Intelligent dismounting robot for equipment dismounting

Abstract

The invention relates to the technical field of manipulators, in particular to an intelligent dismounting robot for equipment dismounting. Comprising a movable chassis, a hydraulic cylinder, a lifting disc and a controller, the hydraulic cylinder is arranged at the top of the movable chassis, a telescopic rod of the hydraulic cylinder is connected with the lifting disc, the controller is installed on the movable chassis, and a first visual sensor is arranged at the top of the lifting disc. Through the automatic and intelligent design, the vehicle chassis can be quickly and accurately disassembled, the working efficiency is greatly improved, the manual operation time is shortened, the whole disassembling process almost does not need direct manual intervention, and especially when a complex mechanical structure is processed, the risk that workers are injured is remarkably reduced, and the working efficiency is improved. And the design that the corrugated pipe is combined with the oil storage barrel can effectively collect and transfer engine oil, liquid is prevented from leaking into the environment, the environment is protected, and the cleaning cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to an intelligent disassembly robot for equipment disassembly. Background Art

[0002] With the continuous development of the automotive industry, the demand for vehicle maintenance, repair, and recycling is also increasing. In the modern automotive maintenance and recycling industry, the disassembly of vehicle chassis is a common and important task.

[0003] However, traditional disassembly methods rely on manual operations, which are not only inefficient but also pose certain safety hazards. Especially when dealing with complex mechanical structures, workers need to be located under the vehicle and use various small tools for disassembly operations. This working method is not only troublesome but also may affect work efficiency due to factors such as a narrow working environment and poor visibility, and also increases the risk of injury. In addition, during such operations, when workers are involved in the operation of liquid containers such as oil tanks, such as releasing oil, due to space limitations and inconvenient operations, it is very easy for the oil to leak onto the hands or bodies of the operators. This situation not only makes it difficult for workers to clean but also increases the cleaning cost and time. Summary of the Invention

[0004] In view of this, the present invention provides an intelligent disassembly robot for equipment disassembly, which can solve the problems of traditional vehicle chassis disassembly relying on manual operations, being not only troublesome and inefficient but also prone to oil leakage onto the hands or bodies of workers, resulting in difficult cleaning.

[0005] The technical solution of the present invention is as follows: An intelligent disassembly robot for equipment disassembly includes a mobile chassis, a hydraulic cylinder, a lifting disc, and a controller. A hydraulic cylinder is arranged on the top of the mobile chassis, and a lifting disc is connected to the telescopic rod of the hydraulic cylinder. A controller is installed on the mobile chassis. A first vision sensor is arranged on the top of the lifting disc. Rotating blocks are rotatably arranged at intervals on the side of the lifting disc. A support seat is slidably arranged on the rotating block. An adjusting mechanism for adjusting the position of the support seat is arranged on the lifting disc. A ring plate is rotatably connected to the hydraulic cylinder. A rotating mechanism for driving the ring plate to rotate is arranged on the hydraulic cylinder. A robotic arm is installed on the ring plate. A clamping joint is connected to the robotic arm. A second vision sensor is connected to the clamping joint. A support mechanism is also arranged on the hydraulic cylinder. Disassembly tools are placed at intervals on the support mechanism. The disassembly tools are used for disassembling the equipment. A corrugated pipe for collecting oil is connected to one of the disassembly tools. An aggregate mechanism for transferring the oil is arranged on the mobile chassis. A separation mechanism for separating the disassembly tool from the clamping joint is arranged on the support mechanism.

[0006] As a preferred technical solution of the present invention, it further includes a bolt collection mechanism. The bolt collection mechanism includes a third electric push rod, a transparent rubber collection tray, a collection frame, and a connecting pipe. A third electric push rod is installed on the snap-in connector. The telescopic rod of the third electric push rod is connected to a transparent rubber collection tray. The transparent rubber collection tray is used to collect the fixing bolts removed from the equipment. There is a notch on the transparent rubber collection tray. The interface of the snap-in connector is located within the notch. A collection frame is provided on the mobile chassis. The transparent rubber collection tray is communicated with the collection frame through a connecting pipe.

[0007] As a preferred technical solution of the present invention, it further includes a stabilizing mechanism. The stabilizing mechanism includes a fourth electric push rod and a friction plate. Fourth electric push rods are symmetrically arranged on the mobile chassis. The telescopic rod of the fourth electric push rod is connected to a friction plate.

