Disassembly device

Abstract

To provide a disassembly device which enables improvement of efficiency of disassembly work.SOLUTION: An assembly device disassembles a disassembled object having a first surface and a second surface located adjacent to each other and includes: a support unit which supports the disassembled object from below; a holding unit which holds a corner part formed by the first surface and the second surface of the disassembled object supported by the support unit; a removal unit which removes a removed portion from the disassembled object; and a control unit which controls the removal part.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a dismantling device that dismantles objects to be dismantled. [Background technology]

[0002] 2. Description of the Related Art Dismantling devices that dismantle objects to be dismantled, such as outdoor units of air conditioners, have been known in the past (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-17424 A Summary of the Invention [Problem to be solved by the invention]

[0004] There is a demand for improving the efficiency of dismantling work, including the dismantling device of Patent Document 1.

[0005] Therefore, an object of the present disclosure is to provide a dismantling device that can improve the efficiency of dismantling work. [Means for solving the problem]

[0006] In order to achieve the above-mentioned objective, the dismantling device disclosed herein is a dismantling device that dismantles a dismantling object having adjacent first and second surfaces, and includes a support section that supports the dismantling object from below, a gripping section that grips a corner portion formed by the first and second surfaces of the dismantling object supported by the support section, a removal section that removes a portion to be removed from the dismantling object, and a control section that controls the removal section. Effect of the Invention

[0007] According to the present disclosure, the efficiency of dismantling work can be improved. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of a dismantling device according to an embodiment; [Diagram 2] FIG. 1 is a perspective view of a dismantling device according to an embodiment; [Diagram 3] FIG. 2 is a schematic vertical cross-sectional view of a peripheral configuration of a support unit and a grip unit of the dismantling device according to the embodiment; [Figure 4] FIG. 2 is a block diagram showing a control system of the dismantling device according to the embodiment; [Diagram 5] 1 is a flowchart showing each process of an example of a dismantling process performed by a dismantling device according to an embodiment. [Figure 6A] FIG. 6 is a schematic cross-sectional view for explaining the disassembly process according to the flowchart shown in FIG. 5 . [Figure 6B] FIG. 6 is a schematic cross-sectional view for explaining the disassembly process according to the flowchart shown in FIG. 5 . [Figure 6C] FIG. 6 is a schematic cross-sectional view for explaining the disassembly process according to the flowchart shown in FIG. 5 . [Figure 6D] FIG. 6 is a schematic cross-sectional view for explaining the disassembly process according to the flowchart shown in FIG. 5 . [Figure 7A] FIG. 6 is a schematic perspective view for explaining an example of a procedure of a removal process (step S14) in the flowchart shown in FIG. 5. [Figure 7B] FIG. 6 is a schematic perspective view for explaining an example of a procedure of a removal process (step S14) in the flowchart shown in FIG. 5. [Figure 7C] FIG. 6 is a schematic perspective view for explaining an example of a procedure of a removal process (step S14) in the flowchart shown in FIG. 5. [Figure 7D] FIG. 6 is a schematic perspective view for explaining an example of a procedure of a removal process (step S14) in the flowchart shown in FIG. 5. [Figure 8] FIG. 13 is a block diagram showing a control system of a dismantling device according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] According to a first aspect of the present disclosure, there is provided a dismantling device for dismantling a dismantling object having adjacent first and second surfaces, the dismantling device comprising: a support portion for supporting the dismantling object from below; a gripping portion for gripping a corner portion formed by the first and second surfaces of the dismantling object supported by the support portion; a removal portion for removing a portion to be removed from the dismantling object; and a control portion for controlling the removal portion.

[0010] According to a second aspect of the present disclosure, there is provided the dismantling device according to the first aspect, wherein the support portion has a first support portion that supports the first surface and a second support portion that supports the second surface.

[0011] According to a third aspect of the present disclosure, there is provided a dismantling device as described in the second aspect, wherein the first support portion supports the first surface from below in a state inclined with respect to the horizontal direction, and the second support portion supports the second surface from below in a state inclined with respect to the horizontal direction.

[0012] According to a fourth aspect of the present disclosure, there is provided a dismantling device as described in any one of the first to third aspects, wherein the gripping portion is movable between a gripping position where it grips the corner portion and a retracted position where it is retracted from the gripping position.

[0013] According to a fifth aspect of the present disclosure, there is provided the dismantling device according to the fourth aspect, wherein the support portion has a space extending along a movement direction of the gripping portion, and the gripping portion is movable within the space.

[0014] According to a sixth aspect of the present disclosure, there is provided the dismantling device according to the fourth or fifth aspect, wherein the gripping portion moves in a horizontal direction.

