Demolition preparation device, demolition device, demolition processing system, demolition preparation method, and demolition processing method

Abstract

The present invention provides a demolition preparation device and method, a demolition device and demolition processing method, and a demolition processing system that can dismantle multiple structures constituting a mobile body using a robotic arm. [Solution] The dismantling preparation device 2 performs dismantling preparation processing for objects to be dismantled that have been removed from multiple structures included in the moving body. The control device 7 causes the first robot arm 8 to hold the object to be dismantled by partially destroying the object and attaching the first attachment 12 to it. Then, the second robot arm 10 attaches the second attachment 13, which is used for positioning when the dismantling device performs dismantling processing, to the object to be dismantled held by the first robot arm 8.

Description

Technical Field

[0001] The present invention relates to a disassembly setup device and a disassembly setup method for performing setup for disassembling a plurality of structures constituting a moving object as a disassembly target, and also to a disassembly device, a disassembly processing system, and a disassembly processing method for disassembling the disassembly target object.

Background Art

[0002] In recent years, due to the increasing demand for recycling, there is a desire to disassemble parts of a vehicle body, which is a moving object, for example, using a robot. Generally, when performing a processing operation using a robot, it is necessary to fix the processing target object, and precise positioning is performed using a shape peculiar to the processing target object. Patent Document 1 discloses a technique related to the disassembly of parts of a resin window for a vehicle.

Prior Art Documents

Patent Documents

[0006] With this configuration, even if the object to be dismantled is not shaped for positioning, the dismantling device can still position it using a positioning jig during the dismantling process. Therefore, the dismantling device can automatically perform the dismantling process of the object using a robot.

[0007] The dismantling setup apparatus according to claim 2 has a control device that causes the imaging device (10) of the second robot arm to image the object to be dismantled held by the first robot arm, and calculates the relative position between the fixing point of the holding jig and the positioning jig from the image data captured. As a result, the dismantling apparatus can determine the position of the fixing point by the positioning jig based on the mounting position of the holding jig.

[0008] The demolition processing system according to claim 7 comprises a demolition preparation device according to any one of claims 1 to 6 and a demolition device. According to the dismantling process system described in claim 8, the dismantling control device (23) causes the dismantling robot arm (24) to hold the object to be dismantled, which has been transported by the transport device (3), using the attached holding jig, and then moves the object to be dismantled from the transport device to the fixing device (28). Then, based on information regarding the relative position between the holding jig and the fixing point on the positioning jig, the object to be dismantled is fixed to the fixing device using the positioning jig. This allows the robot arm to perform the dismantling process of the object to be dismantled, which has been fixed to the fixing device. [Brief explanation of the drawing]

[0009] [Figure 1] This is a functional block diagram showing the configuration of a demolition processing system in one embodiment. [Figure 2] This is a functional block diagram showing the configuration of the demolition setup device. [Figure 3] This is a functional block diagram showing the configuration of the dismantling equipment. [Figure 4] This is a flowchart showing the processing steps of the demolition preparation device. [Figure 5] This is a flowchart showing the processing steps of the dismantling equipment. [Figure 6] This diagram shows the process of writing information via the QR code attached to the first attachment. [Figure 7] This diagram provides a concrete illustration of an example in which the first robotic arm attaches the first attachment to the object to be dismantled. [Figure 8] This diagram shows the first attachment attached to the door of the vehicle to be dismantled. [Figure 9] This diagram shows the end effector of the first robot arm chucking the first attachment. [Figure 10] This is a perspective view showing the second robot arm attaching the second attachment to the object to be dismantled. [Figure 11] This is a perspective view showing the second robot arm attaching the second attachment to the object to be dismantled, from a different direction than in Figure 8. [Figure 12] This is a perspective view showing a magnified portion of the second robotic arm in the process of attaching the second attachment to the object to be dismantled. [Figure 13] This is a perspective view showing a magnified portion of the second robotic arm in the process of attaching the second attachment to the object to be dismantled. [Figure 14] This is a perspective view showing a magnified portion of the second robot arm detaching the second attachment. [Figure 15] This is a schematic cross-sectional view showing a magnified portion of the second robot arm detaching the second attachment. [Figure 16] It is a diagram showing the relationship between the reference plane of the object to be disassembled and the position where the second attachment is attached to the object to be disassembled. [Figure 17] It is a diagram showing the relationship between the attachment positions of the first attachment and the second attachment respectively. [Figure 18] In the disassembly setup device, it is a perspective view showing the state where the first robot arm mounts the object to be disassembled on the AGV. [Figure 19] In the disassembly device, it is a perspective view showing the state where the QR reader reads the QR code attached to the object to be disassembled mounted on the AGV. [Figure 20] It is a perspective view showing the state where the third robot arm moves the object to be disassembled mounted on the AGV to the fixing device.