[0008] As a preferred technical solution of the present invention, the adjusting mechanism includes a first electric push rod and a second electric push rod. A first electric push rod with the same number as the rotating blocks is rotatably arranged at intervals on the side of the lifting plate. The telescopic rod of the first electric push rod is rotatably connected to the rotating block. A second electric push rod is arranged inside the support seat. The telescopic rod of the second electric push rod is connected to the rotating block.

[0009] As a preferred technical solution of the present invention, the rotating mechanism includes a toothed ring, a first servo motor, and a gear. A toothed ring is connected to the hydraulic cylinder. A first servo motor is arranged on the ring plate. A gear is installed on the output shaft of the first servo motor. The gear meshes with the toothed ring.

[0010] As a preferred technical solution of the present invention, the support mechanism includes a connecting plate and a supporting plate. A connecting plate is further arranged on the hydraulic cylinder. The disassembly tools are placed at intervals in a ring on the connecting plate. Supporting plates are arranged at intervals in a ring at the bottom of the connecting plate. The supporting plates are used to support the disassembly tools.

[0011] As a preferred technical solution of the present invention, the aggregate mechanism includes a connecting block, an oil storage barrel, and an oil delivery pipe. A connecting block is connected to the mobile chassis. An oil storage barrel is arranged on the connecting block. An oil delivery pipe is connected to the mobile chassis. One end of the oil delivery pipe is communicated with the corrugated pipe. The other end of the oil delivery pipe is located above the oil storage barrel.

[0012] As a preferred technical solution of the present invention, the separation mechanism includes a second servo motor and a pressing plate. A second servo motor is installed on the connecting plate. The telescopic rod of the second servo motor is connected to a pressing plate. The pressing plate is used to press the disassembly tools.

[0013] Beneficial effects: 1. Through the automated and intelligent design, the present invention can quickly and accurately complete the disassembly of the vehicle chassis, greatly improving the work efficiency, reducing the time of manual operation, and since almost no direct manual intervention is required during the entire disassembly process, especially when dealing with complex mechanical structures, this significantly reduces the risk of worker injury. Moreover, the design combining the corrugated pipe and the oil storage barrel can effectively collect and transfer engine oil, preventing liquid leakage into the environment, protecting the environment and reducing the cleaning cost.

[0014] 2. Through the bolt collection mechanism and the stabilization mechanism, the present invention can not only collect the removed bolts using the transparent rubber collection tray, which helps with subsequent management and reuse of these parts, but also ensure that the robot does not slide or shake during delicate operations, improving the overall safety and stability of the operation. Brief Description of the Drawings

[0015] Figure 1 is a three-dimensional structural schematic diagram of the present invention.

[0016] Figure 2 is a three-dimensional structural schematic diagram of the adjustment mechanism of the present invention.

[0017] Figure 3 is a three-dimensional structural schematic diagram of the rotation mechanism of the present invention.

[0018] Figure 4 is a three-dimensional structural schematic diagram of the support mechanism of the present invention.

[0019] Figure 5 is a three-dimensional structural schematic diagram of the aggregate mechanism of the present invention.

[0020] Figure 6 is a three-dimensional structural schematic diagram of the disassembly tool, corrugated pipe and oil delivery pipe of the present invention.

[0021] Figure 7 is a three-dimensional structural schematic diagram of the separation mechanism of the present invention.

[0022] Figure 8 is a three-dimensional structural schematic diagram of the bolt collection mechanism of the present invention.

[0023] Figure 9 is a three-dimensional structural schematic diagram of the snap joint, transparent rubber collection tray and connecting pipe of the present invention.

[0024] Figure 10 is a three-dimensional structural schematic diagram of the stabilization mechanism of the present invention.

[0025] The labels in the figure are: 1 - mobile chassis, 2 - hydraulic cylinder, 3 - lifting plate, 4 - controller, 5 - first vision sensor, 6 - rotating block, 7 - support base, 801 - first electric push rod, 802 - second electric push rod, 9 - ring plate, 1001 - toothed ring, 1002 - first servo motor, 1003 - gear, 11 - robotic arm, 12 - snap joint, 13 - second vision sensor, 1401 - connecting plate, 1402 - supporting plate, 15 - disassembly tool, 16 - bellows, 1701 - connecting block, 1702 - oil storage barrel, 1703 - oil delivery pipe, 1801 - second servo motor, 1802 - pressing plate, 19 - third electric push rod, 20 - transparent rubber collection tray, 21 - collection frame, 22 - connecting pipe, 23 - fourth electric push rod, 24 - friction plate. Detailed implementation manner

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners, but the protection scope and application scope of the present invention are not limited.