[0015] According to a seventh aspect of the present disclosure, there is provided the dismantling device according to any one of the first to sixth aspects, wherein the first surface is a bottom surface of the object to be dismantled.

[0016] According to an eighth aspect of the present disclosure, there is provided the dismantling device according to the seventh aspect, wherein the support portion supports the bottom surface of the object to be dismantled in a state inclined at an angle of 45 degrees or more and 75 degrees or less with respect to the horizontal direction.

[0017] According to a ninth aspect of the present disclosure, there is provided the dismantling device according to any one of the first to eighth aspects, wherein the second surface is a side surface of the object to be dismantled.

[0018] According to a tenth aspect of the present disclosure, there is provided the dismantling device according to any one of the first to ninth aspects, wherein the object to be dismantled is an outdoor unit of an air conditioner.

[0019] According to an eleventh aspect of the present disclosure, there is provided the dismantling device according to any one of the first to tenth aspects, wherein the corner portion includes a heat exchanger.

[0020] According to a twelfth aspect of the present disclosure, there is provided a dismantling device described in any one of the first to eleventh aspects, wherein the object to be dismantled has a front surface, a rear surface, a bottom surface and a top surface, the first surface being the bottom surface and the second surface being the rear surface.

[0021] According to a thirteenth aspect of the present disclosure, there is provided the dismantling device according to any one of the first to twelfth aspects, further comprising a pressing portion that presses the object to be dismantled supported by the support portion.

[0022] According to a 14th aspect of the present disclosure, there is provided a dismantling device described in any one of the first to 13th aspects, wherein the holding portion is movable between an opposing position facing the object to be dismantled and a retracted position retracted from the opposing position.

[0023] (Embodiment) Hereinafter, exemplary embodiments of a dismantling device according to the present disclosure will be described with reference to the accompanying drawings. The present disclosure is not limited to the specific configurations of the following embodiments, and configurations based on similar technical ideas are included in the present disclosure.

[0024] First, a dismantling device according to an embodiment of the present disclosure will be described with reference to FIGS. 1 and 2.

[0025] 1 and 2 are perspective views that generally show a dismantling device 2 according to an embodiment.

[0026] The dismantling device 2 shown in Figures 1 and 2 is a dismantling device for dismantling a dismantling object W. In this embodiment, the dismantling object W is an outdoor unit of an air conditioner, and has a roughly rectangular parallelepiped shape (box shape). In Figures 1 and 2, the dismantling object W is diagrammatically illustrated by dotted lines.

[0027] Dismantling device 2 includes a support unit 4, a gripping unit 6, a removal unit 8, a holding unit 10, an instruction unit 12, and a control unit 14.

[0028] The support part 4 is a member that supports the dismantling object W from below. The support part 4 supports the dismantling object W by utilizing the weight of the dismantling object W. The support part 4 in this embodiment has a function of supporting the dismantling object W in an oblique position. FIGS. 1 and 2 exemplify a state in which the dismantling object W is supported in an oblique position.

[0029] The support part 4 is rotatable around a horizontally extending rotation axis Ax1 (arrow R1). The support part 4 can be stopped at any rotation position or at multiple rotation positions. The rotation position of the support part 4 may be adjusted manually by an operator, or automatically by the control part 14 using a drive part for driving the support part 4.

[0030] The support portion 4 includes first support portions 16A, 16B, and 18 and second support portions 20A, 20B, and 22.

[0031] The first support portions 16A, 16B, and 18 are portions that support a first surface of the dismantling object W, and the second support portions 20A, 20B, and 22 are portions that support a second surface of the dismantling object W. In this embodiment, the first surface of the dismantling object W is the bottom surface, and the second surface is the rear surface.

[0032] The pair of first supports 16A, 16B are provided with a gap therebetween in the horizontal direction, and the first support 18 is provided so as to connect the upper ends of the first supports 16A, 16B. A space 24 is formed between the first supports 16A, 16B.

[0033] The pair of second support portions 20A, 20B are provided with a gap therebetween in the horizontal direction, and the second support portion 22 is provided so as to connect the upper ends of the second support portions 20A, 20B. A space 24 is formed between the second support portions 20A, 20B.

[0034] The space 24 is formed by an opening in the center of the support part 4, and is used as a movement space for the grip part 6.

[0035] The gripping unit 6 is a member for gripping the dismantling object W supported by the support unit 4. The gripping unit 6 shown in Fig. 1 and Fig. 2 clamps and grips a corner of the dismantling object W, thereby fixing and holding the dismantling object W in an oblique position. The corner of the dismantling object W is composed of the first surface (bottom surface) and second surface (rear surface) described above.

