An intelligent disassembly robot for equipment disassembly

Abstract

The present invention relates to the technical field of manipulators, and in particular to an intelligent disassembly robot for equipment disassembly. The robot comprises a mobile chassis, a hydraulic cylinder, a lifting plate and a controller, wherein a hydraulic cylinder is provided on the top of the mobile chassis, a lifting plate is connected to the telescopic rod of the hydraulic cylinder, a controller is installed on the mobile chassis, and a first visual sensor is provided on the top of the lifting plate. The present invention can quickly and accurately complete the disassembly of the vehicle chassis through automated and intelligent design, greatly improving work efficiency and reducing manual operation time. Furthermore, since the entire disassembly process hardly requires direct human intervention, especially when dealing with complex mechanical structures, the risk of worker injury is significantly reduced. Moreover, the design of the bellows combined with the oil storage barrel can effectively collect and transfer engine oil, preventing liquid from leaking into the environment, thereby protecting the environment and reducing cleaning costs.

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 automobile industry, the demand for vehicle repair, maintenance, and recycling is also increasing. In the modern automobile repair and recycling industry, the disassembly of vehicle chassis is a common and important task.

[0003] However, traditional disassembly methods rely on manual operation, which is not only inefficient but also poses certain safety hazards. Especially when dealing with complex mechanical structures, workers need to be at the bottom of the vehicle and use a variety of small tools to perform disassembly operations. This working method is not only cumbersome, but may also affect work efficiency due to factors such as the cramped environment and poor visibility, and also increase 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 operation, it is easy for oil to leak onto the operator's hands or body. This situation not only makes it difficult for workers to clean, but also increases cleaning costs 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 disadvantage that traditional vehicle chassis disassembly relies on manual operation, which is not only cumbersome to operate and inefficient, but also easy for engine oil to leak onto the hands or body of workers, making it difficult to clean.

[0005] The technical solution of the present invention is: an intelligent disassembly robot for equipment disassembly, comprising a mobile chassis, a hydraulic cylinder, a lifting plate and a controller, a hydraulic cylinder is arranged on the top of the mobile chassis, the lifting plate is connected to the telescopic rod of the hydraulic cylinder, the controller is installed on the mobile chassis, a first visual sensor is arranged on the top of the lifting plate, a rotating block is arranged at intervals on the side of the lifting plate, a support seat is slidingly arranged on the rotating block, and an adjustment mechanism for adjusting the position of the support seat is provided on the lifting plate, a ring plate is rotatably connected to the hydraulic cylinder, a rotating mechanism for driving the ring plate to rotate is provided on the hydraulic cylinder, a mechanical arm is installed on the ring plate, a snap-fit ​​joint is connected to the mechanical arm, a second visual sensor is connected to the snap-fit ​​joint, a supporting mechanism is also provided on the hydraulic cylinder, and disassembly tools are placed at intervals on the supporting mechanism, the disassembly tools are used to disassemble the equipment, one of the disassembly tools is connected to a bellows for collecting oil, a gathering mechanism for transferring oil is provided on the mobile chassis, and a separation mechanism for separating the disassembly tool from the snap-fit ​​joint is provided on the supporting mechanism.

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

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

[0008] As a preferred technical solution of the present invention, the adjustment mechanism includes a first electric push rod and a second electric push rod. The first electric push rods are arranged at intervals on the side of the lifting plate, and the number of the first electric push rods is the same as the number of rotating blocks. The telescopic rod of the first electric push rod is rotatably connected to the rotating block. A second electric push rod is arranged in the support seat, and 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 gear ring, a first servo motor and a gear. The gear ring is connected to the hydraulic cylinder, the first servo motor is arranged on the ring plate, and a gear is installed on the output shaft of the first servo motor, and the gear is engaged with the gear ring.

[0010] As a preferred technical solution of the present invention, the supporting mechanism includes a connecting plate and a supporting plate. A connecting plate is also provided on the hydraulic cylinder. The disassembly tools are placed on the connecting plate in a circular manner. A supporting plate is provided at the bottom of the connecting plate in a circular manner. The supporting plate is used to support the disassembly tools.