[0027] Embodiment: An intelligent disassembly robot for equipment disassembly, see Figures 1-7 as shown, which includes a mobile chassis 1, a hydraulic cylinder 2, a lifting plate 3 and a controller 4; the mobile chassis 1 is a four-wheel drive and four-rotation mobile chassis, which is a mobile platform with four wheels. Each wheel can be independently driven (four-wheel drive) and steered (four-rotation). This design enables the vehicle to have very flexible mobility and can perform complex actions such as in-situ rotation, lateral movement and diagonal driving in a narrow space; a hydraulic cylinder 2 is arranged in the middle of the top of the mobile chassis 1; the lifting plate 3 is connected to the telescopic rod of the hydraulic cylinder 2; the controller 4 is installed on the right front side of the bottom of the mobile chassis 1, and the hydraulic cylinder 2 is electrically connected to the controller 4; It also includes a first vision sensor 5, a rotating block 6, a support base 7, an adjustment mechanism, an annular plate 9, a rotating mechanism, a robotic arm 11, a clamping joint 12, a second vision sensor 13, a support mechanism, a disassembly tool 15, a corrugated pipe 16, an oil collection mechanism and a separation mechanism; a first vision sensor 5 is arranged in the middle of the top of the lifting disc 3, and the first vision sensor 5 is electrically connected to the controller 4; three rotating blocks 6 are rotatably arranged at intervals on the side of the lifting disc 3; a support base 7 is slidably arranged on the rotating block 6; an adjustment mechanism for adjusting the position of the support base 7 is arranged on the lifting disc 3; the upper part of the outer side of the hydraulic cylinder 2 is rotatably connected to an annular plate 9; a rotating mechanism for driving the annular plate 9 to rotate is arranged on the hydraulic cylinder 2; a robotic arm 11 is installed on the outer side of the annular plate 9, and the robotic arm 11 is electrically connected to the controller 4; a clamping joint 12 is connected to the robotic arm 11; a second vision sensor 13 is connected to the lower side behind the clamping joint 12, and the second vision sensor 13 is electrically connected to the controller 4; a support mechanism is also arranged on the hydraulic cylinder 2, disassembly tools 15 are placed at intervals on the support mechanism, and the port of the disassembly tool 15 has magnetism, and this magnetism is used to adsorb and fix bolts (not explained too much in the prior art), the clamping joint 12 is used to dock with the disassembly tool 15, and the robotic arm 11 is used to remove the fixing bolts in the vehicle chassis by controlling the disassembly tool 15; a corrugated pipe 16 for collecting engine oil is connected to one of the disassembly tools 15; an oil collection mechanism for transferring engine oil is arranged on the moving chassis 1; a separation mechanism for separating the disassembly tool 15 from the clamping joint 12 is arranged on the support mechanism.

[0028] See Figure 2 As shown, the adjustment mechanism includes a first electric push rod 801 and a second electric push rod 802; three first electric push rods 801 are rotatably arranged at intervals on the side of the lifting disc 3, the telescopic rods of the three first electric push rods 801 are respectively rotatably connected to the three rotating blocks 6, and the first electric push rod 801 is electrically connected to the controller 4; second electric push rods 802 are arranged in all three support bases 7, the telescopic rods of the three second electric push rods 802 are respectively connected to the three rotating blocks 6, and the second electric push rod 802 is electrically connected to the controller 4.

[0029] See Figure 3 As shown, the rotating mechanism includes a toothed ring 1001, a first servo motor 1002 and a gear 1003; the toothed ring 1001 is connected to the upper part of the outer side of the hydraulic cylinder 2, and the toothed ring 1001 is located above the annular plate 9; a first servo motor 1002 is arranged on the outer side of the annular plate 9, and the first servo motor 1002 is electrically connected to the controller 4; a gear 1003 is installed on the output shaft of the first servo motor 1002, and the gear 1003 meshes with the toothed ring 1001.