[0036] The grip portion 6 includes a first grip portion 26 and a second grip portion 28 .

[0037] The first gripping portion 26 and the second gripping portion 28 are arranged at a distance in the horizontal direction so that they can horizontally pinch and grip a corner of the disassembly target W. In this embodiment, the first gripping portion 26 is configured to be movable along the horizontal direction (arrow B1), and the second gripping portion 28 is fixed at a predetermined position and does not have a moving function. This configuration is not limited to this, and the second gripping portion 28 may have a moving function.

[0038] The first gripping unit 26, which has a movement function, moves between a gripping position where it grips a corner of the disassembly target W between the second gripping unit 28 and a retreated position where it retreats from the gripping position. Figures 1 and 2 show an example of a state where the first gripping unit 26 is in the retreated position.

[0039] The removal unit 8 is a member for removing a target portion from the dismantling object W. The removal unit 8 performs the removal work of the target portion while the dismantling object W is supported by the support unit 4 and a corner of the dismantling object W is gripped by the gripping unit 6.

[0040] In this embodiment, the removal unit 8 is a robot arm of an articulated robot, and a pair of openable and closable claws are provided at the tip of the removal unit 8. The pair of claws removes a target portion of the dismantling object W from the dismantling object W by gripping and peeling off the target portion.

[0041] The removal unit 8 is not limited to the robot arm of an articulated robot, and any member may be used as long as it has the function of removing the target part from the dismantling object W (for example, a member that removes by magnetic force, a member that removes by suction, a member that removes by hooking, or heavy machinery, etc.).

[0042] The holding unit 10 is a member for holding down the dismantling object W. With the holding unit 10 holding down the dismantling object W, the gripping unit 6 grips the corners of the dismantling object W, thereby preventing the dismantling object W from deforming or floating up. The holding unit 10 shown in Figs. 1 and 2 has a holding surface 30 that faces the top surface of the dismantling object W. The holding surface 30 has a function of holding down the dismantling object W from the top surface towards the bottom surface of the dismantling object W.

[0043] The holding unit 10 can move horizontally between a facing position facing the dismantling object W and a retracted position retracted from the facing position (arrow B2). The holding unit 10 can also move diagonally toward and away from the top surface of the dismantling object W (arrow B3).

[0044] The pressing surface 30 may not necessarily be used in contact with the dismantling object W, but may be used in a manner that it contacts the dismantling object W only when the deformation of the dismantling object W is large while keeping a predetermined distance from the dismantling object W.

[0045] The instruction unit 12 is a component that allows an operator using the dismantling apparatus 2 to send instructions to the control unit 14 of the dismantling apparatus 2. The instruction unit 12 is electrically connected to the control unit 14, and transmits a predetermined signal to the control unit 14 in response to an operator's operation of the instruction unit 12. The instruction unit 12 may be any component that has a function of transmitting instructions to the control unit 14 (for example, a game controller that combines a cross key for moving the removal unit 8 in the up, down, left, and right directions with a decision button for deciding an action or task, a touch panel provided with an operation unit, etc.).

[0046] Control unit 14 is a member that receives signals from instruction unit 12 and controls each component of dismantling device 2. Control unit 14 is configured to include, for example, a microcomputer.

[0047] Next, the surrounding configuration of the support part 4 and the grip part 6 will be described with reference to FIG.

[0048] FIG. 3 is a schematic vertical cross-sectional view of the surrounding configuration of support portion 4 and grip portion 6. As shown in FIG.

[0049] FIG. 3 illustrates a state in which the support portion 4 supports the disassembly target W in an oblique position, similar to FIGS.

[0050] The dismantling object W has a front surface 32, a rear surface 34, a bottom surface 36, and a top surface 38. The front surface 32 and the rear surface 34 are provided at positions opposing each other in the front-to-rear direction of the dismantling object W, and the bottom surface 36 and the top surface 38 are provided at positions opposing each other in the height direction of the dismantling object W.

[0051] In this embodiment, the dismantling target W is roughly cuboid in shape, and the angle between two adjacent faces is 90 degrees. Specifically, the angle between the front face 32 and the bottom face 36, the angle between the bottom face 36 and the rear face 34, the angle between the rear face 34 and the top face 38, and the angle between the top face 38 and the front face 32 are all 90 degrees.