[0011] As a preferred technical solution of the present invention, the gathering mechanism includes a connecting block, an oil storage barrel and an oil pipe. The connecting block is connected to the mobile chassis, the oil storage barrel is provided on the connecting block, and the oil pipe is connected to the mobile chassis. One end of the oil pipe is connected to the corrugated pipe, and the other end of the oil 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 pressure plate. The second servo motor is installed on the connecting plate. The telescopic rod of the second servo motor is connected to the pressure plate, which is used to press the disassembly tool.

[0013] Beneficial effects: 1. Through automated and intelligent design, the present invention can quickly and accurately complete the disassembly of the vehicle chassis, greatly improving work efficiency and reducing manual operation time. Moreover, since the entire disassembly process requires almost no direct human intervention, especially when dealing with complex mechanical structures, this significantly reduces the risk of worker injury. Moreover, the design of the combination of the bellows and the oil storage barrel can effectively collect and transfer engine oil, preventing liquid from leaking into the environment, which not only protects the environment but also reduces cleaning costs.

[0014] 2. The present invention uses a bolt collection mechanism and a stabilizing mechanism, which not only can use a transparent rubber collection tray to collect removed bolts, which is helpful for subsequent management and reuse of these parts, but also can ensure that the robot does not slide or shake during delicate operations, thereby improving the safety and stability of the overall operation. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the rotating mechanism of the present invention.

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

[0019] Figure 5 It is a schematic diagram of the three-dimensional structure of the material collecting mechanism of the present invention.

[0020] Figure 6 It is a schematic diagram of the three-dimensional structure of the disassembly tool, bellows and oil pipeline of the present invention.

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

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

[0023] Figure 9 It is a schematic diagram of the three-dimensional structure of the snap-fit ​​joint, transparent rubber collecting plate and connecting pipe of the present invention.

[0024] Figure 10 It is a schematic diagram of the three-dimensional structure of the stabilizing mechanism of the present invention.

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

[0026] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the scope of protection and application of the present invention.

[0027] Example: An intelligent disassembly robot for equipment disassembly, see Figure 1-Figure 7 As shown, it 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 four-turn mobile chassis, which is a mobile platform with four wheels, each of which can be independently driven (four-wheel drive) and steered (four-turn). This design makes the vehicle very flexible and can perform complex actions such as rotating in place, moving laterally and driving diagonally in a small space; a hydraulic cylinder 2 is set 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;

[0028] It also includes a first visual sensor 5, a rotating block 6, a support seat 7, an adjusting mechanism, a ring plate 9, a rotating mechanism, a robotic arm 11, a snap-on joint 12, a second visual sensor 13, a supporting mechanism, a disassembly tool 15, a bellows 16, a collecting mechanism and a separating mechanism; a first visual sensor 5 is provided in the middle of the top of the lifting plate 3, and the first visual sensor 5 is electrically connected to the controller 4; three rotating blocks 6 are provided on the side of the lifting plate 3 for rotation; a support seat 7 is slidingly provided on the rotating block 6; an adjusting mechanism for adjusting the position of the support seat 7 is provided on the lifting plate 3; a ring plate 9 is rotatably connected to the upper outer side of the hydraulic cylinder 2; a rotating mechanism for driving the ring plate 9 to rotate is provided on the hydraulic cylinder 2; a robotic arm 11 is installed on the outer side of the ring plate 9, and the robotic arm 11 is electrically connected to the controller 4; the robotic arm 11 A snap-on joint 12 is connected to the top; a second visual sensor 13 is connected to the lower rear side of the snap-on joint 12, and the second visual sensor 13 is electrically connected to the controller 4; a support mechanism is also provided on the hydraulic cylinder 2, and disassembly tools 15 are placed at intervals on the support mechanism. The port of the disassembly tool 15 has magnetism, which is used to adsorb fixing bolts (the existing technology will not be explained in detail), the snap-on 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 automobile chassis by manipulating the disassembly tool 15; a bellows 16 for collecting engine oil is connected to one of the disassembly tools 15; a collection mechanism for transferring engine oil is provided on the mobile chassis 1; a separation mechanism for separating the disassembly tool 15 from the snap-on joint 12 is provided on the support mechanism.

