor is the power source for the rotary cutting.
  • the motor transmits the rotational power to the ring cutting head through the meshing of the two bevel gears.
  • the bevel gear on the double-layer turntable 930 meshes with the bevel gear on the rear end surface of the double-layer turntable 930 to drive the double-layer turntable 930 to rotate.
  • the double-layer turntable 220 rotates, the plane thread on the front end surface cooperates with the thread on the cutting knife, so that the cutting knife follows the front cover.
  • the sliding rail on the 910 can be moved outward or inward to realize the adjustment of the circumcision radius of the circumcision head.
  • the circumcision radius of the circumcision head needs to be adjusted according to the type of the connecting screw of the power module 1110 , specifically by rotating the knob 940 .
  • the circumcision device 900 can adjust the circumcision radius, and is more versatile than the traditional fixed circumcision radius.
  • the power module extraction device 1000 is shown in FIGS. 13-15 , and includes a telescopic rod 1030 assembly and an extraction bracket 1010 .
  • the inner side of the telescopic rod 1030 is a rack and meshes with the central gear 1020, and the outer side is slidably connected with the extraction bracket 1010.
  • the two ends of the extraction bracket 1010 are bent toward the telescopic rod 1030 to form a bending structure 1040.
  • the bending angle of the bending structure 1040 is 90°.
  • the central gear 1020 can drive the two telescopic rods 1030 to move in opposite directions until they contact the bending structure 1040 to form a closed-loop structure for clasping the pull ring 1111 .
