阅读说明：本技术 一种汽车车门拆解自动化机器人及其控制系统 (Automatic robot for disassembling automobile door and control system thereof ) 是由 高超 于 2021-02-02 设计创作，主要内容包括：本发明涉及报废车辆处理技术领域,且公开了一种汽车车门拆解自动化机器人及其控制系统,所述处理方法分为以下步骤,其中：第一步A搬运机器人固定车门；第二步由倒装机器人剪切铰链,然后移动到汽车另一侧,同时A搬运机器人将拆解的车门搬运到料架车上；第三步由另一侧B搬运机器人固定车门；第四步倒装机器人剪切铰链,然后等待,同时B搬运机器人将拆解的车门搬运到料架车上。该汽车车门拆解自动化机器人及其控制系统,通过倒装机器人剪切铰链,将车门卸下,A搬运机器人和B搬运机器人分别负责车身两侧的两个车门,并分别进行搬运,解决了当前的报废车辆车门拆解为人工拆解,效率低下,且存在一定安全隐患的问题。(The invention relates to the technical field of scrapped vehicle treatment, and discloses an automatic robot for disassembling an automobile door and a control system thereof, wherein the treatment method comprises the following steps: firstly, a carrying robot fixes a vehicle door; secondly, the hinge is cut by the inverted robot, then the hinge is moved to the other side of the automobile, and meanwhile, the A carrying robot carries the disassembled automobile door to the material frame vehicle; thirdly, the other side B of the transfer robot fixes the car door; and fourthly, the robot is inverted to shear the hinge and then waits, and meanwhile, the B carrying robot carries the disassembled vehicle door to the material frame vehicle. This automatic robot is disassembled to car door and control system thereof, through the shearing hinge of flip-chip robot, lift the door off, A transfer robot and B transfer robot are responsible for two doors of automobile body both sides respectively to carry respectively, solved current scrapped vehicle door and disassembled for manual disassembly, inefficiency, and there is the problem of certain potential safety hazard.)

1. An automatic robot for disassembling an automobile door and a control system thereof are characterized in that the processing method comprises the following steps:

s1, fixing the vehicle door by the A carrying robot;

s2, the hinge is cut by the inverted robot, then the automobile moves to the other side of the automobile, and meanwhile, the A carrying robot carries the disassembled automobile door to the material rack automobile;

s3, fixing the vehicle door by the carrying robot on the other side B;

s4, the hinge is cut by the inverted robot, then waiting is carried out, and meanwhile, the transport robot B transports the disassembled vehicle door to a material rack vehicle;

s5, the AGV drives the automobile to move forwards to a rear door and reach a designated position;

s6, repeating the above operations by each robot;

and S7, after all four doors are disassembled, the automobile is transferred to the next station.

2. The automatic robot for disassembling the automobile door and the control system thereof according to claim 1, wherein: the type of the flip-chip robot is Kawasaki CX210L, a moving portal frame, a base and a set of automatic control hydraulic tongs are arranged, and a detection switch is arranged on the Kawasaki CX210L robot.

3. The automatic robot for disassembling the automobile door and the control system thereof according to claim 1, wherein: the model of A transfer robot and B transfer robot is Japanese kawasaki CX210L, disposes and removes portal frame and base, the base is installed respectively in the bottom of A transfer robot and B transfer robot, A transfer robot and B transfer robot still dispose one set of electromagnetism end effector.

4. The automatic robot for disassembling the automobile door and the control system thereof according to claim 1, wherein: control system is including detection switch, AGV control system and major control system, detection switch's one end is connected with AGV control system's one end, AGV control system's the other end is connected with major control system's one end.

5. The automatic robot for disassembling the automobile door and the control system thereof according to claim 4, wherein: the other end of the master control system is connected with an A carrying robot, a B carrying robot and an inverted robot, one end of the inverted robot is provided with a hydraulic clamp, and one ends of the A carrying robot and the B carrying robot are provided with electromagnetic end pick-up devices.

6. The automatic robot for disassembling the automobile door and the control system thereof according to claim 5, wherein: one end of each of the A carrying robot, the B carrying robot and the inverted robot is provided with a detection switch, and the A carrying robot, the B carrying robot and the inverted robot are respectively controlled through the detection switches.

