Dismantling device and dismantling method

Abstract

To provide a dismantling device that can properly dismantle an object. [Solution] The dismantling device is equipped with a fastening component removal tool 26 that removes the fastening component 11 from an object to be dismantled, which comprises a member to be fastened 12, a component 13, and a fastening component 11 that fastens the two together, by fitting onto the fastening component 11 and rotating it; a fastening component cutting tool 25 that makes the component 13 detachable from the member to be fastened 12 by cutting the fastening component 11; a torque measuring unit that measures the torque applied to the fastening component removal tool 26; and a control unit that applies either the fastening component removal tool 26 or the fastening component cutting tool 25 to the fastening component 11 according to the measurement result from the torque measuring unit.

Description

Technical Field

[0001] The present invention relates to a disassembling device and a disassembling method.

Background Art

[0002] The price of rare metals has increased, and the risk of resource shortage has become apparent, leading to an increasing need for reuse and recycling. Moreover, the shortage of labor is also an urgent issue, and the automation of disassembly work is highly demanded. In particular, electrical components are often fixed with bolts and screws, and improving the efficiency of screw disassembly work is important. As the background art in this technical field, Patent Document 1 below describes technologies related to disassembly tools for bolts and nuts. In addition, Patent Document 2 below describes a technology related to a screw removal device for waste household appliances.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the above-described technology, there is a desire to disassemble the object to be disassembled more appropriately. This invention has been made in view of the above circumstances, and an object thereof is to provide a disassembling device and a disassembling method capable of appropriately disassembling an object to be disassembled.

Means for Solving the Problems

[0005] To solve the above problems, the present invention provides a dismantling apparatus comprising: a fastening component removal tool that removes a fastening component from an object to be dismantled, which comprises a member to be fastened, a component, and a fastening component that fastens the two together, by fitting onto the fastening component and rotating it; a fastening component cutting tool that makes the component detachable from the member to be fastened by cutting the fastening component; a torque measuring unit that measures the torque applied to the fastening component removal tool; and a control unit that applies either the fastening component removal tool or the fastening component cutting tool to the fastening component according to the measurement result from the torque measuring unit. [Effects of the Invention]

[0006] According to the present invention, the object to be demolished can be properly dismantled. [Brief explanation of the drawing]

[0007] [Figure 1] This is a diagram showing the configuration of the dismantling device according to the first embodiment. [Figure 2] This is a schematic cross-sectional view of power tools and the like. [Figure 3] This is a cross-sectional view taken along the line III-III in Figure 2. [Figure 4] This is a cross-sectional view taken along the line IV-IV in Figure 2. [Figure 5] This is another schematic cross-sectional view of a power tool, etc. [Figure 6] This is a cross-sectional view taken along the line VI-VI in Figure 5. [Figure 7] This is another schematic cross-sectional view of a power tool, etc. [Figure 8] This is a diagram illustrating the dimensions of each part of a power tool. [Figure 9] This is a front view of a power tool, etc. [Figure 10] This is a side view of a power tool, etc. [Figure 11] This is a block diagram showing an example of the functional configuration of the control device in the first embodiment. [Figure 12] This figure shows an example of fastening component information stored in the fastening component information storage area. [Figure 13]This is a diagram showing an example of component information stored in the component information storage area. [Figure 14] This is a diagram showing an example of fastening component disassembly operation information stored in the fastening component disassembly operation information storage area. [Figure 15] This is a flowchart showing the processing content of the entire disassembly work. [Figure 16] This is a flowchart showing the content of the screw disassembly operation. [Figure 17] This is a flowchart showing the details of the trial of removing a screw with a socket. [Figure 18] This is a flowchart showing the details of the screw punching operation with a drill. [Figure 19] This is a flowchart showing the content of the component disassembly operation. [Figure 20] This is a diagram showing an example of the output screen 900 displayed on the output unit by the control unit.

Mode for Carrying Out the Invention

[0008] [Outline of the Embodiment] Applying the technology of Patent Document 1 described above, it is considered possible to set a cylindrical blade object with cutting teeth arranged in the circumferential direction to coincide with the axes of bolts and nuts, and rotate this to cut off both thread ridges of the bolts and nuts in an annular shape together to disassemble the bolts and nuts. Also, applying the technology of Patent Document 2, it is considered possible to select any one of a plurality of tools based on pre-stored data to disassemble the screw.

[0009] The technology applying the above-mentioned Patent Document 1 disassembles bolts, nuts, etc. by cutting, and cannot remove nuts, etc. with a socket or the like. Further, when fixing a component by screwing a male screw into a female screw formed in a housing, since the female screw of the housing is removed, there is a problem that it is not suitable for reuse. Further, the technology applying Patent Document 2 switches tools based on pre-stored data, and thus cannot change the tool according to the fastening state of the screw. Therefore, a technology that can change the disassembly method according to the fastening state of the screw and disassemble the component without damaging it is desired. Therefore, in the embodiment described later, an appropriate disassembly method is selected according to the fastening state of the screw or the like.

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. For convenience, when necessary, it will be described by dividing it into a plurality of sections or embodiments, but unless otherwise specified, they are not unrelated to each other, and one is a modification, detail, supplementary explanation, etc. of a part or all of the other. Further, hereinafter, when referring to the number of elements, etc. (including the number, numerical value, quantity, range, etc.), unless otherwise specified or clearly limited to a specific number in principle, it is not limited to that specific number. Further, the embodiment described later is an example of a device for disassembling a product by attaching a power tool to a robot (automatic machine), but a general drive device such as an XY drive stage can be used, and it is not limited to a robot.

