Shell opening and disassembling equipment and disassembling method for waste compressor

Abstract

The invention discloses waste compressor shell opening and disassembling equipment and a disassembling method, the waste compressor shell opening and disassembling equipment comprises a disassembling table, an identification mechanism and a disassembling mechanism, the identification mechanism is arranged at an identification position of the disassembling table, and the identification mechanism obtains product characteristics of a to-be-disassembled waste compressor through visual identification and matches a product model according to the product characteristics; and the disassembling mechanism is provided with a disassembling gun and a disassembling mechanical arm, the disassembling gun is assembled on the disassembling mechanical arm, the disassembling mechanical arm generates a disassembling path according to product characteristics and product models, and the disassembling mechanical arm disassembles the waste compressor to be disassembled according to the disassembling path. Visual identification is adopted for photographing, scanning and identifying the compressor, generating product features, matching the compressor model and generating a disassembling path, the disassembling path is set to be generated on the outline appearance features of the waste compressor, then the compressor is disassembled through a plasma cutting gun, a shell can be completely opened, and the disassembling efficiency is improved. And the separation of the shell and internal parts is also realized.

Description

Technical Field

[0001] The invention relates to the technical field of machine tool processing, in particular to a device and a method for disassembling a shell of a waste compressor. Background Art

[0002] Air conditioners and refrigerators have long become part of people's daily lives. Compressors are the core components of air conditioners and refrigerators. With the acceleration of the renewal of household appliances, the number of compressors disassembled from scrapped air conditioners and refrigerators has gradually increased. The compressor is mainly composed of a shell, a pump body, and a motor. The shell is usually 2.5-4mm thick low-carbon steel, and the internal parts are almost all high-value metal materials such as copper, iron, and aluminum. The recycling of these metal materials or the reuse of parts requires the compressor to be opened and disassembled first.

[0003] In the recycling industry, the compressor shell disassembly process is mainly manual disassembly and mechanical blade disassembly. Manual disassembly is performed by hand-held plasma cutting guns. This method is dangerous during operation, prone to safety accidents, and labor-intensive, and cannot meet the requirements of large-scale production. Mechanical blade disassembly is to cut the circumferential surface of the shell through the rotation of the blade or saw blade. This method is bulky and inefficient. The shell and motor assembly are matched together by heat fitting, and there is a certain clamping force between them. After disassembly, the shell and the motor stator are still stuck together, which is only suitable for small batch processing.

[0004] Patent No. 201120307356.1 discloses a device for disassembling a waste compressor casing, but the device relies on a limit unit for rotation, and the disassembly element can only be cut in the circumferential direction of the compressor, and cannot be disassembled in other directions such as the vertical direction. After disassembly, the casing is still stuck with the internal stator assembly, and the casing cannot be completely separated from the internal stator parts. Summary of the invention

[0005] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a shell opening and disassembly device and a disassembly method for waste compressors to solve the problems raised by the above-mentioned background technology.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a waste compressor shell opening and disassembly equipment, including a disassembly table, an identification mechanism and a disassembly mechanism,

[0007] The identification mechanism is arranged at the identification position of the disassembly table, and the identification mechanism obtains the product features of the waste compressor to be disassembled through visual recognition, and matches the product model according to the product features;

[0008] The disassembly mechanism is provided with a disassembly gun and a disassembly mechanical arm, the disassembly gun is assembled on the disassembly mechanical arm, the disassembly mechanical arm generates a disassembly path according to product features and product models, and the disassembly mechanical arm disassembles the waste compressor to be disassembled according to the disassembly path.

[0009] As a further improvement of the present invention: the disassembly table is also provided with a support frame and a protective cover, the support frame is fixed on one side of the identification position of the disassembly table, the identification mechanism is installed on the support frame, the protective cover is rotatably connected to the support frame, and the protective cover is used to block the floodlight of the disassembly gun.

[0010] As a further improvement of the present invention: the protective cover has at least one opening on all sides.

[0011] As a further improvement of the present invention: the identification mechanism is configured as an industrial camera, and a protective cover is provided on the periphery of the industrial camera, and the protective cover is used to isolate the arc radiation generated during disassembly.

[0012] As a further improvement of the present invention: the disassembling table is also provided with a plate chain line, the plate chain line is provided with a pallet, and the plate chain line transports the waste compressor by loading the waste compressor through the pallet.

[0013] A method for opening and disassembling a waste compressor comprises the following steps:

[0014] The recognition mechanism is used to visually identify the product features of the waste compressor to be disassembled, and the product model is matched according to the product features.