  • the power module extracting device 1000 moves to the pull ring 1111 in front of the power module 1110 through the mechanical arm, and the sun gear 1020 is driven by the motor and the worm gear to rotate. 1020 engages with the rack on the telescopic rod 1030, so that the telescopic rod 1030 moves in the opposite direction until it contacts with the bending structure 1040, so that the extraction bracket 1010 and the telescopic rod 1030 form a closed-loop structure, at this time, the pull ring 1111 has been buckled into the closed loop, and then The power module 1110 can be extracted by moving the robotic arm.
  • the source module extracting device 1000 can simultaneously buckle the two pull rings on the power module 1110, and only a relatively light telescopic rod can be used to obtain a larger bearing capacity, ensuring that the power module 1110 can be pulled out horizontally, and the movement resistance is smaller.
  • the bending structure 1040 is provided with a through hole 1050, the telescopic rod 1030 can extend into the through hole 1050, and the through hole 1050 can assist the telescopic rod 1030 to bear the force, and also make the closed loop more tightly closed and firm, preventing the The power module 1110 falls off.

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  • Physics & Mathematics (AREA)
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Abstract

一种充电桩自动化拆解装备及一种充电桩自动化拆解方法，充电桩自动化拆解装备包括拆解台（100）、旋转平台（200）和若干机械臂（300），沿拆解台（100）依次设有激光切割装置（400）、抓取装置（500）、电线切割装置（600）、电磁吸取装置（700）、吸盘提取装置（800）、环切装置（900）和电源模块提取装置（1000），激光切割装置（400）、抓取装置（500）、电线切割装置（600）、电磁吸取装置（700）、吸盘提取装置（800）、环切装置（900）和电源模块提取装置（1000）各自通过机械臂（300）进行三维空间运动。

Description

充电桩自动化拆解装备及方法 技术领域
本发明涉及充电桩回收利用技术领域，特别涉及一种充电桩自动化拆解装备及方法。
背景技术
在新能源汽车产业的带动下，充电桩已成为不可或缺的配套设施被广泛建设。据统计，截至2020年我国新能源汽车的保有量将达到610万台，而配套建设的充电桩保有量将达到174.3万台，充电桩寿命一般为5～10年，前期安装的充电桩由于充电协议和充电接口的不统一，前期安装的充电桩已陆续退出市场亟需报废拆解。随着时间的推移，近几年安装的充电桩将在3～5年后迎来爆发式的报废，规范拆解报废充电桩将成为新能源汽车全产业链可持续发展不可或缺的一环。