[0011] [First Embodiment] <Hardware Configuration> FIG. 1 is a configuration diagram of a disassembling device 10 according to the first embodiment. In FIG. 1, the disassembling device 10 includes a first robot 1 for removing screws, a second robot 4 for removing components, and a control device 50. The first robot 1 includes an arm 16 (moving mechanism), a power tool 2 attached to the tip of the arm 16, and a force sensor 3 (torque measuring unit) that measures the force applied to each part of the first robot 1.

[0012] The second robot 4 also includes an arm 18 and a hand 5 attached to the tip of the arm 18. The object to be dismantled 60 is an object to be dismantled by the dismantling device 10, and comprises a fastened member 12 and a component 13, the component 13 being fixed to the fastened member 12 by a screw 11 (fastening component), which is a male screw.

[0013] The first robot 1 removes the screws 11 from the object to be dismantled 60, or cuts the screws 11 until the part 13 can be separated from the fastened member 12, and then punches out the screws 11. The second robot 4 is an automated machine that then removes the part 13 and sorts it into sorting boxes 9a or 9b. In the example shown in Figure 1, two robots 1 and 4 are used, but the object to be dismantled 60 may also be dismantled using a single robot while switching between the hand 5 and the power tool 2.

[0014] The first robot 1 attempts to remove the screw 11 by fitting the socket 26 at the tip of the power tool 2 onto the screw 11 and rotating the power tool 2 in accordance with the control signal output from the control device 50. At this time, the force sensor 3 measures the torque applied to the screw 11 based on the control current value of the first robot 1, the motor control current value of the power tool 2, the output signal of the strain gauge attached to the socket 26, etc. Based on the measurement results of the force sensor 3, the control device 50 determines the degree of screw 11's seizure and changes the screw removal method according to the situation.

[0015] The second robot 4 drives its arm 18 and hand 5 according to the control signals output from the control device 50 to grasp the part 13 and transport it to the sorting box 9a or 9b. The control device 50 generates the operation paths of the first robot 1 and the second robot 4 based on the type and location of the screws to be removed, the removal order, and the operating conditions input by the user. Here, the robot operation paths may be input to the control device 50 from data generated by another device. In order to match the coordinate values ​​of the input screws 11 and part 13 with the coordinate systems of the first robot 1 and the second robot 4, the fastened member 12 and part 13 may be fixed with a jig (not shown) to improve positional reproducibility. A camera and image processing device (not shown) may also be provided to detect the screw position and correct the coordinates.

[0016] Figure 2 is a schematic cross-sectional view of a power tool 2, etc. In Figure 2, the power tool 2 is connected to the arm 16 of the first robot 1 (see Figure 1) via a connecting part 28 and a robot connection jig 29 (rotational force application point) attached to one end of the connecting part 28. The robot connection jig 29 allows for easy tool replacement using common techniques such as a tool changer. A motor 21 is attached to the other end of the connecting part 28, and its rotation axis 22 protrudes downward.

[0017] The rotating shaft 22 is formed in a long cylindrical shape, and a drill 25 (fastening component cutting tool) is mounted at its tip so as to be coaxial with it. A cylindrical socket 26 (fastening component removal tool) is provided so as to enclose the rotating shaft 22 and the drill 25 and to be coaxial with them. The socket 26 is movable along the axial direction. The coil spring 23 is inserted between the socket 26 and the connecting part 28 and biases them in a direction that separates them.

[0018] Figure 3 is a cross-sectional view taken along the line III-III in Figure 2. In Figure 3, the screw 11 is a hexagonal screw, and the cross-sectional shape of its head is hexagonal. The tip of the socket 26 has a screw fitting portion 42 that fits with the head of the screw 11. In the illustrated example, the screw fitting portion 42 is formed in a cylindrical shape with a hexagonal inner surface. As a result, the socket 26 can be used as a tool to remove the screw 11.

[0019] Figure 4 is a cross-sectional view taken along the line IV-IV in Figure 2. A blade 24 (second connecting member) is fixed to the rotating shaft 22. The blade 24 is formed in a rectangular plate shape and penetrates the rotating shaft 22 in a direction perpendicular to the axial direction of the rotating shaft 22. The upper end of the socket 26 is closed by a blade fitting portion 41 (first connecting member). A blade groove 27, which is a recess into which the blade 24 is fitted, is formed on the lower surface of the blade fitting portion 41. In the state shown in Figures 2 and 4, the blade 24 is fitted into the blade groove 27, and the socket 26 rotates together with the rotating shaft 22. As a result, the motor 21 can apply torque to the screw 11 in the removal direction.

[0020] Furthermore, in Figure 2, the upper part of the socket 26 has a space with a wider inner diameter than the other parts, which is the blade free-rotating section 43 (free-rotating section). The inner diameter of the blade free-rotating section 43 is wider than the width of the blade 24, allowing the blade 24 to rotate (free-rotate) in this blade free-rotating section 43 while detached from the blade groove 27.

[0021] Figure 5 shows another schematic cross-sectional view of the power tool 2, etc. In other words, in the state shown in Figure 5, compared to the state shown in Figure 2, the connecting portion 28 is pushed down toward the screw 11, and the tip of the drill 25 is in contact with the head of the screw 11. This allows the drill 25 to begin punching out the screw 11.

[0022] Figure 6 is a cross-sectional view taken along the line VI-VI in Figure 5. In the state shown in Figures 5 and 6, the blade 24 is detached from the blade fitting portion 41, and the integration between the rotating shaft 22 and the socket 26 is lost. In other words, the socket 26 does not rotate due to the rotation of the rotating shaft 22. This makes it possible to rotate the drill 25 while the socket 26 is fitted with the screw 11 and stationary, thereby cutting the head of the screw 11.