Mode for Carrying out the Invention

[0010] Hereinafter, an embodiment will be described. As shown in FIG. 1, the disassembly processing system 1 of the present embodiment includes a disassembly setup device 2, an AGV (Automatic Guided Vehicle) 3, and a disassembly device 4. The disassembly processing system 1 disassembles each of a plurality of structures included in a moving body, for example, a vehicle, such as parts like doors and instrument panels, as the object to be disassembled 20 shown in FIGS. 7 and 8, etc., by the disassembly device 4. The disassembly setup device 2 is a device that performs preprocessing for disassembly on the object to be disassembled 20. The AGV 3, which is a transport device, unmanned transports the object to be disassembled 20 on which preprocessing has been performed in the disassembly setup device 2 to the disassembly device 4.

[0011] As shown in Fig. 2, the disassembly fixture 2 includes a first robot 5, a second robot 6, and a control device 7 that controls these first robot 5 and second robot 6. The first robot 5 includes a first robot arm 8 and a first sensor 9 attached to the first robot arm 8. Similarly, the second robot 6 includes a second robot arm 10 and a second sensor 11 attached to the second robot arm 10. The first sensor 9 and the second sensor 11 are, for example, visual sensors, specifically cameras as imaging devices. These first robot arm 8 and second robot arm 10 are, for example, of the vertical six-axis type.

[0012] In the disassembly fixture 2, the control device 7 controls the first robot 5 and the second robot 6 to perform a preprocessing of attaching a first attachment 12, which is a holding jig, and a second attachment 13, which is a positioning jig, to the object to be disassembled 20. A QR code (registered trademark) 14, which is a two-dimensional code, is attached to the first attachment 12. The control device 7 reads the QR code 14 via a first QR reader 15 to read data from a cloud 16 on the Internet, which is a recording unit, or record data in the cloud 16. In addition, the control device 7 performs wireless communication with the AGV 3. Note that for the recording unit, instead of the QR code 14, a recording medium such as an RFID tag may be used, and data may be directly written to the recording medium.

[0013] As shown in Figure 3, the demolition device 4 includes a third robot 21, a fourth robot 22, and a demolition control device 23 that controls the third robot 21 and the fourth robot 22. The third robot 21 includes a third robot arm 24, which is the first demolition robot arm, and a third sensor 25 attached to the third robot arm 24. Similarly, the fourth robot 22 includes a fourth robot arm 26, which is the second demolition robot arm, and a fourth sensor 27 attached to the fourth robot arm 26. The third sensor 25 and the fourth sensor 27 are cameras, etc., similar to the first sensor 9, etc. Note that the first sensor 9, etc. may be other sensors, such as laser sensors. These third robot arms 24 and the fourth robot arm 26 are also of the vertical 6-axis type.

[0014] The fixing device 28 is a device that fixes the object to be dismantled 20 in a predetermined position and is controlled by the dismantling control device 23. In the dismantling device 4, the dismantling control device 23 controls the third robot 21, the fourth robot 22, and the fixing device 28 to dismantle the object to be dismantled 20. The dismantling control device 23 also reads the QR code 14 via the second QR reader 29 to read data from the cloud 16 or to record data in the cloud 16. The dismantling control device 23 also communicates wirelessly with the AGV 3.

