阅读说明：本技术 一种汽车两盖拆解自动化机器人及其控制系统 (Automatic robot for disassembling two covers of automobile and control system thereof ) 是由 高超 于 2021-02-02 设计创作，主要内容包括：本发明涉及报废汽车拆解技术领域,且公开了一种汽车两盖拆解自动化机器人及其控制系统,包括开门和扫码工位和两盖拆解工位,所述开门和扫码工位通过人工进行开门和扫码,所述两盖拆解工位用于对汽车的引擎盖和后备箱盖进行拆解。该汽车两盖拆解自动化机器人及其控制系统,通过设置有两盖拆解工位,两盖拆解工位用于对汽车的引擎盖和后备箱盖进行拆解,两盖拆解工位包括有两个机器人、一个行走轴、一个液压剪切器和一个电磁端拾器,其中一个机器人通过液压剪切器剪切引擎盖和后备箱盖的铰链,另一个机器人通过电磁端拾器固定和搬运引擎盖和后备箱盖到架车上,通过该工位的设置便于对汽车的引擎盖和后备箱盖进行拆解。(The invention relates to the technical field of scrapped automobile disassembly, and discloses an automatic robot for automobile two-cover disassembly and a control system thereof. This automatic robot is disassembled to two lids of car and control system thereof, disassemble the station through being provided with two lids, two lids are disassembled the station and are used for disassembling bonnet and the trunk lid of car, two lids are disassembled the station including two robots, a walking shaft, a hydraulic pressure shears and an electromagnetism end pick-up, the hinge that bonnet and trunk lid were cuted through hydraulic pressure shears to one of them robot, another robot is fixed and is carried bonnet and trunk lid to the car of putting up through electromagnetism end pick-up, be convenient for disassemble bonnet and trunk lid of car through the setting of this station.)

1. The utility model provides an automatic robot is disassembled to two covers of car and control system thereof, is including opening the door and sweeping yard station and two covers and disassemble station, its characterized in that: the door opening and code scanning station is used for opening a door and scanning a code manually, the two-cover disassembling station is used for disassembling an engine cover and a trunk cover of an automobile, the two-cover disassembling station comprises two robots, a walking shaft, a hydraulic cutter and an electromagnetic end effector, one robot cuts a hinge of the engine cover and the trunk cover through the hydraulic cutter, and the other robot fixes and carries the engine cover and the trunk cover to a car rack through the electromagnetic end effector;

the specific operation flow for disassembling the two covers of the automobile comprises the following steps:

s1, after the four doors of the automobile are disassembled, the carrying robot fixes the engine hood and the shearing robot shears the hinge;

s2, the carrying robot carries the engine cover to the material rack vehicle;

s3, the AGV drives the trunk lid of the automobile to move forward to reach the designated position;

s4, fixing the trunk cover by the transfer robot, and shearing the hinge by the shearing robot;

s5, the trunk lid is conveyed to the material rack vehicle by the conveying robot;

and S6, transferring the disassembled automobile to the next station.

2. The automatic robot for disassembling two covers of automobile and the control system thereof according to claim 1, wherein: the carrying robot is a robot provided with an electromagnetic end effector, and the shearing robot is a robot provided with a hydraulic shear.

3. The automatic robot for disassembling two covers of automobile and the control system thereof according to claim 1, wherein: the shearing robot is provided with a set of automatic control hydraulic tongs and a set of vision system and is used for shearing the two cover hinges, and the detection switch is responsible for identifying the positions of the two cover hinges, so that the robot can conveniently and accurately shear.

4. The automatic robot for disassembling two covers of automobile and the control system thereof according to claim 1, wherein: the carrying robot is installed on the base, the robot is provided with one set of electromagnetic end pick-up, and before the shearing robot runs, the electromagnetic end pick-up catches the two covers in advance to prevent the two covers from falling.