[0023] Figure 7 shows another schematic cross-sectional view of the power tool 2, etc. In other words, in the state shown in Figure 7, compared to the state shown in Figure 5, the connecting portion 28 is pushed further down toward the screw 11, and the head of the screw 11 is cut and punched out by the drill 25. This makes it possible to remove the part 13 from the fastened member 12. In this way, the fitting state of the wing fitting portion 41 can be controlled by adjusting the height of the power tool 2 by the first robot 1. As a result, the power tool 2 can perform both screw removal with the socket 26 and cutting of the screw 11 with the drill 25. According to this embodiment, since screw removal with the socket 26 and cutting with the drill 25 can be performed without changing tools, the working time can be reduced.

[0024] Figure 8 is an explanatory diagram of the dimensions of each part of the power tool 2. State ST1 in Figure 8 corresponds to the state in Figure 2, where the depth of the blade groove 27 is Lb (second distance) and the height of the screw head 11 is H. This depth Lb is equal to the relative axial movement distance of the blade 24 from the fitted state to the disengaged state of the blade 24 and blade groove 27. The tip 25a of the drill 25 is the part with a tapered cross-sectional shape, and the height of this tip 25a is h. The difference in height between the tip of the socket 26 and the tip of the drill 25 is La. The distance between the drill 25 and the screw 11 is Lam (first distance). The distance Lam is equal to "La-H".

[0025] Furthermore, state ST2 in Figure 8 is the state when the blade 24 has detached from the blade groove 27. In this state ST2, in order to prevent the tip 25a of the drill 25 from contacting the screw 11, the dimensions of each part should be determined to satisfy the following equation (1). Lam = La - H > Lb … Equation (1)

[0026] Furthermore, state ST3 in Figure 8 corresponds to the state in Figure 7, where the cutting (punching) of the screw head 11 is complete. If the axial height of the inner wall of the blade free-rotating section 43 is Lc (third distance), the axial height of the blade 24 is Lf, and the height of the tip 25a of the drill 25 is h, then in order to cut the screw head 11 so as to punch it out completely, it is best to determine the dimensions of each part so as to satisfy the following equation (2). Lc > H + h + Lf … Equation (2)

[0027] Figure 9 is a front view of the power tool 2, and Figure 10 is a side view of the power tool 2. In the example shown in Figure 2, the motor 21 was rotated to rotate the socket 26 of the power tool 2. However, by using the power tool 2 and the connecting part 28 like a wrench, and rotating the power tool 2 and the connecting part 28 with the arm 16 of the first robot 1 (see Figure 1), a greater torque can be applied to the screw 11. This operation is called "arm-driven screw loosening operation".

[0028] In the arm-driven screw loosening operation, the connecting part 28 corresponds to the handle of a wrench, and the robot connection jig 29 becomes the rotational force application point where rotational force is applied by the arm 16. That is, torque can be applied to the screw 11 (see Figure 2) by applying a force (load) F by the arm 16 around the motor axis. At that time, the rotating shaft 22 is fixed so as not to rotate relative to the motor 21.

[0029] When the maximum force (load) F applied by the first robot 1 is defined as the maximum load Fmax, and the maximum torque T that can be applied to the screw 11 is defined as the maximum screw loosening torque Tmax (maximum torque), the minimum connecting section length Wmin (sixth distance), which is the length of the connecting section 28, should satisfy the following equation (3). That is, the length W of the connecting section 28 should be greater than or equal to the minimum connecting section length Wmin. In this case, the maximum load Fmax of the first robot 1 should be a value obtained by multiplying the catalog value by a coefficient of about 0.8, taking into account a safety factor. Wmin = Tmax / Fmax … Equation (3)

[0030] <Functional configuration of the control device 50> Figure 11 is a block diagram showing an example of the functional configuration of the control device 50 in the first embodiment. In Figure 11, the control device 50 comprises a control unit 31, a storage unit 32, an input unit 34, an output unit 35, and a communication unit 36. The control unit 31 comprehensively controls the entire control device 50 and includes a screw removal time calculation unit 311 (fastening component removal time calculation unit), a punching time calculation unit 312, a screw dismantling method selection unit 313 (dismantling method selection unit), a force sensor value acquisition unit 314, a success / failure determination unit 315, a robot motion generation unit 316, and a control signal generation unit 317.

[0031] The screw removal time calculation unit 311 calculates the time required to remove the screw 11 by rotating the socket 26. The punching time calculation unit 312 calculates the time required to separate the screw head from the screw shaft by cutting the head of the screw 11 with the drill 25. The screw dismantling method selection unit 313 selects either the method of applying the socket 26 or the method of applying the drill 25 as the method for dismantling the screw 11. The basis for selecting the method is the screw removal time, punching time, and specified screw dismantling conditions as described above.

[0032] The force sensor value acquisition unit 314 acquires the torque applied to the rotation axis 22 when the screw is rotated or when a hole is drilled from the force sensor 3. The success / failure determination unit 315 determines whether the dismantling of the screw 11 was successful or not, and outputs the success / failure information as a result. If it is determined that the dismantling of the screw 11 has failed, it outputs information via the output unit 35 instructing a person (worker) to dismantle the screw.

[0033] The robot motion generation unit 316 generates the trajectories of the first robot 1 and the second robot 4 when disassembling the screws 11 and parts 13. The control signal generation unit 317 generates control signals to operate the first robot 1 and the second robot 4 based on the generated robot trajectories and transmits them to the first robot 1 and the second robot 4. These control signals also include control signals to operate the arms 16, 18, the power tool 2, the hand 5, etc.

[0034] The storage unit 32 stores information necessary for the operation of the control device 50. The storage unit 32 includes a fastening component information storage area 321 for storing fastening component information 1000, a component information storage area 322 for storing component information 2000, a fastening component disassembly operation information storage area 323 for storing fastening component disassembly operation information 3000, a disassembly sequence information storage area 324 for storing disassembly sequence information 4100, a robot information storage area 325 for storing robot information 4200, and a hand information storage area 326 for storing hand information 4300. Details of the information stored in these areas will be described later.