[0015] The disassembly robot arm generates a disassembly path according to product features and product models, and disassembles the waste compressor to be disassembled according to the disassembly path.

[0016] As a further improvement of the present invention: the method of obtaining the product features of the waste compressor to be disassembled by visual recognition of the recognition mechanism includes:

[0017] The used compressors are photographed, scanned and identified by an industrial camera to generate product contour features. According to the damaged locations of the used compressors, notch features are generated at the corresponding locations of the product contour features. The preset compressor models are matched according to the product contour features, and an identification model for the used compressors is established.

[0018] As a further improvement of the present invention: the method of using the recognition mechanism to visually identify and obtain the product features of the waste compressor to be disassembled also includes:

[0019] The waste compressor is photographed, scanned and identified by an industrial camera to obtain the coding information of the waste compressor, and the preset compressor model is matched according to the coding information of the waste compressor to generate product contour features and establish an identification model of the waste compressor, which includes product contour features and notch features.

[0020] As a further improvement of the present invention: the disassembly robot arm generates a disassembly path according to product features and product models, including:

[0021] According to the recognition model and product contour features of the waste compressor, and according to the notch features, a notch module is generated on the recognition model, the disassembly robot matches the basic disassembly path on the recognition model and generates a corrected disassembly path according to the notch module, wherein the basic disassembly path is preset in the control system of the disassembly robot.

[0022] As a further improvement of the present invention: the basic disassembly path includes at least an inverted double U shape, a single U circle and a double circle vertical line shape, and the modified disassembly path is generated according to the notch module characteristics on the basic disassembly path and the disassembly defects of the basic disassembly path.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention uses visual recognition to take a photo and scan the compressor to identify the product features, match the compressor model and generate a disassembly path. The disassembly path is set to be generated based on the contour features of the waste compressor, and then the compressor is disassembled using a plasma cutting gun. After the disassembly path is disassembled, the cylindrical waste compressor shell is cut open, eliminating the clamping force between the internal motor stators, not only can the shell be completely opened, but also the shell and internal parts can be separated. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a side structural schematic diagram of the present invention.

[0026] Figure 2 It is a schematic diagram of the top structure of the present invention.

[0027] Figure 3 It is a schematic diagram of the method flow of the present invention.

[0028] Numbers in the figure: 1. Plate chain line, 2. Disassembly table, 3. Pallet, 4. Waste compressor, 5. Support frame, 6. Fixed plate, 7. Identification mechanism, 8. Protective cover, 9. Protective cover, 10. Disassembly gun, 12. Disassembly robotic arm. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] The embodiments of the present invention are described in detail below. Figure 1-3 , wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0031] The present invention is now further described in conjunction with the accompanying drawings and embodiments: a waste compressor shell opening and disassembly device, comprising a disassembly table 2, an identification mechanism 7 and a disassembly mechanism, wherein the identification mechanism 7 is arranged at an identification position of the disassembly table 2, and the identification mechanism 7 obtains product features of the waste compressor 4 to be disassembled through visual recognition, and matches the product model according to the product features; the disassembly mechanism is provided with a disassembly gun 10 and a disassembly robot arm 12, and the disassembly gun 10 is assembled on the disassembly robot arm 12, and the disassembly robot arm 12 generates a disassembly path according to the product features and the product model, and the disassembly robot arm 12 disassembles the waste compressor 4 to be disassembled according to the disassembly path.

[0032] The present invention uses visual recognition to take a photo and scan the compressor to identify the product features, match the compressor model and generate a disassembly path. The disassembly path is set to be generated based on the contour features of the waste compressor 4, and then the compressor is disassembled using a plasma cutting gun. After the disassembly path is disassembled, the cylindrical shell of the waste compressor 4 is cut open, eliminating the clamping force between the internal motor stators, not only can the shell be completely opened, but also the shell and internal parts can be separated.

[0033] In one embodiment of the present invention, the disassembly table 2 is also provided with a support frame 5 and a protective cover 8, the support frame 5 is fixed on one side of the identification position of the disassembly table 2, the identification mechanism 7 is installed on the support frame 5, and the protective cover 8 is rotatably connected to the support frame 5, and the protective cover 8 is used to block the floodlight of the disassembly gun 10.