[0015] Next, the operation of this embodiment will be described. As shown in Figure 4, in the dismantling preparation device 2, the control device 7 reads the information of the QR code 14 with the first QR reader 15 (S1). Traceability data needs to be linked to each part that is to be dismantled. As shown in Figure 6, before the pre-processing by the dismantling preparation device 2 begins, the QR reader 30 reads the QR code 14 attached to the first attachment 12, and the read information is input to the control device 7. The control device 7 links the first attachment 12 to which the QR code 14 is attached with the information of the object to be dismantled 20 stored in the cloud 16, that is, data such as the vehicle type, year of manufacture, and mileage. In step S1, this information is read.

[0016] Then, based on the visual information from the first sensor 9, the control device 7 uses the first robot 5 to attach the first attachment 12 to the object to be dismantled 20 (S2). Figure 7 shows this process in concrete terms, for example, with a car door as the object to be dismantled 20. For example, with the door assembled to the car, the first robot arm 8 attaches the first attachment 12 to the main body of the door. Figure 8 shows the state after it has been attached.

[0017] As shown in Figure 9, the first attachment 12 is a tool mounted on the end of the first robot arm 8, and has a short cylindrical base portion 31 that chucks a drill 32 in its center. The first robot 5 rotates the base portion 31 and the drill 32 to drill a hole in the main body of the door, partially destroying it and fixing the first attachment 12 in place, then unchucks the base portion 31 to attach it. In the following figures, the object to be dismantled 20 is shown in an abstract shape.

[0018] Furthermore, when attaching the first attachment 12 to the object to be dismantled 20, as shown in Figure 7, it is not necessary to do so while the object is assembled to the vehicle; it may be done when the object to be dismantled 20 has been removed beforehand and is lying on the floor in the work area.

[0019] Next, the control device 7 calculates the position for attaching the second attachment 13 to the object to be dismantled 20 based on the visual information of the object to be dismantled 20 captured by the second sensor 11 on the second robot 6 side (S3). Then, the control device 7 has the second robot 6 attach the second attachment 13 to the object to be dismantled 20 (S4). At this time, as shown in Figures 10 and 11, the object to be dismantled 20 is held by the first robot arm 8 via the first attachment 12.

[0020] As shown in Figures 10 and 11, the second attachment 13 has an L-shape when viewed from the side, and consists of two parts: the upper second attachment 13U and the lower second attachment 13D. Therefore, the attachment operation of the second attachment 13 is performed twice. Figure 12 shows the state in which the second attachment 13U is attached by the second robot arm 10, and Figure 13 shows the same attachment state schematically. On the left side of the second attachment 13 in the figure, a holding hole 33 is formed for holding the second attachment 13 by inserting the base portion 31 of the first attachment 12, which is attached to the end of the second robot arm 10.

[0021] The second robot arm 10 holds the second attachment 13U with the first attachment 12 and transfers it to the object to be dismantled 20. When the tip of the second attachment 13U reaches the top of the object to be dismantled 20, the second robot arm 10 rotates the base portion 31 of the first attachment 12 to drive the drill 32 into the object to be dismantled 20. This fixes the second attachment 13U to the object to be dismantled 20. Subsequently, as shown in Figures 14 and 15, the second robot arm 10 unchucks the base portion 31 of the first attachment 12.

[0022] The position at which the second attachment 13 is attached to the object to be demolished 20 varies in size and shape. Therefore, as shown in Figure 16, for example, the side surface of the object to be demolished 20 is used as a reference plane, and the attachment is controlled to be attached at an arbitrary distance from that reference plane. Note that the holding hole 33 is not shown in Figure 16.

[0023] The control device 7 calculates the relative mounting position data of the second attachment 13 relative to the first attachment 12 from the coordinate data of the first robot 5 and the second robot 6 (S5). Two first positioning holes 35 are formed on the upper surface of the second attachment 13U in the figure, and one second positioning hole 36 is formed on the lower surface of the second attachment 13D in the figure. For example, as shown in Figure 17, the relative position data is the distance to the position of the first positioning hole 35 on the second attachment 13U and the distance to the position of the second positioning hole 36 on the second attachment 13D, with the Z-axis passing through the center of the first attachment 12 as the reference.