[0035] The input unit 34 is an interface for receiving information input, such as a keyboard, mouse, touch panel, card reader, microphone, etc. However, the control device 50 may also receive information input via the communication unit 36 ​​or other devices (not shown). The output unit 35 is an interface for outputting various types of information, such as a screen display device like a liquid crystal monitor, LCD (Liquid Crystal Display), or graphics card, a printing device, or an audio output device like a speaker, etc. However, the control device 50 may also output information via the communication unit 36 ​​or other devices (not shown). The communication unit 36 ​​is a device for the control device 59 to communicate with other devices (not shown). Some of the components shown in Figure 11 may be omitted, and other components may be added.

[0036] The hardware configuration of this control device 50 is not limited to this, but for example it may be as follows. The control device 50 is composed of a processor and a memory device. The processor is composed of a CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphics Processing Unit), etc. The memory unit 32 is composed of ROM (Read Only Memory), RAM (Random Access Memory), NVRAM (Non-Volatile RAM), SD (Solid State Drive), NVRAM such as an SD memory card, optical memory devices such as a CD (Compact Disc) and DVD (Digital Versatile Disc), HDD (Hard Disc Drive), cloud server memory area, etc. Note that these hardware configurations do not need to be dedicated devices, and general computer systems such as personal computers can be used.

[0037] Each of the components 311 to 317 included in these control devices 50 is realized by the processor executing a program stored in a memory device within the control device 50. In other words, each of these functional units is a function built by software. Furthermore, the control device 50 may be realized, in whole or in part, by virtual resources such as a cloud server.

[0038] <Data stored in the memory unit> Figure 12 shows an example of fastening component information 1000 stored in the fastening component information storage area 321. This fastening component information 1000 is created for each individual fastening component (e.g., screw 11) applied to the object to be dismantled 60 (see Figure 1). "Fastening component" includes, in addition to the screw 11, members that fix other components such as bolts, nuts, rivets, and welds, as well as electrically connecting members such as welds and connectors.

[0039] In the illustrated example, the fastening component information 1000 includes, as major items, reference number 1001, screw information 1100, and rivet information 1200. That is, the illustrated example shows an example of fastening component information 1000 for screws and rivets as fastening components. However, similar items may be set up and added for other fastening components. Note that since bolts have a similar shape to screws, the same information as in the screw information item should be stored for them.

[0040] Reference information 1001 includes part number 1002 and fastening component type 1003. Part number 1002 is a unique number assigned to each fastening component. This part number 1002 can be used as a key to retrieve information about the fastening component to be removed. Fastening component type 1003 is information indicating the type of fastening component (screw, rivet, etc.).

[0041] The screw information 1100 and rivet information 1200 only store data for items corresponding to the fastening component type 1003. For example, if the fastening component type 1003 is "screw," the rivet information 1200 will be blank, and if the fastening component type 1003 is "rivet," the screw information 1100 will be blank. However, in Figure 12, significant data is shown for both screw information 1100 and rivet information 1200 to illustrate examples.

[0042] The screw information 1100 includes screw coordinates 1120, screw shape 1130, and screw disassembly instructions 1140 (disassembly conditions). The screw coordinates 1120 are the head coordinates of the screw to be removed and are used to position the socket 26. The screw shape 1130 includes the screw shaft diameter, screw length, screw engagement length, screw head height, and screw pitch. The screw shape 1130 is used for selecting the socket diameter, calculating the screw removal time using the socket, and generating the motion of the first robot 1.

[0043] Screw dismantling instruction 1140 includes a socket number, a socket priority flag, a drill priority flag, a drill-prohibited flag, and a sorting type. The socket number specifies the type of socket 26. The sorting type specifies the material of the screw for recycling. The socket priority flag, drill priority flag, and drill-prohibited flag can be set to either ON or OFF.

[0044] If the socket priority flag is ON, the control unit 31 first attempts to remove the screw using the socket 26, and if the screw cannot be removed due to seizing or other reasons, it then attempts to drive it out using the drill 25. If the drill priority flag is ON, the control unit 31 attempts to drive it out using the drill 25. If both the socket priority flag and the drill priority flag are OFF, the control unit 31 adopts the dismantling method selected by the aforementioned screw dismantling method selection unit 313. If the drilling disabled flag is ON, and the screw cannot be removed using the socket due to seizing or other reasons, the control unit 31 does not attempt to drive it out using a drill and instead instructs manual dismantling.

[0045] Furthermore, the rivet information 1200 includes rivet coordinates 1210, rivet shape 1220, and rivet dismantling instructions 1230 (dismantling conditions). The rivet coordinates 1210 are the coordinates of the rivet head to be removed and are used to position the socket 26. The rivet shape 1220 includes the rivet head diameter, rivet head height, and rivet shaft diameter. The rivet shape 1220 is used for selecting the socket diameter and setting the conditions for punching with a drill.

[0046] The rivet dismantling instruction 1230, like the screw dismantling instruction 1140, includes a socket number, a socket priority flag, a drill priority flag, a drill-not-allowed flag, and a sorting type. Here, since rivets can only be removed by drilling, the socket priority flag is OFF and the drill priority flag is fixed to ON. When the drill-not-allowed flag is ON, the control unit 31 instructs dismantling by a person (worker). The drill-not-allowed flag is set to ON when the rivet has a diameter that the drill 25 cannot handle or when careful work is required.