[0052] In this embodiment, the object W to be dismantled is an air conditioner outdoor unit, and a heat exchanger 42 is provided as a component constituting the rear surface 34. The heat exchanger 42 extends in the height direction of the object W to be dismantled, in an area on the rear surface 34 between the bottom surface 36 and the top surface 38. Note that the angle formed between two adjacent surfaces of the air conditioner outdoor unit (for example, the two surfaces of the rear surface 34 and the bottom surface 36, or the two surfaces of the rear surface 34 and the top surface 38) is approximately 90 degrees, and may not be exactly 90 degrees depending on assembly errors of the air conditioner outdoor unit or deformation of parts.

[0053] In the oblique position shown in Fig. 3, the bottom surface 36 of the dismantling object W is supported from below by the first support parts 16A, 16B, 18, and the rear surface 34 is supported from below by the second support parts 20A, 20B, 22. Both the rear surface 34 and the bottom surface 36 are inclined relative to the horizontal direction. By supporting the dismantling object W in an oblique position, the dismantling object W can be stably positioned by utilizing its own weight.

[0054] The "oblique position" of the dismantling object W refers to a position in which the bottom surface 36 of the dismantling object W is not parallel to the horizontal direction but forms a predetermined angle with respect to the horizontal direction. By making the dismantling object W in an oblique position, the removal unit 8 can easily access the contents of the dismantling object W, and the removal unit 8 is less likely to be subjected to excessive load when it grasps and peels off the target part to be removed. This oblique position can be set with an inclination angle α in the range of 0 degrees to 90 degrees. In this embodiment, the inclination angle α of the dismantling object W, i.e., the inclination angle α of the bottom surface 36 with respect to the horizontal direction, is set to 45 degrees or more and 75 degrees or less (for example, 67.5 degrees).

[0055] By setting the inclination angle α to 45 degrees or more, the front surface 32 of the dismantling target W can be directed upward to improve visibility of the area to be removed, making it easier for the removal unit 8 to access the area to be removed. In addition, the left-right movement of the removal unit 8 is limited, making it difficult for excessive load to be placed on the removal unit 8. By setting the inclination angle α to 75 degrees or less, it becomes easier for the gripping unit 6 to grip the corners 40 of the dismantling target W, which will be described later.

[0056] The support unit 4 forms a space 24, and the first gripping portion 26 of the gripping unit 6 moves in the horizontal direction (arrow B1) in the space 24. Fig. 3 illustrates a state in which the first gripping portion 26 is in the retracted position, similar to Figs. 1 and 2.

[0057] A corner 40 of the dismantling object W is exposed in the space 24. The corner 40 is an area (shown by a dashed line) defined by a bottom surface 36 (first surface) and a rear surface 34 (second surface) of the dismantling object W. The corner 40 in this embodiment includes an end of a heat exchanger 42.

[0058] As shown in Fig. 3, the first gripping portion 26 has a first pressing surface 44, and the second gripping portion 28 has a second pressing surface 46. In this embodiment, the pressing surfaces 44, 46 both have a corrugated cross-sectional shape. Since the pressing surfaces 44, 46 have a corrugated cross-sectional shape, when a corner 40 of the object to be dismantled W is pressed and clamped, the corner 40 can be firmly gripped with less displacement. Note that the shape is not limited to a corrugated shape, and any uneven shape may be used.

[0059] FIG. 4 is a block diagram showing a control system of the dismantling device 2.

[0060] The control unit 14 is electrically connected to the gripping unit 6, the removal unit 8, the holding unit 10, and the instruction unit 12. The control unit 14 controls the operation of at least one of the gripping unit 6, the removal unit 8, and the holding unit 10 based on a signal received from the instruction unit 12.

[0061] The gripping unit 6, the removal unit 8, and the pressing unit 10 each have a drive unit 70, a drive unit 72, and a drive unit 74. The control unit 14 is electrically connected to each of the drive units 70, 72, and 74, and controls the operation of the gripping unit 6, the removal unit 8, and the pressing unit 10 by controlling the drive units 70, 72, and 74.

[0062] 1 and 2, the drive unit 70 of the gripping unit 6 moves the first gripping unit 26 forward and backward in the horizontal direction (arrow B1). The drive unit 72 of the removal unit 8 has a function to move the removal unit 8 three-dimensionally and a function to open and close the claws at the tip of the removal unit 8 in the configuration shown in Figures 1 and 2. The drive unit 74 of the pressing unit 10 has a function to move the pressing unit 10 in the horizontal direction (arrow B2) and a function to move the pressing unit 10 in the diagonal direction (arrow B3) in the configuration shown in Figures 1 and 2.

[0063] The driving units 70, 72, and 74 may be any members (eg, cylinders) that can drive the gripping unit 6, the removing unit 8, and the pressing unit 10, respectively.

[0064] The dismantling device 2 having the above configuration executes a dismantling process for dismantling the dismantling target W in response to an operation of the instruction unit 12 by an operator.