[0024] Next, the control device 7 reads the QR code 14 with the first QR reader 15 and links the relative position data with the information of the QR code 14 in the cloud 16 (S6). Then, as shown in Figure 18, the control device 7 controls the first robot arm 8 so that the first positioning hole 35 and the second positioning hole 36 of the second attachments 13U and 13D are on the first positioning axis 37 and second positioning axis 38 of the AGV 3, respectively (S7). Figure 18 shows the first positioning axis 37 of the AGV 3 corresponding to the second positioning hole 36 of the second attachment 13D. The second positioning axis 38 on the opposite side is shown in Figure 20.

[0025] Finally, the control device 7 detaches the first attachment 12 from the end-effector of the first robot arm 8 (S8), and the processing in the dismantling setup device 2 is completed. The AGV 3, on which the object to be dismantled 20 is mounted, moves from the dismantling setup device 2 to the dismantling device 4. The above is the processing corresponding to the dismantling setup method.

[0026] Next, the processing in the dismantling device 4 will be explained with reference to Figure 5. The processing shown in Figure 5 corresponds to the dismantling processing method that is executed after the dismantling setup method shown in Figure 4. As shown in Figure 19, when the AGV 3 carrying the object to be dismantled 20 arrives in the work area of ​​the dismantling device 4, the dismantling control device 23 reads the QR information from the cloud 16 via the second QR reader 29 and the QR code 14. The information read here includes the part information of the object to be dismantled 20, the relative positional relationship data of the first attachment 12 and the second attachment 13, etc. (S11). Then, the dismantling control device 23 controls the third robot 21 so that the first positioning hole 35 and the second positioning hole 36 of the second attachment 13 are on the first positioning axis 39 and the second positioning axis 40 of the fixing device 28 (S12).

[0027] Here, the third robot arm 24 attaches its end effector to the first attachment 12, which is fixed to the object to be dismantled 20 mounted on the AGV3. Next, the object to be dismantled 20 is moved from the AGV3 to the fixing device 28. Figure 16 shows the state during this movement.

[0028] The two fixing members 28a and 28b of the fixing device 28 can move linearly in the left-right direction in the figure by the control of actuators by the dismantling control device 23. The first positioning axis 39 is provided on fixing member 28b, and the second positioning axis 40 is provided on fixing member 28a. The dismantling control device 23 controls step S12 with fixing members 28a and 28b open, and closes the fixing members 28a and 28b with the first positioning hole 35 and second positioning hole 36 of the second attachment 13 aligned with the first positioning axis 39 and second positioning axis 40, thereby fixing the object to be dismantled 20 with the fixing device 28. After that, the dismantling control device 23 removes the first attachment 12 from the object to be dismantled 20 (S13). From here on, the fourth robot arm 26 of the fourth robot 22 performs the dismantling process of the object to be dismantled 20.

[0029] As described above, according to this embodiment, the dismantling preparation device 2 performs dismantling preparation processing on the objects to be dismantled 20 that have been removed from the multiple structures included in the mobile body. The control device 7 causes the first robot arm 8 to hold the objects to be dismantled 20 by partially destroying the objects to be dismantled 20 and attaching the first attachment 12 to it. Then, the control device 7 causes the second robot arm 10 to attach the second attachment 13, which is used for positioning when the dismantling device 4 performs dismantling processing, to the objects to be dismantled 20 held by the first robot arm 8.

[0030] With this configuration, even if the object to be dismantled 20 is not shaped in a way that allows for positioning, the dismantling device 4 can still perform positioning during the dismantling process using the second attachment 13. Therefore, the dismantling device 4 can automatically perform the dismantling process of the object to be dismantled 20 using the fourth robot 22. Furthermore, since the starting position of the dismantling work by the fourth robot 22 is fixed, there is no need to change the processing operation of the dismantling work according to the mounting position of the object to be dismantled 20 to the fixing device 28. As a result, there is no need to readjust the processing operation of the dismantling work according to the mounting positions of the object to be dismantled 20 and the fixing device 28.

[0031] Furthermore, the control device 7 causes the second sensor 11 of the second robot arm 10 to image the object to be dismantled 20 held by the first robot arm 8, and calculates the relative position of the fixing points of the first attachment 12 and the second attachment 13 from the captured image data. As a result, the dismantling device 4 can determine the position of the fixing points by the second attachment 13 based on the mounting position of the first attachment 12.