[0047] Figure 13 shows an example of component information 2000 stored in the component information storage area 322. For example, the component 13 shown in Figure 1 includes structural components such as housings and support columns, mechanical units that perform functions through the operation of link mechanisms, sliders, motors, capacitors, wiring, busbars, printed circuit boards, switches, and various other electrical components. Component information 2000 is information generated for each of these components 13. In the illustrated example, component information 2000 includes, as major items, reference number 2001, placement information 2110, gripping information 2120, and component disassembly instruction 2130. However, component information 2000 is not limited to these.

[0048] Reference number 2001 is a unique number assigned to each part 13. This reference number 2001 can be used as a key to access information about the part 13 to be removed. The placement information 2110 includes placement coordinates and an extraction vector. The placement coordinates are the coordinates used to position the TCP (Tool Center Point) of the hand 5 when gripping the part 13. The extraction vector indicates the direction and distance for extracting the part 13.

[0049] The gripping information 2120 includes the hand number that specifies the hand 5 to be used, and the gripping dimension, which is the width that the hand 5 is opened to when gripping. The parts dismantling instruction 2130 is information that specifies the type to be separated, and may specify separation by unit, such as motors or capacitors, in addition to materials such as iron and copper.

[0050] Figure 14 shows an example of fastening component disassembly operation information 3000 stored in the fastening component disassembly operation information storage area 323. The fastening component disassembly operation information 3000 is information generated for each individual fastening component (screw 11, etc.). The fastening component disassembly operation information 3000 includes, as major categories, screw disassembly operation information 3100 and rivet disassembly operation information 3200. However, the composition of the fastening component disassembly operation information 3000 is not limited to these.

[0051] The screw disassembly operation information 3100 includes fitting operation information 3110, screw removal operation information 3120 (fastening component removal operation information), screw loosening operation information 3130, and cutting operation information 3140. The fitting operation information 3110 includes, as operating conditions when fitting the socket 26 onto the screw 11, the fitting rotation speed which is the rotation speed of the motor 21 when the socket 26 is rotated at an ultra-low speed, and the fitting speed which is the speed at which the power tool 2 is lowered to press the socket 26 onto the screw 11 and fit it.

[0052] The screw removal operation information 3120 includes the motor rotation speed (screw removal rotation speed) when removing the screw 11 with the socket 26, and the maximum allowable torque (maximum motor torque) when rotating the socket 26 with the motor 21. If the torque of the motor 21 when removing the screw 11 is too high, the screw removal may fail due to the screw 11 being stuck or for other reasons. Therefore, the maximum motor torque is referenced as a threshold to determine whether to change the method of removing the screw 11 to a different method.

[0053] The screw loosening operation information 3130 includes various information related to the "arm-driven screw loosening operation" described earlier with reference to Figures 9 and 10. Specifically, the screw loosening operation information 3130 includes the screw loosening rotation speed, which is the rotational speed of the connecting part 28; the screw loosening rotation angle, which is the angle at which the connecting part 28 is rotated; and the maximum screw loosening torque (Tmax in equation (3)), which is the maximum allowable torque.

[0054] If the torque T applied to the screw 11 during the arm-driven screw loosening operation exceeds the maximum screw loosening torque, problems such as equipment shutdown or failure due to overload of the first robot 1, or breakage of the connecting part 28 may occur. Therefore, the maximum screw loosening torque is referenced as a threshold for deciding whether or not to continue the arm-driven screw loosening operation.

[0055] The cutting operation information 3140 includes various information regarding punching by the drill 25. Specifically, the cutting operation information 3140 includes the cutting rotation speed, which is the rotational speed of the drill 25; the cutting descent speed, which is the descent speed of the power tool 2; the maximum cutting torque, which is a threshold for detecting galling of the drill 25; and the drill tip height h.

[0056] The rivet dismantling operation information 3200 includes fitting operation information 3210 and cutting operation information 3220. The fitting operation information 3210 includes fitting rotation speed and fitting speed, which are the same as the fitting operation information 3110 in the screw dismantling operation information 3100. Generally, rivet heads are circular, but rotating the socket 26 makes it easier to fit the socket.

[0057] Furthermore, the cutting operation information 3220 includes the same information as the cutting operation information 3140 in the screw dismantling operation information 3100, including the cutting rotation speed, the cutting descent speed, the maximum cutting torque, and the drill tip height h.

[0058] Returning to Figure 11, the dismantling sequence information 4100 stored in the dismantling sequence information storage area 324 is generated for each individual object to be dismantled 60 (see Figure 1) and specifies the dismantling sequence of that object 60. When dismantling an object 60, the procedure is generally repeated, starting with removing fastening parts such as screws 11, and then removing parts 13. The dismantling sequence information 4100 is, for example, a list that enumerates the part numbers assigned to each part in the order of dismantling.

[0059] Furthermore, the robot information 4200 stored in the robot information storage area 325 includes general information necessary for generating robot trajectories, such as the number of joints, link dimensions, and range of motion of each joint of the first and second robots 1 and 4. In addition, the hand information 4300 stored in the robot information storage area 325 includes general information about the hand 5, such as shape, range of motion, TCP, etc., for multiple types of hands 5.

[0060] <Operation of the first embodiment> (Overall operation) Next, the processing contents of the control device 50 according to the first embodiment will be explained with reference to the flowcharts in Figures 15 to 19. Figure 15 is a flowchart showing the overall process of the demolition work. First, in step S51, the control unit 31 acquires various information stored in the memory unit 32. This information includes the fastening component information 1000, component information 2000, fastening component disassembly operation information 3000, disassembly sequence information 4100, robot information 4200, and hand information 4300 mentioned above.

[0061] Next, in step S52, the robot motion generation unit 316 uses the information acquired in step S51 to generate trajectories for the first robot 1 and the second robot 4 according to the dismantling sequence. In the apparatus configuration shown in Figure 1, the first robot 1 is used to dismantle the fastening components, and the second robot 4 is used to dismantle the components. The robot motion generation unit 316 generates the respective robot trajectories using a common robot trajectory generation technique such as RRT (Rapidly Exploring Random Tree).