传统认为充电桩属于一般电子废弃物，一直以来充电桩的报废拆解问题不被大众所关注。然而，充电桩内部含有大量的电路板，根据《国家危险废物名录》规定，电路板属于危险废物，类别为HW49，代码为900‐045‐49。如果充电桩不能得到规范的拆解，将会对环境造成巨大的危害。
传统的充电桩拆解是采用人工手持切割机的方式将外壳切开，然后使用剪刀进行剪切和电动/气动螺钉拆卸工具进行模块分离。传统的拆解方式由于是人工手持式切割作业，存在较大的安全隐患，极易伤人；此外，人工拆解效率低下，不能满足对大批量报废充电桩的拆解，局限性明显。
现有充电桩的结构如图1所示，由电源模块1110、电源控制模块1120、显示屏1130、计费控制单元1140、继电器模块1150、充电枪电表模块1160、电线1170、左右侧门1180、天地锁1190组成。充电桩1100的左右侧门上设有天地锁，电源模块上设有便于抽取的拉环1111，电源模块抽插在充电桩的箱体上通过两侧的螺钉进行固定，电源控制模块和继电器前后对称安装，充电枪电表模块也是前后对称安装的，即安装在充电箱铁皮的相同位置，只是一部分在前一部分在后，可以环切铁皮将其一起取出，计费控制单元通过螺钉固定在支架上，电线接通各个模块切电线的连接的首尾都设有白色套圈1171，这为电线的切割提供了很好的定位点，电线以线束的形式很规整的排列在充电桩的箱体上，图1中的电线只画出两条作为代表。
发明内容
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明针对背景技术中的充电桩提出一种充电桩自动化拆解装备，能够实现退役充电桩的批量拆解，解决了人工拆解效率低，成本高的局限性。
本发明还提出一种利用所述充电桩自动化拆解装备的拆解方法。
根据本发明的第一方面实施例的充电桩自动化拆解装备，包括：
拆解台；
旋转平台，包括用于装载充电桩的旋转盘，所述旋转平台可在所述拆解台上运动；
若干机械臂，依次排布于所述拆解台的侧边；
沿所述拆解台依次设有激光切割装置、抓取装置、电线切割装置、电磁吸取装置、吸盘提取装置、环切装置和电源模块提取装置，所述激光切割装置、所述抓取装置、所述电线切割装置、所述电磁吸取装置、所述吸盘提取装置、所述环切装置和所述电源模块提取装置各自通过所述机械臂进行三维空间运动；
所述电源模块提取装置包括伸缩杆组件和提取支架，所述伸缩杆组件与提取支架组成闭环结构，所述闭环结构用于扣住电源模块的拉环。
根据本发明实施例的充电桩自动化拆解装备，至少具有如下有益效果：
1、本发明首次提供了一种充电桩智能拆解设备，避免员工手持拆卸工具对充电桩进行拆解，解决了人工拆解时所面临物理伤害的危险。
2、本发明的拆解装备，从上料到完成拆解均采用了全自动化作业，可实现连续式拆解工作，且智能化程度高、拆卸速度快、效率高。
3、本发明装备可实现退役充电桩的批量拆解，解决了人工拆解效率低，成本高的局限性。
4、与传统拆解方法相比，本发明用的智能拆解方法精度高，稳定性强，并对提取模块的损伤小，可以很好地保存模块的完整性，便于模块后续的梯级利用，提高拆解的经济效益。
根据本发明的一些实施例，所述旋转平台包括移动底座和旋转盘，所述移动底座通过齿轮齿条在所述拆解台上移动，所述旋转盘转动连接于所述移动底座的上面。
根据本发明的一些实施例，所述抓取装置包括固定架、拉升架和第一抓手，所述拉升架可上下移动，所述拉升架的下端面设有两个以上竖直的拉杆，所述拉杆的末端设有水平的长条通孔，所述第一抓手包括两个以上手指，每个手指具有第一固定位点和第一活动位点，所述第一固定位点与所述固定架铰接，所述第一活动位点通过所述长条通孔与所述拉杆连接，所述拉升架的上下运动可驱动每个手指绕第一固定位点旋转以实现第一抓手的张合。
根据本发明的一些实施例，所述抓取装置还包括丝杠，所述拉升架套设于所述丝杠上，所述丝杠与所述拉升架螺纹连接，所述丝杠转动可驱动所述拉升架上下运动。
根据本发明的一些实施例，所述电线切割装置包括切割装置主框架，第二抓手、锯轮、旋切盘和可运动的连杆，所述第二抓手包括两个抓杆，每个抓杆具有第二固定位点和第二活动位点，所述第二固定位点与所述切割装置主框架铰接，所述第二活动位点与所述连杆铰接，所述连杆的运动可驱动每个抓杆绕第二固定位点旋转以实现第二抓手的张合，所述旋切盘转动连接于所述切割装置主框架，并与所述锯轮偏心连接。
根据本发明的一些实施例，所述电线切割装置还包括推杆，所述推杆与所述连杆连接，所述推杆上设有齿条。