[0065] 5 is a flowchart showing each process when the dismantling device 2 of the embodiment executes an example of a dismantling process for dismantling dismantling objects W. FIGS. 6A to 6D are schematic side views for explaining the dismantling process according to the flowchart shown in FIG.

[0066] Here, a case will be described in which the dismantling object W is an air conditioner outdoor unit having a substantially rectangular parallelepiped shape.

[0067] As shown in Fig. 5, the dismantling object W is set on the support part 4 (S11). Specifically, as shown in Fig. 6A, the dismantling object W is placed on the support part 4. The dismantling object W may be placed manually by a worker, or automatically using an automatic transport means such as a conveyor.

[0068] 6A, the support portion 4 is in an upright position, and the dismantling object W is also supported in an upright position. In this case, the bottom surface 36 of the dismantling object W is supported by the first support portions 16A, 16B, and 18 in a state in which it extends horizontally. The rear surface 34 of the dismantling object W contacts the second support portions 20A, 20B, and 22.

[0069] Thereafter, when the worker issues a command to start dismantling by operating the command unit 12, the support unit 4 supporting the dismantling object W is rotated (arrow R2) so that the dismantling object W is in an oblique position. As a result, as shown in FIG. 6B, the dismantling object W is supported in an oblique position. The bottom surface 36 of the dismantling object W is supported from below by the first support units 16A, 16B, 18, and the rear surface 34 is supported from below by the second support units 20A, 20B, 22. The inclination angle α of the dismantling object W is set to a predetermined angle in advance, and the rotational position of the support unit 4 is fixed when the inclination angle α reaches the predetermined angle.

[0070] As shown in FIG. 6B, through a space 24 (opening) formed in the center of the support part 4, a corner part 40 of the disassembly target W is exposed downward.

[0071] 6B, the setting of the disassembly target W is completed (S11). Note that the disassembly target W may not only be supported in an upright position and then changed to an oblique position, but also the support part 4 may be tilted in advance so as to support the disassembly target W in an oblique position from the beginning.

[0072] Thereafter, the disassembly object W is held down by the holding unit 10 (S12). Specifically, as shown in Fig. 6B, the holding unit 10 is moved to a position facing the top surface 38 of the disassembly object W, and is also moved diagonally toward the top surface 38 (arrow B4). As a result, as shown in Fig. 6C, the holding surface 30 of the holding unit 10 is brought into contact with the top surface 38 of the disassembly object W, and the disassembly object W is held down in a direction from the top surface 38 toward the bottom surface 36.

[0073] Thereafter, corner 40 of dismantling object W is gripped by gripping unit 6 (S13). Specifically, as shown in Fig. 6C, first gripping portion 26 of gripping unit 6 is moved toward second gripping portion 28 (arrow B5). As a result, as shown in Fig. 6D, first gripping portion 26 comes into contact with corner 40 of dismantling object W, and first gripping portion 26 and second gripping portion 28 horizontally pinch and grip corner 40 of dismantling object W. Dismantling object W deforms around the peripheral area including corner 40, and heat exchanger 42 constituting part of corner 40 also deforms.

[0074] Since the top surface 38 of the object W to be disassembled is held down by the holding portion 10, deformation or lifting of the object W to be disassembled in areas other than the corners 40 can be suppressed, and the gripping portion 6 can firmly grip the corners 40 of the object W to be disassembled.

[0075] Thereafter, the removal unit 8 removes the target portion of the disassembly object W (S14). Specifically, as shown in Fig. 6D, the holding unit 10 is retracted from the top surface 38 of the disassembly object W (arrow B6), and then the removal unit 8 removes the target portion of the disassembly object W.

[0076] By performing the removal process while gripping the corner 40 of the dismantling object W, the removal unit 8 can easily access the front surface 32 and top surface 38 of the dismantling object W, making it easier to perform the removal work of removing the target portion. Since the corner 40 of this embodiment includes the large-sized heat exchanger 42, the shape of the dismantling object W is more easily maintained during the removal work, and the removal work can be performed more efficiently.

[0077] An example of the procedure of the disassembly process in step S14 will now be described with reference to FIGS. 7A to 7D.

[0078] 7A to 7D are schematic perspective views for explaining an example of the procedure of the disassembly process in step S14.

[0079] As shown in Fig. 7A, the front surface 32 of the dismantling object W faces diagonally upward, and an opening 50 is formed in the center of the front surface 32. An outdoor fan 52 is built into the inside of the dismantling object W at a position facing the opening 50.