[0032] Furthermore, the dismantling control device 23 of the dismantling device 4, after having the third robot arm 24 hold the object to be dismantled 20, which was transported by the AGV 3, with the first attachment 12, moves the object to be dismantled 20 from the AGV 3 to the fixing device 28. Then, based on information regarding the relative position between the fixing point on the first attachment 12 and the second attachment 13, the second attachment 13 fixes the object to be dismantled 20 to the fixing device 28. As a result, the dismantling device 4 can perform the dismantling process of the object to be dismantled 20 fixed to the fixing device 28 using the fourth robot arm 26.

[0033] This case includes the invention described in the claims, as well as the following inventions: [1] A demolition preparation device that performs demolition preparation processing for objects to be demolished (20) removed from multiple structures included in a mobile body, First robotic arm (8), The second robotic arm (10) and The system includes a control device (7) for controlling the first robot arm and the second robot arm, The control device is The first robot arm is used to hold the object to be dismantled by partially destroying it and attaching a holding jig (12) to it. A dismantling setup device that attaches a positioning jig (13) to the second robot arm, which is used to position the object to be dismantled, held by the first robot arm, when the dismantling device performs the dismantling process. [2] The aforementioned second robot arm is equipped with an imaging device (11), The dismantling setup apparatus according to [1], wherein the control device causes the second robot arm to image the object to be dismantled held by the first robot arm, and calculates the relative position between the holding jig and the fixing point of the positioning jig from the image data captured. [3] The demolition preparation device according to [2], comprising a recording unit (14, 16) on which information relating to the attributes of the object to be demolished is written. [4] The control device writes the relative position to a recording unit (14, 16) on which information relating to the attributes of the object to be demolished is written. [2] Demolition setup device as described above. [5] The dismantling setup device according to any one of [1] to [4], wherein the control device is also used to position the positioning jig when it is mounted on a transport device (3) for transporting the object to be dismantled to the dismantling device. [6] The holding jig is a tool attached to the first robot arm and comprises a rotary drill (31) for drilling holes in the object to be dismantled. The dismantling setup device according to any one of [1] to [5]. [7] A dismantling setup device described in any one of [1] to [6], A demolition processing system comprising the aforementioned demolition device. [8] The aforementioned dismantling device is Demolition robot arm (24), A fixing device (28) for fixing the object to be dismantled using the positioning jig, The system includes a demolition control device (23) that controls the demolition robot arm and the fixing device, The dismantling control device, when the dismantling robot arm holds the object to be dismantled, which has been transported by the transport device, using a holding jig attached to the object to be dismantled, moves the object to be dismantled from the transport device to the fixing device. A demolition processing system according to [7], which causes the fixing device to fix the object to be demolished by the positioning jig based on information regarding the relative position between the holding jig and the fixing point in the positioning jig.

[0034] (Other embodiments) The first robot arm 8, the second robot arm 10, etc., are not limited to a vertical 6-axis type. The transport device is not limited to the AGV3; any device that suspends the object to be dismantled 20 and transports it along a rail is also acceptable. The moving object is not limited to vehicles; it can also be an airplane, a ship, or other similar object.

[0035] This disclosure is described in accordance with the embodiments, but it is understood that this disclosure is not limited to such embodiments or structures. This disclosure also includes various modifications and variations within the equivalence. In addition, various combinations and forms, as well as other combinations and forms that include only one, more, or fewer of those elements, fall within the scope and concept of this disclosure. [Explanation of Symbols]

[0036] In the drawing, 1 is the demolition processing system, 2 is the demolition preparation device, 3 is the AGV, 4 is the demolition device, 7 is the control device, 8 is the first robot arm, 9 is the first sensor, 10 is the second robot arm, 11 is the second sensor, 20 is the object to be demolished, 23 is the demolition control device, 24 is the third robot arm, 25 is the third sensor, 26 is the fourth robot arm, 27 is the fourth sensor, and 28 is the fixing device.

Claims

1. A demolition preparation device that performs demolition preparation processing for objects to be demolished (20) removed from multiple structures included in a mobile body, First robot arm (8) and The second robotic arm (10) and The system includes a control device (7) for controlling the first robot arm and the second robot arm, The control device is The first robot arm is used to hold the object to be dismantled by partially destroying it and attaching a holding jig (12) to it. A dismantling setup device that attaches a positioning jig (13) to the second robot arm, which is used to position the object to be dismantled, held by the first robot arm, when the dismantling device performs the dismantling process.