根据本发明的一些实施例，所述环切装置包括可旋转的环切头，所述环切头包括前盖、后盖、双层转盘、旋钮和环形阵列安装于所述前盖的若干切割刀，所述切割刀与所述前盖滑动连接，所述双层转盘安装于所述前盖和后盖之间，所述旋钮位于所述双层转盘的后侧方，所述双层转盘的前端面设有平面螺纹并与所述切割刀螺纹配合，所述双层转盘的后端面为锥齿轮并与所述旋钮配合。
根据本发明的一些实施例，所述电源模块提取装置包括伸缩杆组件和提取支架，所述伸缩杆组件由中心齿轮以及位于所述中心齿轮两侧的伸缩杆组成，所述伸缩杆的内侧为齿条并与所述中心齿轮啮合，外侧与所述提取支架滑动连接，所述提取支架的两端向所述伸缩杆方向折弯形成折弯结构，所述中心齿轮可驱动两条伸缩杆反方向运动直到与所述折弯结构接触以形成用于扣住所述拉环的闭环结构。
根据本发明的一些实施例，所述折弯结构设有通孔，所述伸缩杆可伸入所述通孔内。
根据本发明的第二方面实施例的一种利用所述充电桩自动化拆解装备的拆解方法，包括如下步骤：
S1.运输小车将充电桩输送至所述拆解台；
S2.利用所述激光切割装置切开充电桩天地锁的外手把，再用所述抓取装置翻开侧门，然后用所述激光切割装置对显示屏、电源控制模块、充电枪电表模块和计费控制单元的安装位置进行环切，最后对左右侧门的连接铰链进行切割；
S3.利用电线切割装置切割并夹取所有电线；
S4.利用电磁吸取装置和吸盘提取装置对应吸取左右侧门、电源控制模块、充电枪电表模块、计费控制单元和显示屏；
S5.利用环切装置对电源模块的安装螺钉处进行旋转切割，再利用电源模块提取装置将电源模块提取出来；
S6.最后将剩下的充电桩壳体运至废铁回收处。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1为现有充电桩的结构示意图；
图2为某一视角下的现有充电桩内部结构示意图；
图3为另一视角下的现有充电桩内结构示意图；
图4为本发明实施例的整体结构的示意图；
图5为旋转平台的结构示意图；
图6为机械臂的结构示意图；
图7为激光切割装置的结构示意图；
图8为抓取装置的结构示意图；
图9为抓取装置的爆炸视图；
图10为电线切割装置的结构示意图；
图11为电线切割装置去除切割装置主框架后的结构示意图；
图12为环切装置的爆炸视图；
图13为电源模块提取装置的结构示意图；
图14为电源模块提取装置所述伸缩杆组件的结构示意图；
图15为电源模块提取装置的使用状态图。
拆解台100、旋转平台200、移动底座210、旋转盘220、若干机械臂300、底座310、旋转台320、大臂330、连接件340、旋转套筒350、小臂360、抓手连接机构370、激光切割装置400、喷嘴410、聚焦透镜420、聚焦跟踪系统连接线430、光纤激光器连接线440、抓取装置500、固定架510、拉升架520、螺母521、手指530、拉杆540、长条通孔550、第一固定位点560、第一活动位点570、丝杠580、电线切割装置600、切割装置主框架610、第二抓手620、锯轮630、旋切盘640、连杆650、第二固定位点660、第二活动位点670、推杆680、推杆滑套681、电磁吸取装置700、吸盘提取装置800、环切装置900、前盖910、后盖920、双层转盘930、旋钮940、切割刀950、电源模块提取装 置1000、提取支架1010、中心齿轮1020、伸缩杆1030、折弯结构1040、通孔1050、充电桩1100、电源模块1110、拉环1111、电源控制模块1120、显示屏1130、计费控制单元1140、继电器模块1150、充电枪电表模块1160、电线1170、白色套圈1171、左右侧门1180、天地锁1190、运输小车1200。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
参照图4，一种充电桩自动化拆解装备，包括：
拆解台100；
旋转平台200，包括用于装载充电桩的旋转盘220，充电桩自动化拆解装备旋转平台200可在充电桩自动化拆解装备拆解台100上运动，图4中的运动方向是从右向左；
若干机械臂300，依次排布于充电桩自动化拆解装备拆解台(100)的侧边；