[0080] In the example shown in Fig. 7A, first, the removal unit 8 accesses (arrow C1) the front surface 32 of the disassembly target W. As shown in Fig. 7B, the removal unit 8 grasps the front surface 32 and peels it diagonally upward or straight upward (arrow C2), thereby removing the front surface 32 from the disassembly target W.

[0081] In addition to the outdoor fan 52, the object to be dismantled W has a compressor 54 and a partition plate 56 built in. The compressor 54 is provided at a position separated laterally from the outdoor fan 52, and the outdoor fan 52 and the compressor 54 are separated by the partition plate 56.

[0082] Thereafter, as shown in FIG. 7C, the remover 8 grasps and peels off the partition plate 56 (arrow C3).

[0083] Thereafter, as shown in Fig. 7D, the removal unit 8 grasps and pulls off the compressor 54 (arrow C4). Usually, the legs of the compressor 54 are fastened to the bottom surface 36 at multiple points with bolts or the like. Therefore, by supporting the air conditioner outdoor unit, which is the object W to be dismantled, at an angle to the horizontal direction as shown in Fig. 6B, when the removal unit 8 grasps and pulls off the compressor 54, it is possible to apply force to the bolts in order, rather than to each of the bolts at the same time. In this way, the configuration makes it easy to pull off parts such as the compressor 54 that are fastened to the bottom surface 36 with bolts or the like.

[0084] 7D, in addition to the rear surface 34 and bottom surface 36 gripped by the gripping unit 6, the dismantling object W still has other parts to be removed, such as the outdoor fan 52 and the pair of side surfaces 58, 60. Thereafter, the removal unit 8 may remove each of the parts to be removed in any order.

[0085] The pair of lateral surfaces 58, 60, the front surface 32 and the rear surface 34 shown in FIG.

[0086] According to the above method, by performing the dismantling work while gripping the corners 40 of the dismantling target W, the removal unit 8 can easily access the target areas including the front surface 32 and the compressor 54, thereby improving the efficiency of the dismantling work. Also, by dismantling the dismantling target W in an oblique position, the removal unit 8 can more easily access the target areas, thereby further improving the efficiency of the dismantling work.

[0087] The removal process of the target portions of the disassembly target object W may be performed in any order, not limited to the order shown in FIGS. 7A to 7D.

[0088] Also, according to the above method, when the operator issues an instruction to start dismantling by operating the instruction unit 12, a series of operations (S11 to S14) from rotating the support unit 4 to removing the target part of the dismantling object W by the removal unit 8 proceeds automatically. However, the operator may issue an instruction by operating the instruction unit 12 for each operation. For example, after the operator issues an instruction to put the dismantling object W in an oblique position, the setting of the dismantling object W is completed (S11), and the control unit 14 instructs each driving unit (the gripping unit 6, the removal unit 8, and the holding unit 10) to be in a standby state, and each driving unit waits for an instruction from the operator. After the operator checks the standby state of the dismantling device, he again instructs the holding unit 10 to hold the dismantling object W by the instruction unit 12, and the holding unit 10 holds the dismantling object W (S12). Hereinafter, even when starting the step (S13) of operating the gripping unit 6 and the step (S14) of operating the removal unit 8, the operator may issue an instruction each time by the instruction unit 12.

[0089] In addition, in step S14 of this embodiment, the removal unit 8 automatically removes each part, but the arrangement of each internal part may differ depending on the type of air conditioner outdoor unit. In that case, the removal unit 8 may be manually moved in the up, down, left, right, front, and rear directions by the instruction unit 12 while visually checking the air conditioner outdoor unit, and each part may be manually peeled off with the tip of the removal unit 8. Also, the removal unit 8 may be automatically moved partway, and then the removal unit 8 may be moved manually while visually checking to finely correct the position of the removal unit 8, and dismantling may be performed by appropriately selecting between automatic and manual. By configuring in this way to be able to select between automatic and manual, a wide variety of air conditioner outdoor units can be dismantled.

[0090] In addition, a camera device or the like may be used to automatically recognize the components that make up the air conditioner outdoor unit. In that case, more efficient dismantling can be achieved by automatically moving the removal unit 8 to the components recognized by the camera device and peeling them off.

[0091] 8 is a block diagram showing a control system of the dismantling device 100 according to another embodiment. The control unit 100 shown in FIG. 8 has a control unit 102, and the control unit 102 may be configured to be electrically connected to the storage unit 104 and the input unit 106. In this case, the storage unit 104 stores dimensional information of a wide variety of dismantling objects W in advance, and the control unit 102 can acquire dimensional information matching the product number stored in the storage unit 104 by inputting the product number of the dismantling object W to the input unit 106, and start dismantling the dismantling object W. With this configuration, the accuracy of dismantling can be improved.