[0034] In this embodiment, since the disassembly gun 10 generates strong light when disassembling the waste compressor 4, the strong light will affect the visual recognition of the product features of the waste compressor 4 to be disassembled by the identification mechanism 7. Specifically, when the identification mechanism 7 visually recognizes the waste compressor 4 to be disassembled, due to the strong light emitted by the disassembly gun 10, the identification mechanism 7 will generate a local highlight area in the visual recognition of the waste compressor 4 to be disassembled. The highlight area may affect the identification mechanism 7 to recognize the contour, coding and other features of the waste compressor 4, resulting in inaccurate recognition of the contour, coding and other features. In addition, due to the inaccurate recognition of the contour, coding and other features, the compressor model is mismatched and an incorrect disassembly path is generated. The incorrect disassembly path cannot achieve the complete opening of the shell of the waste compressor 4, and cannot achieve the separation of the shell and the internal parts. In this embodiment, the protective cover 8 is used to block the strong floodlight of the disassembly gun 10, so that the identification mechanism 7 can visually recognize the waste compressor 4 to be disassembled under ambient light, ensuring the recognition accuracy of the identification structure.

[0035] In one embodiment of the present invention, a plate chain line 1 is further provided on the disassembling table 2 , and a pallet 3 is provided on the plate chain line 1 . The plate chain line 1 transports the waste compressor 4 by loading the waste compressor 4 through the pallet 3 .

[0036] In this embodiment, in order to ensure that the waste compressor 4 can be automatically disassembled, it is necessary to set up a plate chain line 1 on the disassembly table 2 to transport the waste compressor 4, and during transportation, the plate chain line 1 transports the waste compressor 4 to the identification position by setting up a pallet 3. Under the protection of the protective cover 8, the identification mechanism 7 visually identifies the product characteristics of the waste compressor 4 to be disassembled, and opens the protective cover 8. The plate chain line 1 transports the waste compressor 4 to the disassembly position by setting up a pallet 3. The disassembly mechanism disassembles the waste compressor 4 according to the disassembly path through the disassembly robot arm 12 and the disassembly gun 10. The identification process and the disassembly process on the plate chain line 1 take the same time. Therefore, the pallet 3 is set to be able to operate independently on the plate chain line 1.

[0037] In one embodiment of the present invention, the protective cover 8 has at least one opening around it.

[0038] In the present embodiment, on the basis of the plate chain line 1 adopted by the disassembling table 2, since the waste compressor 4 is transported in a single manner on the plate chain line 1, and the disassembling mechanism disassembles the waste compressor 4 at the disassembling position on the plate chain line 1, it is necessary to use a protective cover 8 to cover the side close to the disassembling position at the identification position. When the protective cover 8 is driven up and down by a lifting drive, since a lifting mechanism is needed to install the protective cover 8, the height of the support frame 5 will be adjusted upward, and the identification mechanism 7 may have errors in visually identifying the waste compressor 4 at an excessively high position. In order to deal with this situation, the protective cover 8 is rotatably installed on the support frame 5. When combined with the plate chain line 1, the fully enclosed protective cover 8 on all sides is obviously It is not suitable. The protective cover 8 adopted in this embodiment has at least one opening on all sides. When cooperating with the plate chain line 1 for transportation, when feeding, the protective cover 8 is rotated to open the protective cover 8 on the side of the feeding and transportation direction of the plate chain line 1. The plate chain line 1 transports the waste compressor 4 to the identification position by setting the pallet 3. The protective cover 8 is rotated to block the side close to the disassembly position. Under the protection of the protective cover 8, the identification mechanism 7 visually identifies the product features of the waste compressor 4 to be disassembled. The protective cover 8 is rotated to open the protective cover 8 on the side of the discharging and transportation direction of the plate chain line 1 to facilitate the transportation of the waste compressor 4. Under this setting, the disassembly process is longer than the identification process. Therefore, driving the protective cover 8 in a rotating manner does not affect the disassembly rhythm.

[0039] In one embodiment of the present invention, the identification mechanism 7 is configured as an industrial camera, and a protective cover 9 is disposed on the periphery of the industrial camera, and the protective cover 9 is used to isolate arc radiation generated during disassembly.

[0040] The shell opening and disassembly equipment of the waste compressor 4 of the present application mainly includes a conveying mechanism, an identification mechanism 7 and a disassembly mechanism. The conveying device is composed of a plate chain line 1 and a pallet 3. The plate chain line 1 is installed on the disassembly table 2. The pallet 3 is installed on the surface of the plate chain line 1. The pallet 3 is used to fix and clamp the waste compressor 4.

[0041] The support frame 5 in this embodiment is installed on one side of the disassembly table 2 by screw connection. A fixing plate 6 is also used on the support frame 5. The fixing plate 6 is installed above the support frame 5 and is used to connect the industrial camera. The protective cover 9 is fixed around the industrial camera to cover the industrial camera for protection.