沿充电桩自动化拆解装备拆解台100依次设有激光切割装置400、抓取装置500、电线切割装置600、电磁吸取装置700、吸盘提取装置800、环切装置900和电源模块提取装置1000，充电桩自动化拆解装备激光切割装置400、充电桩自动化拆解装备抓取装置500、充电桩自动化拆解装备电线切割装置600、充电桩自动化拆解装备电磁吸取装置700、充电桩自动化拆解装备吸盘提取装置800、充电桩自动化拆解装备环切装置900和充电桩自动化拆解装备电源模块提取装置1000各自通过充电桩自动化拆解装备机械臂300进行三维空间运动；
充电桩自动化拆解装备电源模块提取装置1000包括伸缩杆组件和提取支架1010，充电桩自动化拆解装备伸缩杆组件与提取支架1010组成闭环结构，充电桩自动化拆解装备闭环结构用于扣住电源模块1110的拉环1111。
在本实施例中，拆解台100划分为四个功能区，第一功能区两侧均设有一个机械臂300，分别安装有激光切割装置400和抓取装置500，第二功能区的一侧设有一个机械臂300，安装有电线切割装置600，第三功能区两侧均设有一个机械臂300，分别安装有电磁吸取装置700和吸盘提取装置800，第四功能区两侧均设有一个机械臂300，分别安装有环切装置900和电源模块提取装置1000。
具体的拆解方法如下：
S1.运输小车1200将充电桩1100输送至拆解台100，运输小车1200在程序的控制下按预设轨迹运动，可以实现与拆解台100自动对齐；
S2.首先进入第一功能区，利用激光切割装置400切开充电桩1100天地锁1190的外手把，再用抓取装置500翻开侧门，然后用激光切割装置400对显示屏1130、电源控制模块1120、充电枪电表模块1160和计费控制单元1140的安装位置进行环切，最后对左右侧门1180的连接铰链进行切割，为后续提取做准备；
S3.利用电线切割装置600切割并夹取所有电线1170，充电桩1100内部电线1170的两头连接处都设有白色电线1170套圈，通过识别白色套圈1171的位置可以对电线1170的切割进行定位，电线切割装置600由机械臂连接件340安装到机械臂上，控制机械臂的移动可以使得电线切割装置600到达指定夹取剪切位置；
S4.利用电磁吸取装置700和吸盘提取装置800对应吸取左右侧门1180、电源控制模块1120、充电枪电表模块1160、计费控制单元1140和显示屏1130；
S5.利用环切装置900对电源模块1110的安装螺钉处进行旋转切割，将螺钉所连接的电源模块1110上的铁皮环切出一个圆，这样不用通过拆解螺钉就可以将电源模块1110提取出来，解决了螺钉在智能拆解时不好准确定位以及损坏后的螺钉可拆卸的问题，再利用电源模块提取装置1000将电源模块1110上的拉环1111扣住，向外拉提，即可将电源模块1110提取出来；
S6.最后将剩下的充电桩1100壳体用运输小车1200运至废铁回收处。
在其中的一些实施例中，拆解台100由导轨齿条、拆解平台、机械臂安装平台组成。导轨齿条安装在拆解平台上使得旋转平台200沿拆解平台运动，机械臂安装平台用于固定机械臂。
在其中的一些实施例中，旋转平台200如图5所示，包括移动底座210和旋转盘220，移动底座210的两侧设有齿轮，通过齿轮齿条啮合在拆解台100上移动，旋转盘220转动连接于移动底座210的上面，通过电机控制旋转盘220的旋转方向。
在其中的一些实施例中，运输小车1200的上表面两侧设有齿条，使得旋转平台200可以从运输小车1200上移动到拆解平台。
在其中的一些实施例中，机械臂如图6所示，从下到上依次由底座310、旋转台320、大臂330、连接件340、旋转套筒350、小臂360、抓手连接机构370组成。大臂330与旋转台320铰接，旋转套筒350和大臂330铰接，连接件340的两端分别与大臂330和旋转套筒350铰接，旋转套筒350与小臂360固接，小臂360与抓手连接机构370铰接，抓手连接机构370的顶部用于连接各种执行机构，通过各组件之间的配合实现各执行机构的三维空间运动。
在其中的一些实施例中，激光切割装置400如图7所示，由喷嘴410、聚焦透镜420、聚焦跟踪系统、光纤激光器组成。碰嘴、聚焦透镜420、聚焦跟踪系统组成激光切割装置400的切割刀950，负责激光的输出端，光纤激光器是激光的生成器。激光切割装置400安装在机械臂上，通过机械臂的带动激光切割装置400首先将天地锁1190的外手把切断，此时一般的天地锁1190的外手把会在弹簧作用下翘起，接着通过抓取装置500将半段翘起的天地锁1190外手把抓取并旋转从而打开侧门，然后对显示屏1130、电源控制模块1120、充电枪电表模块1160和计费控制单元1140安装位置的铁皮进行环切，最后对左右侧门1180的连接铰链进行切割，为显示屏1130、电源控制模块1120+继电器模块1150、充电枪电表模块1160、计费控制单元1140以及左右侧门1180的提取做好准备。该激光切割装置400的可以产生极小的激光光斑、能量密度高、切割速度快，因此能够获得较好的切割质量。