[0029] 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 arranged at intervals on the side of the lifting plate 3, and the telescopic rods of the three first electric push rods 801 are respectively connected to the three rotating blocks 6, and the first electric push rods 801 are electrically connected to the controller 4; second electric push rods 802 are arranged in the three support seats 7, and 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 rods 802 are electrically connected to the controller 4.

[0030] See Figure 3 As shown, the rotating mechanism includes a gear ring 1001, a first servo motor 1002 and a gear 1003; the gear ring 1001 is connected to the upper outer part of the hydraulic cylinder 2, and the gear ring 1001 is located above the ring plate 9; a first servo motor 1002 is provided on the outer side of the ring 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 is engaged with the gear ring 1001.

[0031] See Figure 4As shown, the supporting 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 is in contact with the connecting plate 1401; the disassembly tools 15 are placed on the connecting plate 1401 in a circular manner; supporting plates 1402 are provided at the bottom of the connecting plate 1401 in a circular manner, and the number of supporting plates 1402 is consistent with the number of disassembly tools 15, and the supporting plates 1402 are used to support the disassembly tools 15.

[0032] See Figure 5 and Figure 6 As shown, the gathering mechanism includes a connecting block 1701, an oil storage barrel 1702 and an oil pipe 1703; the connecting block 1701 is connected to the right side of the bottom of the mobile chassis 1; the oil storage barrel 1702 for storing engine oil is provided on the lower right side of the connecting block 1701; the oil pipe 1703 is connected to the right rear side of the top of the mobile chassis 1, the upper end of the oil pipe 1703 is connected to the bellows 16, and the lower end of the oil pipe 1703 is located above the oil storage barrel 1702, and the oil pipe 1703 is a hose.

[0033] See Figure 7 As shown, the separation mechanism includes a second servo motor 1801 and a pressure plate 1802; the second servo motor 1801 is installed on the connecting plate 1401, the second servo motor 1801 is located between the disassembly tools 15, and the second servo motor 1801 is electrically connected to the controller 4; the telescopic rod of the second servo motor 1801 is connected to the pressure plate 1802, and the pressure plate 1802 is used to press the disassembly tool 15.

[0034] In the initial state, the bellows 16 is squeezed by the gravity of the corresponding disassembly tool 15, so that the bellows 16 is in a contracted state;

[0035] When in use, the mobile chassis 1 is controlled to move to the bottom of the chassis of the vehicle, and then the first visual sensor 5 is used to transmit the captured image back to the display through the controller 4, and the operator can see the situation of the vehicle chassis only according to the image on the display. Then the operator controls the mobile chassis 1 to move to the specified position under the vehicle chassis according to the situation of the vehicle chassis, and then controls the telescopic rod of the first electric push rod 801 to extend or shorten 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 below the mounting plate that needs to be removed from the vehicle chassis. After the position of the support seat 7 is adjusted After the section, the controller 4 controls the telescopic rod of the second electric push rod 802 to extend or shorten, so that the telescopic rod of the second electric push rod 802 drives the support seat 7 to move, thereby adjusting the position of the support seat 7 for the second time, so that the support seat 7 can move to below the edge of the mounting plate that needs to be removed from the vehicle chassis. After the position of the support seat 7 is adjusted, the controller 4 controls the hydraulic cylinder 2 to drive the lifting plate 3, the rotating block 6 and the support seat 7 to rise until the support seat 7 contacts the mounting plate that needs to be removed from the vehicle chassis, so that the support seat 7 supports the mounting plate that needs to be removed from the vehicle chassis, and then the controller 4 controls the mechanical arm 11 according to the preset program to start the disassembly work:

[0036] At this time, the second visual sensor 13 will take a picture of 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, the robot arm 11 will be controlled to automatically move to the top of the disassembly tool 15 to be used. At this time, if the pressure plate 1802 is not above the disassembly tool 15 to be used, no additional operation will occur; if the pressure plate 1802 is above the disassembly tool 15 to be used, the controller 4 will control the second servo motor 1801 to drive the pressure plate 1802 to rotate ninety degrees, so that the pressure plate 1802 moves away from the top of the disassembly tool 15 to be used; then the robot arm 11 will drive the snap-on connector 12 to move downward, so that the interface of the snap-on connector 12 is in contact with the corresponding disassembly tool 15. The robot arm 11 then drives the snap-fit ​​joint 12 to move upward, causing the snap-fit ​​joint 12 to drive the corresponding disassembly tool 15 to move upward, and then the robot arm 11 drives the docked disassembly tool 15 to move, flip and rotate according to a preset program, thereby using the docked disassembly tool 15 to automatically twist off the fixing bolts on the vehicle chassis mounting plate one by one until all the fixing bolts on the vehicle chassis mounting plate are twisted off. During this period, when the fixing bolts are removed from the vehicle chassis mounting plate, the fixing bolts will be adsorbed on the end of the docked disassembly tool 15, and then the robot arm 11 drives the docked disassembly tool 15 to flip, so that the fixing bolts adsorbed on the end of the disassembly tool 15 can fall down under the influence of gravity; if the robot arm 11 exists during this period When the length is insufficient and the operation cannot be performed, 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 opposite direction around the gear ring 1001, thereby driving the first servo motor 1002, the ring plate 9 and the robot arm 11 to rotate or rotate in the opposite direction, so as to adjust the position of the robot arm 11 so that the robot arm 11 can continue to perform the disassembly work; after all the fixing bolts on the vehicle chassis mounting plate are twisted off, the controller 4 will control the robot arm 11 to put the docked disassembly tool 15 back to its original position through the snap-fit ​​joint 12, and then the controller 4 will control the second servo motor 1801 to drive the pressure plate 1802 to rotate until the pressure plate 1802 rotates to be just above the docked disassembly tool 15. The pressure plate 1802 is pressed on the top of the docked disassembly tool 15, and then the controller 4 controls the robotic arm 11 to move and reset. At this time, the docked disassembly tool 15 cannot move due to the pressure of the pressure plate 1802, thereby separating the robotic arm 11 from the docked disassembly tool 15. After that, the robotic arm 11 uses other disassembly tools 15 to repeat the above disassembly work, thereby unscrewing other types of fixing bolts on the vehicle chassis mounting plate. After all the fixing bolts on the vehicle chassis mounting plate are unscrewed, the controller 4 controls the robotic arm 11 to move, so that the snap-on joint 12 on the robotic arm 11 is docked with the disassembly tool 15 connected with the bellows 16, and drives the disassembly tool 15 connected with 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 shape. After the bellows 16 returns to its original shape, the bottom end of the bellows 16 will be lower than the bottom end of the corresponding disassembly tool 15. When the disassembly tool 15 connected with the bellows 16 is turned over, the top end of the bellows 16 will be higher than the top end of the corresponding disassembly tool 15. Then the controller 4 will control the robot arm 11 to carry the corresponding disassembly tool 15 to contact the oil cover of the vehicle chassis. During this period, when the bellows 16 contacts the oil tank, the bellows 16 will be squeezed and deformed, and then the controller 4 will The control arm 11 carries the corresponding disassembly tool 15 to twist off the oil cap of the vehicle chassis, and then the controller 4 controls the 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 into the bellows 16 due to gravity, and then the oil in the bellows 16 will be transferred to the oil storage barrel 1702 through the oil pipe 1703 for collection. In this way, the oil can be automatically collected until the oil in the vehicle chassis box is After the collection is completed, the controller 4 will control the robot arm 11 to carry the corresponding disassembly tool 15 to move upward, so that the corresponding disassembly tool 15 will dock the oil cap with the fuel tank, and then the controller 4 will control the robot arm 11 to carry the corresponding disassembly tool 15 to twist the oil cap of the vehicle chassis back. After the oil cap is twisted back, the controller 4 will control the robot arm 11 to put the docked disassembly tool 15 back to its original place through the snap-fit ​​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 collection The controller 4 then controls the second servo motor 1801 to drive the pressing plate 1802 to rotate until the pressing plate 1802 rotates to the top of the docked disassembly tool 15 and presses the pressing plate 1802 on the top of the docked disassembly tool 15. The controller 4 then controls the robotic arm 11 to move and reset. At this time, the docked disassembly tool 15 cannot move due to being pressed by the pressing plate 1802, thereby separating the robotic arm 11 from the docked disassembly tool 15. In this way, the disassembly work of the robotic arm 11 is completed, and the mounting plate of the vehicle chassis is completely disassembled.