[0092] (Action and effect) As described above, the dismantling device 2 of the embodiment is a dismantling device that dismantles a dismantling object W having an adjacent bottom surface 36 (first surface) and rear surface 34 (second surface), and is equipped with a support unit 4 that supports the dismantling object W from below, a gripping unit 6 that grips a corner portion 40 formed by the bottom surface 36 and rear surface 34 of the dismantling object W supported by the support unit 4, a removal unit 8 that removes a portion to be removed from the dismantling object W, and a control unit 14 that controls the removal unit 8.

[0093] With this configuration, the part to be removed can be removed from the object to be dismantled W while grasping the corner 40 formed by two adjacent surfaces (the bottom surface 36 and the rear surface 34), making it easier to carry out the removal work and improving the efficiency of the dismantling work.

[0094] In the dismantling device 2 of the embodiment, the support portion 4 has first support portions 16A, 16B, 18 that support the bottom surface 36 (first surface) and second support portions 20A, 20B, 22 that support the rear surface 34 (second surface). With this configuration, the dismantling target W can be stably supported.

[0095] In addition, in the dismantling device 2 of the embodiment, the first support parts 16A, 16B, 18 support the bottom surface 36 (first surface) from below in a state inclined with respect to the horizontal direction, and the second support parts 20A, 20B, 22 support the rear surface 34 (second surface) from below in a state inclined with respect to the horizontal direction. With this configuration, the dismantling object W is supported in an oblique position, so that the dismantling object W can be stably supported by its own weight, and the removal part 8 can easily access the target portion of the dismantling object W, improving the efficiency of the dismantling work.

[0096] Furthermore, in the dismantling device 2 of the embodiment, the gripping portion 6 is movable between a gripping position where the gripping portion 6 grips the corner portion 40 and a retracted position where the gripping portion 6 is retracted from the gripping position. With this configuration, the gripping portion 6 can be retracted when not in use.

[0097] Moreover, in the dismantling device 2 of the embodiment, the support unit 4 has a space 24 extending along the movement direction of the grip unit 6, and the grip unit 6 is movable in the space 24. With such a configuration, the grip unit 6 can move and operate without interfering with the support unit 4.

[0098] Furthermore, in dismantling device 2 of the embodiment, gripper 6 moves in the horizontal direction. With this configuration, the configuration of gripper 6 can be simplified.

[0099] In the dismantling device 2 of the embodiment, the first surface of the dismantling object W is the bottom surface 36. With this configuration, the dismantling work can be performed in a state where the corner portion 40 defined by the bottom surface 36 of the dismantling object W is pinched.

[0100] In addition, in the dismantling device 2 of the embodiment, the support unit 4 supports the bottom surface 36 of the dismantling object W in a state inclined at an angle of 45 degrees or more and 75 degrees or less with respect to the horizontal direction. This configuration makes it easier for the remover 8 to access the part of the dismantling object W to be removed, improving the efficiency of the dismantling work. Also, the gripper 6 can easily grip the corner 40 of the dismantling object W.

[0101] In the dismantling device 2 of the embodiment, the second surface of the dismantling object W is the side surface (rear surface 34). With this configuration, the dismantling work can be performed in a state where the corner portion 40 formed by the side surface of the dismantling object W is pinched.

[0102] In addition, in the dismantling device 2 of the embodiment, the dismantling object W is an air conditioner outdoor unit. With such a configuration, it is possible to improve the efficiency of the dismantling work when dismantling an air conditioner outdoor unit.

[0103] In addition, in the dismantling device 2 of the embodiment, the corner portion 40 includes the heat exchanger 42. According to such a configuration, by gripping the heat exchanger 42 of a relatively large size, it becomes easier to dismantle the object to be dismantled W while maintaining its shape, and the efficiency of the dismantling work can be improved.

[0104] In addition, in the dismantling device 2 of the embodiment, the dismantling target W has a front surface 32, a rear surface 34, a bottom surface 36, and a top surface 38, with the first surface being the bottom surface 36 and the second surface being the rear surface 34. With this configuration, by dismantling the dismantling target W while gripping a corner portion 40 formed by the bottom surface 36 and the rear surface 34, the removal unit 8 can easily access the front surface 32 and the top surface 38 of the dismantling target W, thereby improving the efficiency of the dismantling work.

[0105] The dismantling device 2 of the embodiment further includes a holding unit 10 that holds the dismantling object W supported by the support unit 4. With this configuration, deformation and lifting of the dismantling object W when the gripping unit 6 grips the corner 40 can be suppressed, and gripping failure can be suppressed.