在其中的一些实施例中，抓取装置500如图8-9所示，包括固定架510、拉升架520和第一抓手，拉升架520可上下移动，拉升架520的下端面设有两个以上竖直的拉杆540，拉杆540的末端设有水平的长条通孔550，第一抓手包括两个以上手指530，每个手指530具有第一固定位点560和第一活动位点570，第一固定位点560与固定架510铰接，第一活动位点570通过长条通孔550与拉杆540连接，拉升架520的上下运动可驱动每个手指530绕第一固定位点560旋转以实现第一抓手的张合。第一固定位点560和第一活动位点570均为圆柱形的转轴，先通过旋转平台200，将天地锁1190把手激光切割后的充电桩1100旋转180度，机械臂连接件340将抓取装置500连接到机械臂上，由机械臂的移动抓取装置500移动至因激光切割弹起一半的天地锁1190外把手正前方，拉升架520上下移动，使得第一抓手可以以第一固定位点560为旋转轴实现开合的抓取动作，当抓取装置500抓住翘起的天地锁1190的外把手后，由机械臂旋转就可以将天地锁1190打开，当左右两边的侧门被打开后，由旋转平台200将充电桩1100旋转180度进行充电桩1100内部的激光切割。该抓取装置500结构简单，只需一台电机驱动即可完成抓取动作，且运行的稳定性强。
在其中的一些实施例中，抓取装置500还包括丝杠580，拉升架520套设于丝杠580上，拉升架520上固设有螺母521，使得丝杠580与拉升架520螺纹连接，丝杠580转动可驱动拉升架520上下运动。电机安装在主框架上并连接丝杠580，丝杠580上设有轴承使得丝杠580可以稳定运转，丝杠580与螺母521配合，在电机的带动下将螺母521向上拉升，螺母521连接在拉升架520上使得拉升架520跟着一起上升，电机的转动方向可以控制拉升架520的升降。
在其中的一些实施例中，电线切割装置600如图10-11所示，包括切割装置主框架610，第二抓手620、锯轮630、旋切盘640和可运动的连杆650，第二抓手620包括两个抓杆，每个抓杆具有第 二固定位点660和第二活动位点670，第二固定位点660与切割装置主框架610铰接，第二活动位点670与连杆650铰接，连杆650的运动可驱动每个抓杆绕第二固定位点660旋转以实现第二抓手620的张合，旋切盘640转动连接于切割装置主框架610，并与锯轮630偏心连接。充电桩1100内部电线1170的两头连接处都设有白色电线1170套圈。需要说明的是，由于充电桩1100内部电线数量多，本实施例仅以电线1170为例。通过识别白色套圈1171的位置可以对电线1170的切割进行定位，电线切割装置600由机械臂连接件340安装到机械臂上，控制机械臂的移动可以使得电线切割装置600到达指定夹取剪切位置。通过电机驱动连杆650推动抓杆上的第二活动位点670，使得抓杆以第二固定位点660为中心点旋转，从而实现对电线1170的抓取，之后锯轮630由电机驱动旋转，旋切盘640通过另一台电机驱动并由蜗轮蜗杆传动，旋切盘640转动会带动高速旋转的锯轮630进行电线1170的切割，对电线1170头尾的切割后，可以用抓手将电线1170夹取出。该电线切割装置600结合了切割和抓取功能，完成切割后可以立刻夹取电线，无需更换其他执行装置，操作更加方便高效。
在其中的一些实施例中，电线切割装置600还包括推杆680，推杆680与连杆650连接，推杆680上设有齿条，推杆680上套设有推杆680滑套，推杆680滑套固定于切割装置主框架610上，通过电机驱动齿轮，齿轮与齿条啮合使得推杆680可以沿着推杆680滑套向前推动连杆650。