[0062] Next, in step S53, the control unit 31 obtains the part number of the next part to be dismantled according to the dismantling order. Let N be the total number of parts to be dismantled, and let n be the number of the part to be dismantled this time. Next, in step S54, it is determined whether the part to be dismantled is a fastening part or not. If it is determined to be "Yes", the process proceeds to step S55.

[0063] In step S55, the control unit 31 refers to the fastening component type 1003 (see Figure 12) and branches the processing according to its content. First, if the fastening component is a "screw" or a "bolt," the process proceeds to step S56, and the control unit 31 performs a "screw dismantling operation." If the fastening component is a "rivet," the process proceeds to step S57, and the control unit 31 performs a "rivet dismantling operation."

[0064] Furthermore, if "No" is determined in step S54, the process proceeds to step S58. A "No" determination occurs when the object to be dismantled is a "part". Therefore, in step S58, the control unit 31 performs a "part dismantling operation" for that part. In step S60, the process from step S53 onwards is repeated until the processes in steps S54 to S58 have been executed for all objects to be dismantled. Once the dismantling of all fastening parts and components listed in the dismantling order is complete, the process of this routine ends. Details of steps S56, S57, and S58 will be described later.

[0065] (Screw disassembly operation) Figure 16 is a flowchart showing the contents of the screw disassembly operation (step S56 in Figure 15). First, in step S101, the screw dismantling method selection unit 313 (see Figure 11) obtains screw information 1100 (see Figure 12) related to the screw to be removed from the fastening component information storage area 321. Next, in step S102, the screw dismantling method selection unit 313 determines whether at least one of the socket priority flag and the drill-prohibited flag included in the screw dismantling instruction 1140 (see Figure 12) is ON.

[0066] In this case, specifying the socket priority flag or the drill-disable flag as ON is, for example, when you want to dismantle the object to be dismantled 60 in a way that preserves its original form as much as possible in order to reuse it. If "Yes" is determined in step S102, the process proceeds to step S106, and the control unit 31 attempts to remove the screws using the socket 26. Details of the process in step S106 will be described later.

[0067] Next, when the process proceeds to step S107, the control unit 31 determines whether the screw removal by the socket 26 was successful. If the result is "Yes", this routine terminates and the process returns to the routine shown in Figure 15.

[0068] On the other hand, if "No" is determined in step S107, the process proceeds to step S108, where the screw dismantling method selection unit 313 determines whether the drilling disabled flag is ON or not. If "Yes" is determined here, the process proceeds to step S111, where the screw dismantling method selection unit 313 outputs an instruction for removal by a person (worker) via the output unit 35 (see Figure 11), and the processing of this routine ends. In step S111, the partially dismantled object 60 may also be dispensed onto a workbench (not shown).

[0069] On the other hand, if the drilling disabled flag is OFF, the result in step S108 is determined to be "No", and the process proceeds to step S109. Here, the control unit 31 performs punching with the drill 25. Details of the process in step S109 will be described later.

[0070] Next, when the process proceeds to step S110, the control unit 31 determines whether the punching by the drill 25 was successful or not. If the determination is "Yes", this routine ends and the process returns to the routine shown in Figure 15. On the other hand, if the determination is "No", the process proceeds to step S111, and as described above, the screw dismantling method selection unit 313 outputs an instruction for removal by a person (worker) via the output unit 35 (see Figure 11).

[0071] Furthermore, if both the socket priority flag and the drill-prohibited flag are OFF, the result in step S102 described above is determined to be "No", and the process proceeds to step S103. Here, the screw removal time calculation unit 311 (see Figure 11) calculates the screw removal time T1 (fastening part removal time) by the socket 26 based on the following formula (4). In the following formula (4), L is the screw engagement length included in the screw shape 1130 (see Figure 12), and P is the screw pitch. Also, R is the screw removal rotation speed included in the screw removal operation information 3120 (see Figure 14). T1=L / (P×R) … Equation (4)

[0072] Next, when the process proceeds to step S104, the punching time calculation unit 312 (see Figure 11) calculates the punching time T2 (fastening part punching time) by the drill 25 based on the following formula (5). In the following formula (5), H is the screw head height included in the screw shape 1130 (see Figure 12), and Vc and h are the cutting descent speed and drill tip height included in the cutting operation information 3140 (see Figure 14), respectively. T2=(H+h) / Vc … Equation (5)

[0073] Next, in step S105, the screw dismantling method selection unit 313 determines whether the time T1 for removing the screw with the socket is shorter than the time T2 for punching it out with the drill. If it determines "Yes", the processes from step S106 (removing the screw with the socket 26) onwards described above are executed. On the other hand, if it determines "No" in step S105, the processes from step S109 (punching out with the drill 25) onwards described above are executed.

[0074] Figure 17 is a flowchart detailing the attempt to remove the screw using socket 26 (step S106 in Figure 16). Here, the screw removal by socket 26 includes the screw removal operation by motor 21 and the "arm-driven screw loosening operation" which was previously explained with reference to Figures 9 and 10.

[0075] First, in step S201, the control unit 31 fits the screw fitting portion 42 (see Figure 3) of the socket 26 onto the head of the screw 11. That is, the control unit 31 drives the motor 21 to rotate the socket 26 at an ultra-low rotational speed, which is the fitting rotational speed, and uses the first robot 1 to lower the power tool 2 at the fitting speed.

[0076] This allows the screw-fitting portion 42 of the socket 26 to be fitted onto the head of the screw 11. Once the two are fitted together, the rotation of the socket 26 stops, and the torque applied to the motor 21 increases. The torque change at this time is acquired and monitored by the force sensor 3 or the motor 21.