[0042] The dismantling mechanism in this embodiment includes a plasma dismantling gun 10 and a dismantling robot arm 12. The dismantling robot arm 12 is fixedly installed on the ground. The plasma dismantling gun 10 is installed on the head of the dismantling robot arm 12 to form a dismantling mechanism to cut and open the shell of the waste compressor 4.

[0043] A method for opening and disassembling a waste compressor comprises the following steps:

[0044] The recognition mechanism 7 is used to visually recognize the product features of the waste compressor 4 to be disassembled, and the product model is matched according to the product features.

[0045] The disassembling robot arm 12 generates a disassembling path according to the product features and the product model, and the disassembling robot arm 12 disassembles the waste compressor 4 to be disassembled according to the disassembly path.

[0046] In one embodiment of the present invention, the product features of the waste compressor 4 to be disassembled are obtained by visual recognition using the recognition mechanism 7, including:

[0047] The waste compressor 4 is photographed, scanned and identified by an industrial camera to generate product contour features. According to the damaged position of the waste compressor 4, a notch feature is generated at the corresponding position of the product contour features. According to the product contour features, a preset compressor model is matched, and an identification model of the waste compressor 4 is established.

[0048] Furthermore, the method of using the recognition mechanism 7 to visually recognize and obtain the product features of the waste compressor 4 to be disassembled also includes:

[0049] The waste compressor 4 is photographed, scanned and identified by an industrial camera to obtain the coding information of the waste compressor 4, and the preset compressor model is matched according to the coding information of the waste compressor 4 to generate product contour features and establish an identification model of the waste compressor 4, which includes product contour features and notch features.

[0050] Furthermore, the disassembly robot arm 12 generates a disassembly path according to product features and product models, including:

[0051] According to the recognition model and product contour features of the waste compressor 4, and according to the notch features, a notch module is generated on the recognition model, and the disassembly robot 12 matches the basic disassembly path in the recognition model and generates a corrected disassembly path according to the notch module, wherein the basic disassembly path is preset in the control system of the disassembly robot 12.

[0052] In this embodiment, when disassembling a good used compressor 4, only the basic disassembly path is needed to disassemble the shell of the used compressor 4, eliminate the clamping force between the internal motor stators, and realize the separation of the shell and the internal parts; however, when disassembling a worn-out used compressor 4, due to the presence of a notch, the internal parts may be damaged when the basic disassembly path is adopted, and the shell and the internal parts cannot be separated. Therefore, when disassembling a worn-out used compressor 4, a modified disassembly path is generated based on the basic disassembly path and the position of the notch feature. The modified disassembly path can be a path re-layout that bypasses the notch feature, or a notch inlet path is generated based on the basic disassembly path. When the notch travel path is generated, the disassembly mechanism stops disassembling when passing through the notch travel path, and re-disassembles along the notch travel path to the next basic disassembly path. When the notch feature appears at the junction of the basic disassembly path, the notch travel path is adopted. When the notch feature appears at the straight line of the basic disassembly path, the path can be a modified disassembly path. Path re-layout or notch travel path. When the notch feature is too large at the straight part of the basic disassembly path, the notch travel path is preferred. When the notch feature is small at the straight part of the basic disassembly path, path re-layout is adopted. Considering the impact of the restart of the disassembly gun 10, since the restart of the disassembly gun 10 will affect the disassembly rhythm, when the notch feature appears in a small range at the straight part of the basic disassembly path, it is obviously unreasonable to restart the disassembly gun 10. The path re-layout can be formed by re-layouting the path by bypassing a smaller notch feature. When the notch feature appears in a large range at the straight part of the basic disassembly path, it is obviously unreasonable to re-layout the path by bypassing a larger notch feature. This method requires a longer path to be bypassed, which produces a longer production rhythm. The notch travel path can be adopted. The disassembly mechanism stops disassembling when passing the notch travel path, and restarts the disassembly gun 10 along the notch travel path to the next basic disassembly path for disassembly.

[0053] In one embodiment of the present invention, the basic disassembly path includes at least an inverted double U shape, a single U circle and a double circle vertical line shape, and the modified disassembly path is generated according to the notch module characteristics on the basic disassembly path and the disassembly defects of the basic disassembly path.

[0054] In the inverted double U-shaped disassembly path, the plasma disassembly gun 10, driven by the disassembly robot arm 12, first cuts a semicircle in the circumferential direction of the upper part of the compressor; then cuts vertically downward from the rear end of the semicircle to the lower part; then cuts a half circle in the circumferential direction on the other side of the lower part; finally, cuts vertically upward from the rear end point of the lower semicircle to the origin, completing the opening of the compressor shell in two halves and completing the shell opening.