5. The automatic robot for disassembling two covers of automobile and the control system thereof according to claim 1, wherein: after the shearing robot finishes shearing, the transfer robot automatically puts two covers to each material frame, and after two covers reached the quantity of settlement in the material frame, the robot sent the signal to the AGV dolly, and the AGV dolly is automatic to be carried to the stock district, and simultaneously, the AGV dolly carries empty material frame to waiting for the station in addition.

6. The automatic robot for disassembling two covers of automobile and the control system thereof according to claim 1, wherein: the front and back outlets of the production line are provided with safety grating systems, if personnel enter the safety barrier through the front and back outlets, the production line stops running to ensure personal safety of the personnel, and the production line restarts and resumes running after the personnel leave.

7. The automatic robot for disassembling two covers of automobile and the control system thereof according to claim 1, wherein: the production line is controlled by an advanced bus, when equipment fails, the equipment can be stopped emergently and gives an alarm, and then relevant faults and information are displayed on an interpersonal interface, and a fault processing method and operation steps are carried out.

8. The automatic robot for disassembling two covers of automobile and the control system thereof according to claim 1, wherein: after the automobile is sent to the disconnecting line, pretreatment is needed, wherein the pretreatment comprises the disassembly of a storage battery and dangerous parts, and the dangerous parts comprise an air bag and a safety belt.

9. The automatic robot for disassembling two covers of automobile and the control system thereof according to claim 1, wherein: in the process of disassembling the automobile, the record of the disassembling process is carefully made, and the disassembled parts are marked and put in storage in time.

Technical Field

The invention relates to the technical field of scrapped automobile disassembly, in particular to an automatic robot for automobile two-cover disassembly and a control system thereof.

Background

The motor vehicle which meets the national scrapping standard or does not meet the national scrapping standard but has a seriously damaged engine or chassis and does not meet the national motor vehicle operation safety technical conditions or the national motor vehicle pollutant emission standard through inspection is called as a scrapped vehicle, and the motor vehicle which meets the scrapping standard needs to be disassembled through mechanical equipment.

When some traditional scraped vehicles are disassembled, a hood and a trunk lid of the automobile are not convenient to disassemble, the automation degree of the whole automobile in the disassembling process is low, the efficiency of the hood and the trunk lid of the scraped vehicles is low, and therefore the automatic robot and the control system for the two-cover disassembling of the automobile are provided.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an automatic robot for disassembling two covers of an automobile and a control system thereof, which have the advantages of convenience in disassembling two covers of a scrapped vehicle, high automation degree, high disassembling efficiency and the like, and solve the problems in the background art.

(II) technical scheme

The invention provides the following technical scheme: the utility model provides an automatic robot is disassembled to two lids of car and control system thereof, is including opening the door and sweeping yard station and two lid disassembling stations, open the door and sweep yard station and open the door and sweep the yard through the manual work, two lid disassembling stations are used for disassembling bonnet and trunk lid to the car, two lid disassembling stations are including two robots, a walking shaft, a hydraulic pressure shears and an electromagnetism end effector, and one of them robot passes through the hinge that hydraulic pressure shears sheared bonnet and trunk lid, and another robot passes through the electromagnetism end effector and fixes and carry bonnet and trunk lid to the car of putting up.

The specific operation flow for disassembling the two covers of the automobile comprises the following steps:

s1, after the four doors of the automobile are disassembled, the carrying robot fixes the engine hood and the shearing robot shears the hinge.

And S2, the carrying robot carries the engine cover to the material rack vehicle.

S3, the AGV drives the trunk lid of the automobile to move forward to reach the designated position.

S4, the carrying robot fixes the trunk cover and the shearing robot shears the hinge.

And S5, the carrying robot carries the trunk lid to the material rack vehicle.

And S6, transferring the disassembled automobile to the next station.

Preferably, the transfer robot is a robot provided with an electromagnetic end effector, and the shearing robot is a robot provided with a hydraulic shear.

Preferably, the shearing robot is provided with a set of automatic control hydraulic tongs and a set of vision system for shearing the two cover hinges, and the detection switch is responsible for identifying the positions of the two cover hinges, so that the robot can conveniently and accurately shear.