[0077] Next, when the process proceeds to step S202, the control unit 31 determines whether the torque applied to the motor 21 has reached or exceeded the motor's maximum torque value. If the screw 11 is not stuck, the socket 26 will start rotating before the motor's maximum torque value is reached. In this case, the determination in step S202 is "No", and the process proceeds to step S203.

[0078] In step S203, the control unit 31 rotates the socket 26 at the screw removal rotation speed R specified in the screw removal operation information 3120 (see Figure 14). That is, in order to remove the screw 11 in a short time, a screw removal rotation speed R that is faster than the fitting rotation speed is applied. Furthermore, as the screw head rises with rotation, the control unit 31 calculates the screw removal speed Vs based on the following equation (6), and raises the power tool 2 at this screw removal speed Vs. In the following equation (6), R is the screw removal rotation speed described above, and P is the screw pitch included in the screw shape 1130 (see Figure 12). Vs=P×R / 60…Equation (6)

[0079] Next, when the process proceeds to step S204, the process waits until the power tool 2 rises to a predetermined height. Once the power tool 2 has risen to the predetermined height, the control unit 31 stops the rotation of the motor 21. Here, the predetermined height can be set to approximately 1.2 times the screw engagement length included in the screw shape 1130 (see Figure 12). Next, when the process proceeds to step S205, the control unit 31 stores "success" in the status flag and terminates the processing of this routine.

[0080] On the other hand, if the torque applied to the motor 21 in step S202 exceeds the maximum motor torque value, the system determines "Yes" and proceeds to step S211. In this case, it is assumed that the screw 11 is stuck, so the screw dismantling method selection unit 313 selects "arm-driven screw loosening operation".

[0081] In other words, in step S211, the control unit 31 uses the braking function of the power tool 2 to fix the rotating shaft 22. If the power tool 2 does not have a braking function, a similar function can be achieved by providing a connecting fitting part (not shown) that fits with the socket 26 on the connecting part 28. After fixing the rotating shaft 22, the control unit 31 uses the arm 16 of the first robot 1 to rotate the power tool 2 around the rotating shaft 22. This allows the power tool 2 to be used like a wrench, applying a greater torque to the screw 11.

[0082] Next, in step S212, the control unit 31 rotates the power tool 2 with the arm 16 and acquires the torque applied to the rotating shaft 22 using the force sensor 3. Then, when the process proceeds to step S212, the control unit 31 determines whether the torque applied to the rotating shaft 22 has become equal to or greater than the maximum screw loosening torque included in the screw loosening operation information 3130 (see Figure 14).

[0083] If "Yes" is determined here, the process proceeds to step S215, and the control unit 31 stops the rotation by the arm 16. Next, when the process proceeds to step S216, the control unit 31 stores "Failure" in the status flag and terminates the processing of this routine.

[0084] On the other hand, if the torque applied to the rotating shaft 22 is less than the maximum torque for loosening the screw, the result is determined as "No" in step S212, and the process proceeds to step S213. In this case, the screw 11 has started to rotate, meaning that the fixed part has loosened. Therefore, in step 213, the control unit 31 rotates the socket 26 by the screw loosening rotation angle included in the screw loosening operation information 3130 (see Figure 14). After that, the control unit 31 stops the rotation by the arm 16 and releases the fixing of the rotating shaft 22.

[0085] Next, when the process proceeds to step S214, the control unit 31 determines whether the torque applied just before the rotation by the arm 16 ended was less than or equal to the motor's maximum torque. If the screw 11 was sufficiently loosened, the determination is "Yes," and the processes from step S203 onwards described above are executed. That is, the screw removal operation by the motor 21 is performed.

[0086] On the other hand, if the screw 11 is not sufficiently loosened, the result is determined as "No" in step S214. In this case, the process proceeds to step S216, and the control unit 31 stores "Failure" in the status flag and terminates the processing of this routine.

[0087] Figure 18 is a flowchart detailing the screw removal operation by the drill 25 (step S109 in Figure 16). First, in step S301, the control unit 31 fits the screw fitting portion 42 of the socket 26 onto the head of the screw 11. This operation is the same as in step 201. Next, in step S302, the drill 25 is lowered to the punching start position by lowering the power tool 2.

[0088] Next, in step S303, the drill 25 is rotated at the cutting rotation speed included in the cutting operation information 3140 (see Figure 14), while the power tool 2 is lowered at the cutting descent speed to drill a hole in the screw head. Next, in step S304, the control unit 31 acquires the torque change applied to the drill 25 during cutting from the force sensor 3. The control unit 31 then determines whether the torque exceeds the maximum cutting torque included in the cutting operation information 3140 (see Figure 14).

[0089] If "Yes" is determined here, the process proceeds to step S307, and the control unit 31 stops the rotation and descent of the drill 25. In this case, it is thought that the cutting has failed, for example, because the cutting edge of the drill 25 has bitten into the screw head. Therefore, when the process proceeds to step S308, the control unit 31 stores "Failure" in the status flag, and the processing of this routine ends.

[0090] On the other hand, if the torque of the rotating shaft 22 during cutting of the screw head does not exceed the maximum cutting torque, the result is determined as "No" in step S304, and the process proceeds to step S305. Here, the control unit 31 continues cutting until the punching is complete, and then stops the drill rotation and descent. Next, when the process proceeds to step S306, the control unit 31 stores "Success" in the status flag, and the processing of this routine ends.

[0091] (Rivet removal operation) Next, we will explain the rivet dismantling operation performed in step S57 (see Figure 15). Since the rivet cannot be removed by the socket 26, the operation is the same as if "punching with the drill 25" were always selected during the screw dismantling operation (see Figure 16). In this process, the control unit 31 refers to rivet information 1200 (see Figure 12) and rivet dismantling operation information 3200 (see Figure 14) relating to the rivet to be dismantled.