[0030] See Figure 4As shown, the support mechanism includes a connecting plate 1401 and a supporting plate 1402. A connecting plate 1401 is provided on the lower right side of the hydraulic cylinder 2, and the bottom end of the bellows 16 contacts the connecting plate 1401. The disassembly tools 15 are placed at intervals in a ring on the connecting plate 1401. The supporting plates 1402 are arranged at intervals in a ring at the bottom of the connecting plate 1401, and the number of the supporting plates 1402 is the same as that of the disassembly tools 15. The supporting plates 1402 are used to support the disassembly tools 15.

[0031] See Figure 5 and Figure 6 As shown, the aggregate mechanism includes a connecting block 1701, an oil storage barrel 1702 and an oil delivery pipe 1703. A connecting block 1701 is connected to the right side of the bottom of the mobile chassis 1. An oil storage barrel 1702 for storing engine oil is provided on the lower right side of the connecting block 1701. An oil delivery pipe 1703 is connected to the right rear side of the top of the mobile chassis 1. The upper end of the oil delivery pipe 1703 is communicated with the bellows 16, and the lower end of the oil delivery pipe 1703 is located above the oil storage barrel 1702. The oil delivery pipe 1703 is a flexible pipe.

[0032] See Figure 7 As shown, the separation mechanism includes a second servo motor 1801 and a pressing plate 1802. A second servo motor 1801 is installed on the connecting plate 1401. The second servo motor 1801 is located between the disassembly tools 15 and is electrically connected to the controller 4. A pressing plate 1802 is connected to the telescopic rod of the second servo motor 1801. The pressing plate 1802 is used to press the disassembly tools 15.