Preferably, the transfer robot is installed on the base, and the robot disposes one set of electromagnetism end effector, and before the operation of shearing robot, two lids are grabbed in advance to the electromagnetism end effector, prevent that two lids from falling.

Preferably, after the shearing robot finishes shearing, the transfer robot automatically puts two covers to each material frame, and after two covers reached the quantity of settlement in the material frame, the robot sent the signal to the AGV dolly, and the AGV dolly is automatic to be carried to the stock district, and simultaneously, the AGV dolly carries empty material frame to waiting for the station in addition.

Preferably, the front outlet and the rear outlet of the production line are respectively provided with a safety grating system, if personnel enter the safety barrier through the front outlet and the rear outlet, the production line stops running to ensure the personal safety of the personnel, and the production line restarts and resumes running after the personnel leave.

Preferably, the production line is controlled by an advanced bus, when the equipment fails, the equipment can be stopped emergently and an alarm is given, and then relevant faults and information, fault processing methods and operation steps are displayed on an interpersonal interface.

Preferably, the vehicle is sent to the disconnection line and then subjected to a pretreatment which includes the removal of the battery and the hazardous parts including the airbag and the safety belt.

Preferably, in the process of disassembling the automobile, the record of the disassembling process is carefully made, and the disassembled parts are marked and put in storage in time.

Compared with the prior art, the invention provides an automatic robot for disassembling two covers of an automobile and a control system thereof, and the robot has the following beneficial effects:

1. this automatic robot is disassembled to two lids of car and control system thereof, disassemble the station through being provided with two lids, two lids are disassembled the station and are used for disassembling bonnet and the trunk lid of car, two lids are disassembled the station including two robots, a walking shaft, a hydraulic pressure shears and an electromagnetism end pick-up, the hinge that bonnet and trunk lid were cuted through hydraulic pressure shears to one of them robot, another robot is fixed and is carried bonnet and trunk lid to the car of putting up through electromagnetism end pick-up, be convenient for disassemble bonnet and trunk lid of car through the setting of this station.

2. According to the automatic robot for disassembling the two covers of the automobile and the control system thereof, by an advanced bus control mode, when equipment breaks down, the equipment can be stopped emergently and gives an alarm, and then relevant faults and information are displayed on an interpersonal interface, and a fault processing method and operation steps are adopted.

Drawings

FIG. 1 is a schematic view of the present invention with two covers disassembled;

FIG. 2 is a flow chart of the process for disassembling two covers 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.

Referring to fig. 1-2, an automatic robot for two-cover disassembly of a vehicle and a control system thereof includes a door opening and code scanning station and a two-cover disassembly station, wherein the front windshield glass position is manually scanned by an information mark of a code or a nail pasted on the front windshield glass position, the scanned information is transmitted to the control system and transmitted to a corresponding execution terminal, then four doors, a hood and a trunk lid are manually opened, the vehicle is moved to the next station by an AGV after being opened, the door opening and code scanning station manually opens the door and scans the code, the two-cover disassembly station is used for disassembling the hood and the trunk lid of the vehicle, the two-cover disassembly station includes two robots, a walking shaft, a hydraulic cutter and an electromagnetic end pick-up, one of the robots cuts a hinge of the hood and the trunk lid by the hydraulic cutter, another robot secures and carries the hood and trunk lid to the trolley by means of an electromagnetic end effector.

The method comprises the steps that after an automobile is sent to a disconnecting line, preprocessing is needed, wherein the preprocessing comprises the step of disassembling a storage battery and dangerous parts, the dangerous parts comprise an air bag and a safety belt, the air bag is detonated in the preprocessing process, in the automobile disassembling process, the recording of the disassembling process is carefully made, and the disassembled parts are marked and put in storage in time.

The disassembly of the vehicle and the assemblies needs to be carried out according to the disassembly sequence, the disassembly is carried out firstly, then, the vehicle is disassembled from the vehicle to the vehicle, and then, whether the vehicle is provided with a mark or not is checked, if the vehicle is not provided with a mark, a new mark is made, and then, the disassembled parts are respectively placed.