在其中的一些实施例中，环切装置900如图12所示，包括可旋转的环切头，环切头包括前盖910、后盖920、双层转盘930、旋钮940和环形阵列安装于前盖910的若干切割刀950，切割刀950与前盖910滑动连接，双层转盘930安装于前盖910和后盖920之间，旋钮940位于双层转盘930的后侧方，双层转盘930的前端面设有平面螺纹并与切割刀螺纹配合，双层转盘930的后端面为锥齿轮并与旋钮940配合。首先由机械手臂带动机械手臂连接件340移动，使得环切装置900到达指定位置，电机是旋转切除的动力来源，电机通过两个锥齿轮的啮合将旋转动力传递到环切头上，旋钮940上的锥齿轮和双层转盘930后端面上的锥齿轮啮合从而带动双层转盘930旋转，双层旋转盘220旋转时前端面的平面螺纹与切割刀上的螺纹配合，使得切割刀沿着前盖910上的滑轨向外或向内移动实现环切头环切半径的调节。因此环切装置900在工作前需要先根据电源模块1110连接螺钉的型号调节环切头的环切半径，具体是通过旋转旋钮940来调节。该环切装置900可以调节环切半径，与传统的固定环切半径相比，通用性更广。
在其中的一些实施例中，电源模块提取装置1000如图13-15所示，包括伸缩杆1030组件和提取支架1010，伸缩杆1030组件由中心齿轮1020以及位于中心齿轮1020两侧的伸缩杆1030组成，伸缩杆1030的内侧为齿条并与中心齿轮1020啮合，外侧与提取支架1010滑动连接，提取支架1010 的两端向所述伸缩杆1030方向折弯形成折弯结构1040，具体地，折弯结构1040的折弯角度为90°。中心齿轮1020可驱动两条伸缩杆1030反方向运动直到与折弯结构1040接触以形成用于扣住拉环1111的闭环结构。在环切装置900将电源模块1110连接螺钉处环切后，电源模块提取装置1000通过机械臂移动至电源模块1110前方的拉环1111处，中心齿轮1020由电机和蜗轮蜗杆配合驱动旋转，中心齿轮1020与伸缩杆1030上的齿条啮合使得伸缩杆1030反方向移动直到与折弯结构1040接触，使提取支架1010和伸缩杆1030形成闭环结构，此时拉环1111已被扣进闭环内，然后移动机械臂就可以将电源模块1110提取出来。该源模块提取装置1000可以同时扣住电源模块1110上的两个拉环，只采用较为轻便的伸缩杆即可获得较大的承载力，保证水平拉出电源模块1110，运动阻力更小。
在其中的一些实施例中，折弯结构1040设有通孔1050，伸缩杆1030可伸入通孔1050内，通孔1050可以辅助伸缩杆1030受力，也使闭环更加紧闭和坚固，防止电源模块1110脱落。
上面结合附图对本发明实施例作了详细说明，但是本发明不限于上述实施例，在所述技术领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。

Claims (10)

  1. 一种充电桩自动化拆解装备，其特征在于，包括：
    拆解台(100)；
    旋转平台(200)，包括用于装载充电桩的旋转盘(220)，所述旋转平台(200)可在所述拆解台(100)上运动；
    若干机械臂(300)，依次排布于所述拆解台(100)的侧边；
    沿所述拆解台(100)依次设有激光切割装置(400)、抓取装置(500)、电线切割装置(600)、电磁吸取装置(700)、吸盘提取装置(800)、环切装置(900)和电源模块提取装置(1000)，所述激光切割装置(400)、所述抓取装置(500)、所述电线切割装置(600)、所述电磁吸取装置(700)、所述吸盘提取装置(800)、所述环切装置(900)和所述电源模块提取装置(1000)各自通过所述机械臂(300)进行三维空间运动；
    所述电源模块提取装置(1000)包括伸缩杆组件和提取支架(1010)，所述伸缩杆组件与提取支架(1010)组成闭环结构，所述闭环结构用于扣住电源模块(1110)的拉环(1111)。
  2. 根据权利要求1所述的充电桩自动化拆解装备，其特征在于，所述旋转平台(200)还包括移动底座(210)，所述移动底座(210)通过齿轮齿条在所述拆解台(100)上移动，所述旋转盘(220)转动连接于所述移动底座(210)的上面。
  3. 根据权利要求1所述的充电桩自动化拆解装备，其特征在于，所述抓取装置(500)包括固定架(510)、拉升架(520)和第一抓手，所述拉升架(520)可上下移动，所述拉升架(520)的下端面设有两个以上竖直的拉杆(540)，所述拉杆(540)的末端设有水平的长条通孔(550)，所述第一抓手包括两个以上手指(530)，每个手指(530)具有第一固定位点(560)和第一活动位点(570)，所述第一固定位点(560)与所述固定架(510)铰接，所述第一活动位点(570)通过所述长条通孔(550)与所述拉杆(540)连接，所述拉升架(520)的上下运动可驱动每个手指(530)绕第一固定位点(560)旋转以实现第一抓手的张合。