[0037] Afterwards, the controller 4 controls the hydraulic cylinder 2 to drive the lifting plate 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, and then controls the mobile chassis 1 to move to the bottom of the chassis leaving the vehicle, and then the operator takes out the mounting plate removed from the support seat 7; if there is too much oil in the oil storage barrel 1702, clean the oil in the oil storage barrel 1702.

[0038] See Figure 8 and Figure 9As shown, it also 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 snap-on 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, and the transparent rubber collection tray 20 is used to collect the fixing bolts removed from the automobile chassis. A notch is provided on the transparent rubber collection tray 20, and the interface of the snap-on joint 12 is located in the notch. The use of the transparent rubber collection tray 20 can prevent the transparent rubber collection tray 20 from blocking the operation of the second visual sensor 13; a collection frame 21 is provided on the right front side of the top of the mobile chassis 1; the transparent rubber collection tray 20 is connected to the collection frame 21 through a connecting pipe 22, and the connecting pipe 22 is a hose.

[0039] By setting a bolt collecting mechanism, when the robotic arm 11 drives the snap-fit ​​joint 12 and the docked disassembly tool 15 to move and flip according to a preset program, the snap-fit ​​joint 12 will drive the third electric push rod 19 and the transparent rubber collecting tray 20 to move and flip together, so that the openings of the docked disassembly tool 15 and the transparent rubber collecting tray 20 are both facing the bottom of the vehicle. Subsequently, when the docked disassembly tool 15 removes the fixing bolts from the vehicle chassis mounting plate, the fixing bolts will be adsorbed on the end of the docked disassembly tool 15, and then the controller 4 controls the third electric push rod 19 to drive the transparent rubber collecting tray 20 to move to the side close to the end of the disassembly tool 15, so that the transparent rubber collecting tray 20 moves along the outside of the disassembly tool 15. During this period, if the disassembly tool 15 squeezes the transparent rubber collecting tray 20, the transparent rubber collecting tray 20 will be deformed. When the disassembly tool 15 is separated from the transparent rubber collecting tray 20, the transparent rubber collecting tray 20 returns to its original state close to the outside of the disassembly tool 15. When the transparent rubber collecting tray 20 contacts the fixing bolts at the end of the disassembly tool 15, the transparent rubber collecting tray 20 drives the fixing bolts to move upward, so that the fixing bolts are separated from the end of the disassembly tool 15, so that the fixing bolts fall downward into the transparent rubber collecting tray 20 under the influence of gravity, and then the fixing bolts in the transparent rubber collecting tray 20 slide through the connecting tube 22 into the collection frame 21 for collection. In this way, the removed fixing bolts can be automatically collected for subsequent reuse by the operator; after the fixing bolts at the end of the disassembly tool 15 are collected, the controller 4 controls the third electric push rod 19 to drive the transparent rubber collecting tray 20 to move to the side away from the end of the disassembly tool 15 and reset.

[0040] See Figure 10As shown, a stabilizing mechanism is also included, which includes a fourth electric push rod 23 and a friction plate 24; the fourth electric push rod 23 is symmetrically arranged on the front and back of the upper side of the mobile chassis 1, and the fourth electric push rod 23 is electrically connected to the controller 4; the telescopic rods of the two fourth electric push rods 23 are connected to the friction plate 24, and the friction plate 24 is used to contact the ground.

[0041] By setting up a stabilizing mechanism, when the mobile chassis 1 stops steadily at the specified position, the controller 4 can 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 thus improving the stability of the mobile chassis 1; when it is necessary to control the mobile chassis 1 to move thereafter, the controller 4 will first 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.