2. The second robot arm is equipped with an imaging device (11), The dismantling setup apparatus according to claim 1, wherein the control device causes the second robot arm to image the object to be dismantled held by the first robot arm, and calculates the relative position between the holding jig and the fixing point of the positioning jig from the image data captured.

3. The demolition preparation device according to claim 2, further comprising a recording unit (14, 16) on which information relating to the attributes of the object to be demolished is written.

4. The demolition setup device according to claim 2, wherein the control device writes the relative position to a recording unit (14, 16) on which information relating to the attributes of the object to be demolished is written.

5. The dismantling setup device according to claim 1, wherein the control device is also used to position the positioning jig when it is mounted on a transport device (3) for transporting the object to be dismantled to the dismantling device.

6. The demolition setup device according to claim 1, wherein the holding jig is a tool attached to the first robot arm and comprises a rotary drill (31) for drilling holes in the object to be demolished.

7. A dismantling preparation device according to any one of claims 1 to 6, A demolition processing system comprising the aforementioned demolition device.

8. The aforementioned dismantling device is Demolition robot arm (24) and A fixing device (28) for fixing the object to be dismantled using the positioning jig, The system includes a demolition control device (23) that controls the demolition robot arm and the fixing device, The dismantling control device, when the dismantling robot arm holds the object to be dismantled, which has been transported by the transport device, using the holding jig attached to the object to be dismantled, moves the object to be dismantled from the transport device to the fixing device. The demolition processing system according to claim 7, wherein, based on information regarding the relative position between the holding jig and the fixing point in the positioning jig, the fixing device fixes the object to be demolished using the positioning jig.

9. A demolition preparation method for performing demolition preparation processing on objects to be demolished, which are removed from multiple structures included in a mobile body, The first robotic arm partially destroys the object to be dismantled and attaches a holding jig to it, thereby holding the object to be dismantled. A dismantling setup method comprising using a second robot arm to attach a positioning jig, which is used for positioning when the dismantling device performs dismantling work, to the object to be dismantled, which is being held by the first robot arm.

10. The dismantling setup method according to claim 9, wherein the imaging device provided in the second robot arm captures an image of the object to be dismantled held by the first robot arm, and calculates the relative position between the holding jig and the fixing point in the positioning jig from the captured image data.

11. The dismantling preparation method according to claim 10, wherein the calculated relative position is written to the recording unit.

12. The dismantling setup method according to any one of claims 9 to 11, wherein the positioning jig is also used for positioning when the object to be dismantled is mounted on a conveying device for transporting it to the dismantling device.

13. This is performed after the dismantling preparation method described in claim 12 has been carried out. The dismantling robot arm holds the object to be dismantled, which was transported by the transport device, using a holding jig. The object to be dismantled is moved from the transport device to the fixing device. A demolition method in which, based on information regarding the relative position between the holding jig and the fixing point in the positioning jig, the fixing device fixes the object to be demolished with the positioning jig.

14. A demolition device for performing demolition processing on objects to be demolished (20) removed from multiple structures included in a mobile body, First demolition robot arm (24), The second demolition robot arm (26) and A fixing device (28) for fixing the object to be dismantled using a positioning jig, The system comprises the first demolition robot arm and the second demolition robot arm, and a demolition control device (23) that controls the fixing device, The aforementioned object to be demolished includes: The first demolition robot arm is equipped with a holding jig (12) for holding the object to be demolished, and the second demolition robot arm is equipped with a positioning jig (13) for positioning when performing demolition work. The aforementioned holding jig is attached to the object to be dismantled in a partially destroyed state. The aforementioned demolition control device is When the first demolition robot arm holds the object to be demolished, which has been transported by the transport device (3), using the holding jig, it moves the object to be demolished from the transport device to the fixing device. Based on information regarding the relative position between the holding jig and the fixing point in the positioning jig, the fixing device is instructed to fix the object to be dismantled using the positioning jig. A demolition device that causes the second demolition robot arm to dismantle the object to be demolished.

Images