  4. 根据权利要求3所述的充电桩自动化拆解装备，其特征在于，所述抓取装置(500)还包括丝杠(580)，所述拉升架(520)套设于所述丝杠(580)上，所述丝杠(580)与所述拉升架(520)螺纹连接，所述丝杠(580)转动可驱动所述拉升架(520)上下运动。
  5. 根据权利要求1所述的充电桩自动化拆解装备，其特征在于，所述电线切割装置(600)包括切割装置主框架(610)，第二抓手(620)、锯轮(630)、旋切盘(640)和可运动的连杆(650)，所述第二抓手(620)包括两个抓杆，每个抓杆具有第二固定位点(660)和第二活动位点(670)，所述第二固定位点(660)与所述切割装置主框架(610)铰接，所述第二活动位点(670)与所述连杆(650)铰接，所述连杆(650)的运动可 驱动每个抓杆绕第二固定位点(660)旋转以实现第二抓手(620)的张合，所述旋切盘(640)转动连接于所述切割装置主框架(610)，并与所述锯轮(630)偏心连接。
  6. 根据权利要求5所述的充电桩自动化拆解装备，其特征在于，所述电线切割装置(600)还包括推杆(680)，所述推杆(680)与所述连杆(650)连接，所述推杆(680)上设有齿条。
  7. 根据权利要求1所述的充电桩自动化拆解装备，其特征在于，所述环切装置(900)包括可旋转的环切头，所述环切头包括前盖(910)、后盖(920)、双层转盘(930)、旋钮(940)和环形阵列安装于所述前盖(910)的若干切割刀(950)，所述切割刀(950)与所述前盖(910)滑动连接，所述双层转盘(930)安装于所述前盖(910)和后盖(920)之间，所述旋钮(940)位于所述双层转盘(930)的后侧方，所述双层转盘(930)的前端面设有平面螺纹并与所述切割刀(950)螺纹配合，所述双层转盘(930)的后端面为锥齿轮并与所述旋钮(940)配合。
  8. 根据权利要求1所述的充电桩自动化拆解装备，其特征在于，所述伸缩杆组件由中心齿轮(1020)以及位于所述中心齿轮(1020)两侧的伸缩杆(1030)组成，所述伸缩杆(1030)的内侧为齿条并与所述中心齿轮(1020)啮合，外侧与所述提取支架(1010)滑动连接，所述提取支架(1010)的两端向所述伸缩杆(1030)方向折弯形成折弯结构(1040)，所述中心齿轮(1020)可驱动两条伸缩杆(1030)反方向运动直到与所述折弯结构(1040)接触以形成用于扣住所述拉环(1111)的闭环结构。
  9. 根据权利要求6所述的充电桩自动化拆解装备，其特征在于，所述折弯结构(1040)设有通孔(1050)，所述伸缩杆(1030)可伸入所述通孔(1050)内。
  10. 一种利用权利要求1所述充电桩自动化拆解装备的拆解方法，其特征在于，包括如下步骤：
    S1.运输小车(1200)将充电桩(1100)输送至所述拆解台(100)；
    S2.利用所述激光切割装置(400)切开充电桩(1100)天地锁(1190)的外手把，再用所述抓取装置(500)翻开侧门，然后用所述激光切割装置(400)对显示屏(1130)、电源控制模块(1120)、充电枪电表模块(1160)和计费控制单元(1140)的安装位置进行环切，最后对左右侧门(1180)的连接铰链进行切割；
    S3.利用所述电线切割装置(600)切割并夹取所有电线(1170)；
    S4.利用所述电磁吸取装置(700)和所述吸盘提取装置(800)对应吸取左右侧门(1180)、电源控制模块(1120)、充电枪电表模块(1160)、计费控制单元(1140)和显示屏(1130)；
    S5.利用所述环切装置(900)对电源模块(1110)的安装螺钉处进行旋转切割，再利用所述电源模块提取装置(1000)将电源模块(1110)提取出来；
    S6.最后将剩下的充电桩(1100)壳体运至废铁回收处。
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