[0042] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. An intelligent disassembly robot for equipment disassembly, comprising a mobile chassis (1), a hydraulic cylinder (2), a lifting plate (3) and a controller (4), wherein the hydraulic cylinder (2) is provided on the top of the mobile chassis (1), the lifting plate (3) is connected to the telescopic rod of the hydraulic cylinder (2), and the controller (4) is installed on the mobile chassis (1), wherein: A first visual sensor (5) is provided on the top of the lifting plate (3), a rotating block (6) is provided on the side of the lifting plate (3) for rotation at intervals, a support seat (7) is provided on the rotating block (6), an adjusting mechanism for adjusting the position of the support seat (7) is provided on the lifting plate (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 provided on the hydraulic cylinder (2), a mechanical arm (11) is installed on the ring plate (9), a snap-fit ​​joint (12) is connected to the mechanical arm (11), a second visual sensor (13) is connected to the snap-fit ​​joint (12), a supporting mechanism is further provided on the hydraulic cylinder (2), a disassembly tool (15) is placed on the supporting mechanism at intervals, the disassembly tool (15) is used to disassemble the equipment, one of the disassembly tools (15) is connected to a bellows (16) for collecting oil, and the movable part (11) is provided with a plurality of movable parts. The movable chassis (1) is provided with a collecting mechanism for transferring oil, the supporting mechanism is provided with a separating mechanism for separating the disassembly tool (15) from the snap-fit ​​joint (12), and also includes a bolt collecting mechanism, the bolt collecting mechanism including a third electric push rod (19), a transparent rubber collecting plate (20), a collecting frame (21) and a connecting pipe (22), the third electric push rod (19) is installed on the snap-fit ​​joint (12), the telescopic rod of the third electric push rod (19) is connected to the transparent rubber collecting plate (20), the transparent rubber collecting plate (20) is used to collect the fixing bolts removed from the equipment, the transparent rubber collecting plate (20) is provided with a notch, the interface of the snap-fit ​​joint (12) is located in the notch, the movable chassis (1) is provided with a collecting frame (21), and the transparent rubber collecting plate (20) is connected to the collecting frame (21) through the connecting pipe (22).

2. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that: The invention also includes a stabilizing mechanism, which includes a fourth electric push rod (23) and a friction plate (24). The fourth electric push rod (23) is symmetrically arranged on the mobile chassis (1), and the friction plate (24) is connected to the telescopic rod of the fourth electric push rod (23).

3. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that: The adjustment mechanism includes a first electric push rod (801) and a second electric push rod (802); the lifting plate (3) is provided with first electric push rods (801) whose number is the same as the number of the rotating blocks (6) at intervals on the side thereof; the telescopic rods of the first electric push rods (801) are rotatably connected to the rotating blocks (6); the support seat (7) is provided with a second electric push rod (802); the telescopic rods of the second electric push rods (802) are connected to the rotating blocks (6).

4. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that: The rotating mechanism comprises a gear ring (1001), a first servo motor (1002) and a gear (1003); the gear ring (1001) is connected to the hydraulic cylinder (2); the first servo motor (1002) is provided on the ring plate (9); the gear (1003) is installed on the output shaft of the first servo motor (1002); and the gear (1003) is meshed with the gear ring (1001).

5. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that: The supporting mechanism comprises a connecting plate (1401) and a supporting plate (1402). The connecting plate (1401) is further provided on the hydraulic cylinder (2). The disassembly tool (15) is placed on the connecting plate (1401) in an annular manner. The supporting plate (1402) is provided at the bottom of the connecting plate (1401) in an annular manner. The supporting plate (1402) is used to support the disassembly tool (15).

6. The intelligent disassembly robot for equipment disassembly according to claim 1, characterized in that: The material collecting mechanism comprises a connecting block (1701), an oil storage barrel (1702) and an oil delivery pipe (1703); the connecting block (1701) is connected to the mobile chassis (1); the oil storage barrel (1702) is arranged on the connecting block (1701); the oil delivery pipe (1703) is connected to the mobile chassis (1); one end of the oil delivery pipe (1703) is connected to the bellows (16); and the other end of the oil delivery pipe (1703) is located above the oil storage barrel (1702).

7. The intelligent disassembly robot for equipment disassembly according to claim 5, characterized in that: The separation mechanism comprises a second servo motor (1801) and a pressing plate (1802). The second servo motor (1801) is mounted on the connecting plate (1401). The 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 tool (15).

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