Technical Field

The invention relates to the technical field of scrapped vehicle treatment, in particular to an automatic robot for disassembling an automobile door and a control system thereof.

Background

In recent years, the automobile industry in China is rapidly developed, the automobile holding quantity is continuously increased, and the number of automobiles needing to be scrapped and disassembled is continuously increased along with the acceleration of the automobile scrapping and updating speed. Therefore, the industry of recovering and disassembling scraped cars is greatly developed, has wide market prospect in China and is a new economic growth point with great potential.

The invention provides an automatic robot for disassembling automobile doors and a control system thereof, which have the advantages of safety and high efficiency.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an automatic robot for disassembling automobile doors and a control system thereof, which have the advantages of safety and high-efficiency vehicle door plugging, and solve the problems of low efficiency and certain potential safety hazard caused by manual disassembly of the existing scrapped automobile doors.

(II) technical scheme

In order to realize the purpose of safely and efficiently inserting the car door, the invention provides the following technical scheme: an automatic robot for disassembling an automobile door and a control system thereof are disclosed, wherein the processing method comprises the following steps: the first step a is to fix the door of the transfer robot.

And in the second step, the hinge is cut by the inverted robot, then the hinge is moved to the other side of the automobile, and meanwhile, the A carrying robot carries the disassembled automobile door to the material frame vehicle.

And thirdly, fixing the vehicle door by the carrying robot on the other side B.

And fourthly, the robot is inverted to shear the hinge and then waits, and meanwhile, the B carrying robot carries the disassembled vehicle door to the material frame vehicle.

And fifthly, driving the automobile to move forwards to a rear door by the AGV to reach the designated position.

And sixthly, repeating the actions by each robot.

And seventhly, after all the four doors are disassembled, the automobile is transferred to the next station.

Preferably, the type of the flip-chip robot is kawasaki CX210L, the flip-chip robot is provided with a moving portal frame, a base and a set of automatic control hydraulic tongs, and the kawasaki CX210L robot is provided with a detection switch.

Preferably, the type of the a transfer robot and the type of the B transfer robot are kawasaki CX210L, the a transfer robot and the B transfer robot are provided with a moving portal frame and a base, the base is respectively arranged at the bottom of the a transfer robot and the bottom of the B transfer robot, and the a transfer robot and the B transfer robot are also provided with a set of electromagnetic end pick-up devices.

Preferably, control system is including detection switch, AGV control system and major control system, detection switch's one end is connected with AGV control system's one end, AGV control system's the other end is connected with major control system's one end.

Preferably, the other end of the master control system is connected with a carrying robot A, a carrying robot B and a flip robot, one end of the flip robot is provided with a hydraulic clamp, and one ends of the carrying robot A and the carrying robot B are provided with electromagnetic end pick-up devices.

Preferably, detection switches are arranged at one ends of the A transfer robot, the B transfer robot and the inverted robot, and the A transfer robot, the B transfer robot and the inverted robot are respectively controlled through the detection switches.

Compared with the prior art, the invention provides an automatic robot for disassembling the automobile door and a control system thereof, which have the following beneficial effects:

this automatic robot is disassembled to car door and control system thereof, through the shearing hinge of flip-chip robot, lift the door off, A transfer robot and B transfer robot are responsible for two doors of automobile body both sides respectively to carry respectively, solved current scrapped vehicle door and disassembled for manual disassembly, inefficiency, and there is the problem of certain potential safety hazard.

Drawings

FIG. 1 is a schematic diagram of a control system according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides an automatic robot for disassembling an automobile door and a control system thereof, wherein the processing method comprises the following steps: the fixed door of first step A transfer robot, A transfer robot fixes the door through the electromagnetism end effector, and the electromagnetism end effector is one set of mechanism that is used for the article to snatch and transport, can install on robot or automation equipment, carries out the transport of snatching of article, and it is a transmission system in the mould, similar manipulator clip, wide application in modern manufacturing, including trades such as car, electron for replace artifically, more high-efficient, accurate production.

And in the second step, the hinge is cut by the inverted robot, then the hinge is moved to the other side of the automobile, and meanwhile, the A carrying robot carries the disassembled automobile door to the material frame vehicle.

And thirdly, fixing the car door by the B carrying robot on the other side, wherein the B carrying robot is provided with the same electromagnetic end pickup device which can fix the car door.