[0033] In the initial state, due to the bellows 16 being squeezed by the gravity of the corresponding disassembly tool 15, the bellows 16 is in a contracted state; During use, the mobile chassis 1 is controlled to move under the chassis of the vehicle. Then, the images captured by the first vision sensor 5 are transmitted back to the display through the controller 4. The operator can then see the condition of the vehicle chassis based on the images on the display. Next, the operator controls the mobile chassis 1 to move to a specified position under the vehicle chassis according to the condition of the vehicle chassis. Subsequently, the telescopic rod of the first electric push rod 801 is controlled to extend or retract through the controller 4, so that the telescopic rod of the first electric push rod 801 drives the rotating block 6 and the support seat 7 to rotate or reverse, thereby adjusting the position of the support seat 7 so that the support seat 7 is located under the mounting plate of the vehicle chassis that needs to be disassembled. After the position of the support seat 7 is adjusted, the telescopic rod of the second electric push rod 802 is controlled to extend or retract through the controller 4, so that the telescopic rod of the second electric push rod 802 drives the support seat 7 to move, thereby secondarily adjusting the position of the support seat 7 so that the support seat 7 can move to be close to the edge under the mounting plate of the vehicle chassis that needs to be disassembled. After the position of the support seat 7 is adjusted, the controller 4 is used to control the hydraulic cylinder 2 to drive the lifting disc 3, the rotating block 6 and the support seat 7 to rise until the support seat 7 contacts the mounting plate of the vehicle chassis that needs to be disassembled, so that the support seat 7 supports the mounting plate of the vehicle chassis that needs to be disassembled. Then, the controller 4 controls the manipulator 11 to start the disassembly work according to a preset program: At this time, the second vision sensor 13 will photograph the position of the disassembly tool 15 on the connecting plate 1401 and transmit the photographed image back to the controller 4. After confirmation by the controller 4, it will control the robotic arm 11 to automatically move above the disassembly tool 15 to be used. At this time, if the pressing plate 1802 is not above the disassembly tool 15 to be used, no additional operation will occur; if the pressing plate 1802 is above the disassembly tool 15 to be used, the controller 4 will control the second servo motor 1801 to drive the pressing plate 1802 to rotate by ninety degrees, so that the pressing plate 1802 moves away from above the disassembly tool 15 to be used; then the robotic arm 11 will drive the snap joint 12 to move downward, so that the interface of the snap joint 12 is docked with the corresponding disassembly tool 15, and then the robotic arm 11 will drive the snap joint 12 to move upward, so that the snap joint 12 drives the corresponding disassembly tool 15 to move upward. After that, the robotic arm 11 will drive the docked disassembly tool 15 to move, flip, and rotate according to a preset program, so as to automatically unscrew the fixing bolts on the vehicle chassis mounting plate one by one with the docked disassembly tool 15 until all the fixing bolts on the vehicle chassis mounting plate are completely unscrewed. During this period, when the fixing bolt is removed from the vehicle chassis mounting plate, the fixing bolt will be adsorbed on the end of the docked disassembly tool 15. Subsequently, the robotic arm 11 drives the docked disassembly tool 15 to flip, and the fixing bolt adsorbed on the end of the disassembly tool 15 will fall downward under the influence of gravity; if the length of the robotic arm 11 is insufficient to perform the operation during this period, the controller 4 will control the first servo motor 1002 to drive the gear 1003 to rotate or reverse, so that the gear 1003 rotates or rotates in the reverse direction around the toothed ring 1001, thereby driving the first servo motor 1002, the ring plate 9, and the robotic arm 11 to rotate or rotate in the reverse direction, so as to adjust the position of the robotic arm 11 and enable the robotic arm 11 to continue the disassembly work; after all the fixing bolts on the vehicle chassis mounting plate are completely unscrewed, the controller 4 will control the robotic arm 11 to put the docked disassembly tool 15 back to its original position through the snap joint 12. Then the controller 4 will control the second servo motor 1801 to drive the pressing plate 1802 to rotate until the pressing plate 1802 rotates directly above the docked disassembly tool 15 and presses on the top of the docked disassembly tool 15. Then the controller 4 will control the robotic arm 11 to move back to its original position. At this time, the docked disassembly tool 15 will be unable to move because it is pressed by the pressing plate 1802, so that the robotic arm 11 is separated from the docked disassembly tool 15. After that, the robotic arm 11 will use other disassembly tools 15 to repeat the above disassembly work to unscrew other fixing bolts with different models on the vehicle chassis mounting plate. After all the fixing bolts on the vehicle chassis mounting plate are completely unscrewed, the controller 4 will control the robotic arm 11 to move, so that the snap joint 12 on the robotic arm 11 is docked with the disassembly tool 15 connected to the bellows 16, and drive the disassembly tool 15 connected to the bellows 16 to move, flip, and rotate,When the bellows 16 is separated from the connecting plate 1401, the bellows 16 will return to its original state. After the bellows 16 returns to its original state, the bottom end of the bellows 16 should be lower than the bottom end of the corresponding disassembly tool 15. When the disassembly tool 15 connected with the bellows 16 is flipped, the top end of the bellows 16 should be higher than the top end of the corresponding disassembly tool 15. Then, the controller 4 will control the robotic arm 11 to carry the corresponding disassembly tool 15 to contact the oil cap of the vehicle chassis. During this period, when the bellows 16 contacts the oil tank, the bellows 16 will be deformed under extrusion. Subsequently, the controller 4 will control the robotic arm 11 to carry the corresponding disassembly tool 15 to unscrew the oil cap of the vehicle chassis. Then, the controller 4 will control the robotic arm 11 to carry the corresponding disassembly tool 15 to move downward, so that the oil cap of the vehicle chassis is separated from the fuel tank. During this period, the bellows 16 gradually returns to its original state. At this time, the oil in the vehicle chassis box will fall downward due to gravity into the bellows 16. Then, the oil in the bellows 16 will be transferred to the oil storage barrel 1702 through the oil pipeline 1703 for collection. In this way, the automatic collection of oil can be realized. After the oil in the vehicle chassis box is completely collected, the controller 4 will control the robotic arm 11 to carry the corresponding disassembly tool 15 to move upward, so that the corresponding disassembly tool 15 docks the oil cap with the fuel tank. Then, the controller 4 will control the robotic arm 11 to carry the corresponding disassembly tool 15 to screw the oil cap of the vehicle chassis back. After the oil cap is screwed back, the controller 4 will control the robotic arm 11 to put the docked disassembly tool 15 back to its original position through the snap joint 12. During this period, when the bellows 16 connected to the disassembly tool 15 contacts the connecting plate 1401, the connecting plate 1401 will be compressed to form a contracted state. Then, the controller 4 will control the second servo motor 1801 to drive the pressing plate 1802 to rotate until the pressing plate 1802 rotates directly above the docked disassembly tool 15 and presses on the top of the docked disassembly tool 15. Then, the controller 4 will control the robotic arm 11 to move back to its original position. At this time, the docked disassembly tool 15 cannot move because it is pressed by the pressing plate 1802, so that the robotic arm 11 is separated from the docked disassembly tool 15. In this way, the disassembly work of the robotic arm 11 can be ended, and the mounting plate of the vehicle chassis can be completely removed; After that, the controller 4 controls the hydraulic cylinder 2 to drive the lifting disc 3, the rotating block 6 and the support seat 7 to descend and reset, so that the support seat 7 supports the removed mounting plate to descend. Subsequently, the mobile chassis 1 is controlled to move away from under the vehicle chassis. Then, the operator can take out the mounting plate removed from the support seat 7. If the oil in the oil storage barrel 1702 is too much, the oil in the oil storage barrel 1702 should be cleaned up.