[0106] In addition, in the dismantling device 2 of the embodiment, the holding unit 10 is movable between a facing position facing the dismantling target W and a retracted position retracted from the facing position. With this configuration, the holding unit 10 can be retracted when not in use.

[0107] Although the invention of the present disclosure has been described above with reference to the above-mentioned embodiment, the invention of the present disclosure is not limited to the above-mentioned embodiment. For example, the case where the dismantling object W is an air conditioner outdoor unit has been described, but the present disclosure is not limited to such a case, and any object having adjacent first and second surfaces and a removal portion may be the dismantling object (for example, a refrigerator, a washing machine, a heat pump unit of a heat pump type hot water heating device, a heat pump unit of a heat pump type hot water heater, etc.).

[0108] In the embodiment, the case where the dismantling work is performed with the support unit 4 supporting the dismantling object W in an oblique position has been described, but the present invention is not limited to such a case. For example, the dismantling work may be performed with the dismantling object W supported in an upright position. In this case, the grip unit 6 may be moved in an oblique direction inclined with respect to the horizontal direction.

[0109] In the embodiment, a case has been described in which a corner 40 formed by two adjacent surfaces, the bottom surface 36 and the rear surface 34, is gripped. However, this is not limited to this case, and a corner formed by any two surfaces, as long as they are adjacent surfaces, may be gripped (for example, a corner formed by the front surface 32 and the bottom surface 36).

[0110] Although the present disclosure has been fully described in connection with the preferred embodiments with reference to the accompanying drawings, various modifications and alterations will be apparent to those skilled in the art. Such modifications and alterations should be understood to be included within the scope of the invention as defined by the appended claims, unless they deviate from the scope of the invention. In addition, changes in the combination and order of elements in each embodiment may be made without departing from the scope and spirit of the present disclosure.

[0111] Of the above-described embodiments and various modifications, any of the embodiments and modifications can be appropriately combined to achieve the effects of each of them. [Industrial Applicability]

[0112] The present disclosure is applicable to any dismantling device that dismantles objects to be dismantled, such as air conditioner outdoor units. [Explanation of symbols]

[0113] 2 Demolition equipment 4 Support part 6 Gripping part 8 Removal part 10 Holding part 12 Instruction section 14 Control section 32 Front 34 Back side (2nd side) 36 Bottom (first side) 38 Top 40 Corner W Dismantling object

Claims

1. A dismantling device for dismantling a dismantling object having adjacent first and second surfaces, A support portion that supports the object to be dismantled from below; a gripping portion configured to grip a corner portion defined by the first surface and the second surface of the object to be disassembled supported by the support portion; A removal unit that removes a removal portion from the disassembly target; A control unit that controls the removal unit. Demolition equipment.

2. The dismantling device according to claim 1 , wherein the support portion includes a first support portion that supports the first surface and a second support portion that supports the second surface.

3. 3. The dismantling device according to claim 2, wherein the first support portion supports the first surface from below in a state inclined with respect to the horizontal direction, and the second support portion supports the second surface from below in a state inclined with respect to the horizontal direction.

4. The dismantling device according to claim 1 , wherein the gripping portion is movable between a gripping position where the gripping portion grips the corner portion and a retracted position where the gripping portion is retracted from the gripping position.

5. The dismantling device according to claim 4 , wherein the support portion has a space extending along a moving direction of the gripper portion, and the gripper portion is movable in the space.

6. The dismantling device according to claim 4 , wherein the gripping portion moves in a horizontal direction.

7. The dismantling apparatus according to claim 1 , wherein the first surface is a bottom surface of the object to be dismantled.

8. The dismantling device according to claim 7 , wherein the support portion supports the bottom surface of the object to be dismantled in a state inclined at an angle of 45 degrees or more and 75 degrees or less with respect to a horizontal direction.

9. The dismantling apparatus according to claim 1 , wherein the second surface is a side surface of the object to be dismantled.

10. The dismantling device according to claim 1 , wherein the object to be dismantled is an outdoor unit of an air conditioner.

11. The dismantling device of claim 1 , wherein the corner portion includes a heat exchanger.

12. The object to be disassembled has a front surface, a rear surface, a bottom surface, and a top surface, The dismantling device according to claim 1 , wherein the first surface is the bottom surface and the second surface is the rear surface.

13. The dismantling apparatus according to claim 1 , further comprising a pressing portion that presses the object to be dismantled supported by the supporting portion.

14. The dismantling device according to claim 1 , wherein the holding portion is movable between a facing position facing the object to be dismantled and a retracted position retracted from the facing position.

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