And fourthly, shearing the hinge by the flip-chip robot, then waiting, carrying the disassembled car door to a material frame vehicle by the B carrying robot, arranging a hydraulic clamp on the flip-chip robot, wherein the hydraulic clamp usually has an aluminum alloy shell, a blade of the hydraulic clamp is forged by hot rolled steel, and a piston push rod are usually made of hot rolled alloy steel. Hydraulic tongs are used primarily for shearing materials such as sheet metal and plastics and may also be powered by gasoline powered devices. The jaw system may be electrically, pneumatically or hydraulically powered.

And fifthly, the AGV drives the automobile to move forwards to a rear door and reach a designated position, namely the automatic guided transport vehicle is a transport vehicle which is provided with an electromagnetic or optical automatic guiding device and can travel along a specified guiding path and has safety protection and various transfer functions. The traveling route and behavior can be controlled by a computer or established by an electromagnetic track, the electromagnetic track is adhered to the floor, the unmanned transport vehicle follows the information brought by the electromagnetic track to move and act, the AGV runs and has a speed control and braking capability subsystem, which mainly comprises a motor, a reducer, a driver, a control and driving circuit, etc., the driving system is generally a closed-loop mode and an open-loop mode, the former mainly comprises a servo direct current motor, the latter mainly comprises a stepping motor, the power source thereof is a storage battery, the storage battery is the only power source used by the AGV at present and is used for driving the vehicle body and the accessories on the vehicle, such as control, communication, safety, etc.

And sixthly, repeating the actions by each robot, and disassembling the doors of different scraped cars by repeating the actions so that the disassembly efficiency of the doors is higher.

And seventhly, after all the four doors are disassembled, the automobile is transferred to the next station.

The type of the flip-chip robot is Kawasaki CX210L, a movable portal frame, a base and a set of automatic control hydraulic tongs are configured, the automatic control hydraulic tongs are used for shearing the door hinges, a detection switch is configured on the Kawasaki CX210L robot, and the detection switch is responsible for identifying the position of the door hinges, so that the robot can accurately shear the door hinges conveniently.

The model of A transfer robot and B transfer robot is Japanese kawasaki CX210L, dispose and remove portal frame and base, the base is installed respectively in the bottom of A transfer robot and B transfer robot, A transfer robot and B transfer robot still dispose one set of electromagnetism end effector, before the operation of flip-chip robot, the door is grabbed in advance to the electromagnetism end effector, prevent that the door from falling, A transfer robot and B transfer robot are automatic puts the door to the material frame in, after the door reaches the quantity of settlement in the material frame, the robot sends the signal to the AGV dolly, the AGV dolly is automatic to be carried to the inventory district, simultaneously, the AGV dolly carries empty material frame to waiting for the station in addition.

The control system comprises a detection switch, an AGV control system and a main control system, one end of the detection switch is connected with one end of the AGV control system, the other end of the AGV control system is connected with one end of the main control system, the other end of the main control system is connected with an A transfer robot, a B transfer robot and a flip-chip robot, one end of the flip-chip robot is provided with a hydraulic clamp, the automatic control hydraulic clamp is used for cutting a hinge of a vehicle door, one end of the A transfer robot and one end of the B transfer robot are respectively provided with an electromagnetic end pickup, before the flip-chip robot operates, the electromagnetic end pickup grips the vehicle door in advance to prevent the vehicle door from falling, one end of the A transfer robot, one end of the B transfer robot and one end of the flip-chip robot are respectively provided with the detection switch, the A transfer robot, the B transfer robot and the flip-chip robot are respectively controlled by the detection switches, and the whole device is, the a transfer robot, the B transfer robot, and the flip-chip robot are respectively controlled by three detection switches.

The automatic robot for disassembling the automobile door and the control system thereof are characterized in that disassembling station equipment mainly comprises a flip-chip robot, a walking shaft, a hydraulic clamping cutter, two carrying robots, two electromagnetic end pickers and the like. The flip-chip robot utilizes hydraulic pressure pincers cutter to cut the door hinge to realize removing between two stations on a left side, the right side through the walking axle, transfer robot is fixed through electromagnetism end effector and is carried the door to the door frame car on, every transfer robot is responsible for the preceding back door of car one side, and four doors are disassembled the back, and the car removes next station.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.