[0034] See Figure 8 and Figure 9As shown in the figure, it further includes a bolt collection mechanism, which includes a third electric push rod 19, a transparent rubber collection tray 20, a collection frame 21 and a connecting pipe 22; a third electric push rod 19 is installed on the right side of the clamping joint 12, and the third electric push rod 19 is electrically connected to the controller 4; a transparent rubber collection tray 20 is connected to the telescopic rod of the third electric push rod 19. The transparent rubber collection tray 20 is used to collect the fixing bolts removed from the vehicle chassis. There is a notch on the transparent rubber collection tray 20, and the interface of the clamping joint 12 is located within the notch. By using the transparent rubber collection tray 20, it can prevent the transparent rubber collection tray 20 from blocking the second vision sensor 13 from working; a collection frame 21 is arranged on the top right front side of the mobile chassis 1; the transparent rubber collection tray 20 is communicated with the collection frame 21 through the connecting pipe 22, and the connecting pipe 22 is a flexible pipe.

[0035] By setting up the bolt collection mechanism, when the robotic arm 11 drives the clamping joint 12 and the docking disassembly tool 15 to move and flip according to the preset program, the clamping joint 12 will drive the third electric push rod 19 and the transparent rubber collection tray 20 to move and flip together, so that the docking disassembly tool 15 and the opening of the transparent rubber collection tray 20 face the vehicle bottom together. Subsequently, when the docking disassembly tool 15 removes the fixing bolts from the vehicle chassis mounting plate, the fixing bolts will be adsorbed on the end of the docking disassembly tool 15. Then, the controller 4 controls the third electric push rod 19 to drive the transparent rubber collection tray 20 to move towards the side close to the end of the disassembly tool 15, so that the transparent rubber collection tray 20 moves along the outside of the disassembly tool 15. During this period, if the disassembly tool 15 squeezes the transparent rubber collection tray 20, the transparent rubber collection tray 20 will deform. If the disassembly tool 15 separates from the transparent rubber collection tray 20, the transparent rubber collection tray 20 will return to its original state and stick to the outside of the disassembly tool 15. When the transparent rubber collection tray 20 contacts the fixing bolts at the end of the disassembly tool 15, the transparent rubber collection tray 20 will drive the fixing bolts to move upwards, causing the fixing bolts to separate from the end of the disassembly tool 15, so that the fixing bolts will fall down due to gravity into the transparent rubber collection tray 20. Then, the fixing bolts in the transparent rubber collection tray 20 will slide into the collection frame 21 through the connecting pipe 22 for collection. In this way, the automatic collection of the removed fixing bolts can be realized for subsequent reuse by the operator; after the fixing bolts at the end of the disassembly tool 15 are collected, the controller 4 will control the third electric push rod 19 to drive the transparent rubber collection tray 20 to move away from the end of the disassembly tool 15 and return to its original position.

[0036] See Figure 10As shown in the figure, it further includes a stabilizing mechanism, which includes a fourth electric push rod 23 and a friction plate 24; the fourth electric push rods 23 are symmetrically arranged front and rear on the upper side of the mobile chassis 1, and the fourth electric push rods 23 are electrically connected to the controller 4; friction plates 24 are connected to the telescopic rods of the two fourth electric push rods 23, and the friction plates 24 are used to contact the ground.

[0037] By setting the stabilizing mechanism, after the mobile chassis 1 stops stably at the designated position, the controller 4 can be used to control the fourth electric push rod 23 to drive the friction plate 24 to move downward, so that the friction plate 24 contacts the ground, thereby increasing the friction between the mobile chassis 1 and the ground, and further improving the stability of the mobile chassis 1; then when it is necessary to control the mobile chassis 1 to move, the controller 4 is first used to control the fourth electric push rod 23 to drive the friction plate 24 to move upward and reset, so that the friction plate 24 is separated from the ground, and then the mobile chassis 1 can be controlled to move.

[0038] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention.