[0055] In the single U-circular disassembly path, the plasma disassembly gun 10, driven by the disassembly robot arm 12, first cuts a circle in the circumferential direction of the upper part of the compressor to complete the opening of the upper cover; then cuts vertically downward from the cutting origin to the lower part, cuts half a circle in the circumferential direction of the lower part, and finally cuts vertically upward from the rear end point of the lower semicircle to the upper circumferential point to complete the opening of the compressor shell and complete the shell opening.

[0056] In the single U-circular disassembly path, the plasma disassembly gun 10, driven by the disassembly robot arm 12, first cuts a circle in the circumferential direction of the upper part of the compressor to complete the opening of the upper cover; then cuts vertically downward from the cutting origin to the lower part, and finally cuts a circle in the circumferential direction of the lower part to complete the opening of the lower cover. At this time, the upper and lower covers of the compressor have been opened, and the middle part is also broken vertically to complete the shell opening.

[0057] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0058] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present invention and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0059] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0060] In summary, after reading the present invention document, ordinary technicians in this field can make various other corresponding transformation schemes based on the technical scheme and technical concept of the present invention without creative mental work, which all fall within the scope of protection of the present invention.

Claims

1. A waste compressor shell disassembly device, characterized in that: It includes a dismantling platform, an identification mechanism and a dismantling mechanism; The identification mechanism is arranged at the identification position of the disassembly table, and the identification mechanism obtains the product features of the waste compressor to be disassembled through visual recognition, and matches the product model according to the product features; The disassembly mechanism is provided with a disassembly gun and a disassembly mechanical arm, the disassembly gun is assembled on the disassembly mechanical arm, the disassembly mechanical arm generates a disassembly path according to product features and product models, and the disassembly mechanical arm disassembles the waste compressor to be disassembled according to the disassembly path.

2. The waste compressor shell disassembly equipment according to claim 1 is characterized in that: The disassembly table is also provided with a support frame and a protective cover. The support frame is fixed on one side of the identification position of the disassembly table, the identification mechanism is installed on the support frame, and the protective cover is rotatably connected to the support frame. The protective cover is used to block the floodlight of the disassembly gun.

3. The waste compressor shell disassembly equipment according to claim 2 is characterized in that: The protective cover has at least one opening on its periphery.

4. The waste compressor shell disassembly equipment according to claim 3 is characterized in that: The identification mechanism is configured as an industrial camera, and a protective cover is disposed on the periphery of the industrial camera, and the protective cover is used to isolate arc radiation generated during disassembly.

5. The waste compressor shell disassembly equipment according to claim 4 is characterized in that: The disassembling table is also provided with a plate chain line, on which a pallet is provided. The plate chain line transports the waste compressor by loading the waste compressor through the pallet.

6. A method for disassembling a waste compressor, characterized in that: The following steps are involved: Use visual recognition of the recognition mechanism to obtain the product features of the waste compressor to be disassembled, and match the product model according to the product features; The disassembly robot arm generates a disassembly path according to product features and product models, and disassembles the waste compressor to be disassembled according to the disassembly path.

7. The method for opening and disassembling a waste compressor according to claim 6, characterized in that: The method of using the recognition mechanism to visually identify and obtain the product features of the waste compressor to be disassembled includes: The used compressors are photographed, scanned and identified by an industrial camera to generate product contour features. According to the damaged locations of the used compressors, notch features are generated at the corresponding locations of the product contour features. The preset compressor models are matched according to the product contour features, and an identification model for the used compressors is established.

8. The method for opening and disassembling a waste compressor according to claim 7, characterized in that: The method of using the recognition mechanism to visually identify and obtain the product features of the waste compressor to be disassembled also includes: The waste compressor is photographed, scanned and identified by an industrial camera to obtain the coding information of the waste compressor, and the preset compressor model is matched according to the coding information of the waste compressor to generate product contour features and establish an identification model of the waste compressor, which includes product contour features and notch features.

9. The method for opening and disassembling a waste compressor according to claim 8, characterized in that: The disassembly robot arm generates a disassembly path according to product features and product models, including: According to the recognition model and product contour features of the waste compressor, and according to the notch features, a notch module is generated on the recognition model, the disassembly robot matches the basic disassembly path on the recognition model and generates a corrected disassembly path according to the notch module, wherein the basic disassembly path is preset in the control system of the disassembly robot.

10. The method for opening and disassembling a waste compressor according to claim 9, characterized in that: The basic disassembly path at least includes an inverted double U shape, a single U circle and a double circle vertical line shape, and the modified disassembly path is generated according to the notch module characteristics on the basic disassembly path and the disassembly defects of the basic disassembly path.

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