Before the disassembly, whether potential safety hazards exist in the disassembled automobile or not needs to be detected, if the automobile can reliably fall to the ground, whether edges and corners, high-pressure oil, high-pressure gas, corrosive liquid and the like which are easy to hurt people exist or not, if the edges and corners, the high-pressure gas, the corrosive liquid and the like exist, the edges and the corners, the high-pressure gas, the corrosive liquid and the like need to be removed in time, and.

The specific operation flow for disassembling the two covers of the automobile comprises the following steps:

s1, after the four doors of the automobile are disassembled, the carrying robot fixes the engine hood and the shearing robot shears the hinge.

And S2, the carrying robot carries the engine cover to the material rack vehicle.

S3, the AGV drives the trunk lid of the automobile to move forward to reach the designated position.

S4, the carrying robot fixes the trunk lid, the shearing robot shears the hinge, the shearing robot is provided with a set of automatic control hydraulic tongs and a set of vision system for shearing the two lid hinges, and the detection switch is responsible for identifying the positions of the two lid hinges, so that the robot can accurately shear the two lid hinges conveniently.

S5, the carrying robot carries the trunk lid to the material rack vehicle, the carrying robot is installed on the base, the robot is provided with a set of electromagnetic end pick-up, before the shearing robot runs, the electromagnetic end pick-up catches the two lids in advance to prevent the two lids from falling, and after shearing is finished, the carrying robot automatically puts the two lids into respective material frames.

S6, the disassembled automobile is transferred to the next station, after the two covers of the automobile are disassembled, the interior and some wire harnesses inside the automobile need to be disassembled, and the automobile wire harnesses can be disassembled through tools such as J-shaped lifting hooks, zippers or electric wire retractors.

The carrying robot is a robot provided with an electromagnetic end effector, the shearing robot is a robot provided with a hydraulic shearing device, the robot is selected from Japanese Kawasaki CX210L, the shearing robot is provided with a set of automatic control hydraulic tongs and a set of visual system for shearing two cover hinges, a detection switch is responsible for identifying the positions of the two cover hinges so as to be convenient for the precise shearing of the robot, the shearing robot is provided with a set of automatic control hydraulic tongs and a set of visual system for shearing the two cover hinges, the detection switch is responsible for identifying the positions of the two cover hinges so as to be convenient for the precise shearing of the robot, the carrying robot is arranged on a base, the robot is provided with a set of electromagnetic end effector, before the shearing robot runs, the electromagnetic end effector grasps the two covers in advance to prevent the two covers from falling, after the shearing robot finishes shearing, the carrying robot automatically puts the two covers into respective material frames, and after the two covers in the material frames reach a set number, the robot sends a signal to the AGV car, the AGV car is automatically conveyed to the inventory area, meanwhile, the AGV car conveys empty material frames to a waiting station, safety grating systems are arranged at front and rear outlets of the production line, if personnel enter the safety guardrails through the front and rear outlets, the production line stops running to ensure the personal safety of the personnel, the production line restarts and resumes running after the personnel leave, the production line is controlled by an advanced bus, when the equipment fails, the equipment can be stopped emergently and gives an alarm, and then relevant faults and information are displayed on a human interface, and a fault processing method and operation steps are adopted The rear outlet is respectively provided with a set of safety grating system, when the production line is started, if personnel enter the safety barrier through the front outlet and the rear outlet, the production line stops running to ensure the personal safety of the personnel, and after the production line is restarted, the production line recovers running.

The content of the compiling record file which needs to be arranged in time after the disassembling work comprises the following aspects; firstly, taking a picture of a vehicle body needing to be disassembled, and recording an assembly, parts, an assembly relation and the like of a sample vehicle needing to be disassembled; secondly, establishing a disassembly database of vehicle types, assemblies and parts for the detection stage; the assembly and the parts are briefly described, the assembly relation of the assembly or the parts, the number of standard parts and the like are recorded, and finally the composition of the assembly, the grade of the assembly, the standard parts and the like are recorded in a file form in an assembly list mode.

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.