Claims

1. An intelligent disassembly robot for equipment disassembly, comprising a mobile chassis (1), a hydraulic cylinder (2), a lifting disc (3) and a controller (4). A hydraulic cylinder (2) is arranged on the top of the mobile chassis (1), a lifting disc (3) is connected to the telescopic rod of the hydraulic cylinder (2), and a controller (4) is installed on the mobile chassis (1). The characteristics are that, A first vision sensor (5) is provided at the top of the lifting disc (3). Rotating blocks (6) are arranged at intervals on the side of the lifting disc (3). A support seat (7) is slidably arranged on the rotating block (6). An adjusting mechanism for adjusting the position of the support seat (7) is arranged on the lifting disc (3). A ring plate (9) is rotatably connected to the hydraulic cylinder (2). A rotating mechanism for driving the ring plate (9) to rotate is arranged on the hydraulic cylinder (2). A robotic arm (11) is installed on the ring plate (9). A clamping joint (12) is connected to the robotic arm (11). A second vision sensor (13) is connected to the clamping joint (12). A support mechanism is also arranged on the hydraulic cylinder (2). Disassembly tools (15) are placed at intervals on the support mechanism. The disassembly tools (15) are used to disassemble the equipment. A corrugated pipe (16) for collecting oil is connected to one of the disassembly tools (15). An aggregate mechanism for transferring the oil is arranged on the mobile chassis (1). A separation mechanism for separating the disassembly tool (15) from the clamping joint (12) is arranged on the support mechanism.

2. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that, It further includes a bolt collection mechanism. The bolt collection mechanism includes a third electric push rod (19), a transparent rubber collection tray (20), a collection frame (21) and a connecting pipe (22). A third electric push rod (19) is installed on the clamping joint (12). The telescopic rod of the third electric push rod (19) is connected to the transparent rubber collection tray (20). The transparent rubber collection tray (20) is used to collect the fixing bolts removed from the equipment. A notch is formed on the transparent rubber collection tray (20). The interface of the clamping joint (12) is located within the notch. A collection frame (21) is arranged on the mobile chassis (1). The transparent rubber collection tray (20) is communicated with the collection frame (21) through the connecting pipe (22).

3. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that, It further includes a stabilizing mechanism. The stabilizing mechanism includes a fourth electric push rod (23) and a friction plate (24). Fourth electric push rods (23) are symmetrically arranged on the mobile chassis (1). The telescopic rod of the fourth electric push rod (23) is connected to the friction plate (24).

4. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that, The adjusting mechanism includes a first electric push rod (801) and a second electric push rod (802). First electric push rods (801) with the same number as the rotating blocks (6) are arranged at intervals and rotatably on the side of the lifting disc (3). The telescopic rod of the first electric push rod (801) is rotatably connected to the rotating block (6). A second electric push rod (802) is arranged inside the support seat (7). The telescopic rod of the second electric push rod (802) is connected to the rotating block (6).

5. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that, The rotating mechanism includes a toothed ring (1001), a first servo motor (1002) and a gear (1003). A toothed ring (1001) is connected to the hydraulic cylinder (2). A first servo motor (1002) is arranged on the ring plate (9). A gear (1003) is installed on the output shaft of the first servo motor (1002). The gear (1003) meshes with the toothed ring (1001).

6. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that, The support mechanism includes a connecting plate (1401) and a supporting plate (1402). A connecting plate (1401) is also provided on the hydraulic cylinder (2). The disassembly tools (15) are placed at intervals in a ring on the connecting plate (1401). The supporting plates (1402) are arranged at intervals in a ring at the bottom of the connecting plate (1401). The supporting plates (1402) are used to support the disassembly tools (15).

7. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that, The aggregate mechanism includes a connecting block (1701), an oil storage barrel (1702) and an oil delivery pipe (1703). A connecting block (1701) is connected to the mobile chassis (1). An oil storage barrel (1702) is provided on the connecting block (1701). An oil delivery pipe (1703) is connected to the mobile chassis (1). One end of the oil delivery pipe (1703) is communicated with the corrugated pipe (16), and the other end of the oil delivery pipe (1703) is located above the oil storage barrel (1702).

8. The intelligent disassembly robot for equipment disassembly according to claim 6, characterized in that, The separation mechanism includes a second servo motor (1801) and a pressing plate (1802). The second servo motor (1801) is installed on the connecting plate (1401). A pressing plate (1802) is connected to the telescopic rod of the second servo motor (1801). The pressing plate (1802) is used to press the disassembly tools (15).

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