[0092] (Disassembly of parts) Figure 19 is a flowchart showing the details of the parts disassembly operation (step S58 in Figure 15). In this embodiment, the control unit 31 controls the second robot 4 shown in Figure 1 to perform part disassembly, but it is not limited to this. First, in step S501, the control unit 31 acquires part information 2000 (see Figure 13) related to the part 13 to be removed.

[0093] Next, when the process proceeds to step S502, the control unit 31 replaces the hand 5. The contents of step S502 will be explained below. Generally, since the parts 13 have various shapes, multiple types of hands 5 are prepared according to the type of part 13. Also, the arm 18 of the second robot 4 is equipped with a robot connection jig 29 (see Figure 2) similar to that of the first robot 1. Therefore, the control unit 31 attaches the hand 5 corresponding to the hand number included in the gripping information 2120 to the robot connection jig 29 of the second robot 4.

[0094] Next, in step S503, the control unit 31 performs part removal. Specifically, the control unit 31 opens the hand 5 by referring to the gripping dimensions contained in the gripping information 2120 (see Figure 13), and positions the TCP of the second robot 4 at the placement coordinates by referring to the placement coordinates contained in the placement information 2110. Next, the control unit 31 closes the hand 5 to grip the part 13, and then moves the part 13 in the direction of the pull-out vector contained in the placement information 2110. Next, when the process proceeds to step S504, the control unit 31 discharges the part 13 into the corresponding sorting box 9a or 9b according to the sorting type contained in the part dismantling instruction 2130.

[0095] (Example of output screen) Figure 20 shows an example of the output screen 900 displayed on the output unit 35 by the control unit 31. In Figure 20, the output screen 900 includes a product name display unit 901, a product diagram display unit 902, and a processing result display unit 903. The product name display unit 901 displays the name of the product currently being processed. Furthermore, the product name display unit 901 also functions as a list box for retrieving processing results for products processed in the past.

[0096] The product diagram display unit 902 has a function to display product diagrams and a function to highlight the screws 11 selected by the processing result display unit 903. The processing result display unit 903 displays the parts information and processing results in a list in the order they were processed. Each row in the processing result display unit 903 displays processing information such as the removal method, maximum torque, processing time, and whether the processing was successful or not. The processing result display unit 903 also has a filter function that allows sorting by item in order to analyze workability.

[0097] [Differentiation] The present invention is not limited to the embodiments described above, and various modifications are possible. The embodiments described above are illustrative examples provided to facilitate understanding of the present invention, and are not necessarily limited to those comprising all the configurations described. Furthermore, other configurations may be added to the configurations of the above embodiments, and some of the configurations may be replaced with other configurations. In addition, the control lines and information lines shown in the figures are those considered necessary for explanation, and do not necessarily represent all the control lines and information lines required in the product. In practice, it can be assumed that almost all configurations are interconnected. Possible modifications to the above embodiments are as follows, for example.

[0098] (1) Since the hardware of the control device 50 in the above embodiment can be implemented by a general-purpose computer, programs that perform the processes corresponding to each block diagram and flowchart described above, and other various processes described above, may be stored in a storage medium (a computer-readable recording medium on which the program is recorded) or distributed via a transmission line. As this recording medium, for example, a storage device such as a non-volatile semiconductor memory, a hard disk drive, or an SSD (Solid State Drive), or a computer-readable non-temporary data storage medium such as an IC card, SD card, or DVD may be used.

[0099] (2) Although the processes corresponding to each block diagram and flowchart described above, and the various other processes described above, have been explained as software processes using a program in the above embodiment, some or all of them may be replaced with hardware processes using an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), etc.

[0100] (3) The various processes performed in the above embodiment may be performed by a server computer via a network (not shown), and the various data stored in the above embodiment may also be stored on the server computer.

[0101] [Effects of the Embodiment] As described above, according to the embodiment described, the dismantling device 10 includes a fastening component removal tool (26) that removes the fastening component (11) from a dismantling object 60 comprising a fastened member 12, a component 13, and a fastening component (11) that fastens the two together by fitting onto the fastening component (11) and rotating it; a fastening component cutting tool (25) that makes the component 13 detachable from the fastened member 12 by cutting the fastening component (11); a torque measuring unit (3) that measures the torque applied to the fastening component removal tool (26); and a control unit 31 that applies either the fastening component removal tool (26) or the fastening component cutting tool (25) to the fastening component (11) according to the measurement result from the torque measuring unit (3). This allows the dismantling object 60 to be dismantled appropriately. For example, even when there are stuck screws, the success rate of screw removal and the time required for screw removal can be improved, contributing to an improvement in the throughput of the dismantling work.

[0102] Furthermore, the control unit 31 acquires fastening component information 1000, component information 2000, fastening component disassembly operation information 3000, and disassembly sequence information 4100 from the storage unit 32. The fastening component information 1000 includes disassembly conditions (1140, 1230) that define the conditions for disassembling the fastening component (11), and the disassembly conditions (1140, 1230) include classification types that define the materials included in the fastening component (11). The component information 2000 includes classification types that define the materials included in the component 13, and fastening The component disassembly operation information 3000 includes fitting operation information 3110 which defines the conditions for fitting the fastening component removal tool (26) and the fastening component (11), fastening component removal operation information (3120) which is the operation condition for removing the fastening component (11), and cutting operation information (3140, 3220) which is the operation condition for cutting the fastening component (11) with the fastening component cutting tool (25). It is even more preferable that the disassembly sequence information 4100 is information that specifies the disassembly sequence of the fastening component (11) and component 13. This allows various types of information to be read from the storage unit 32, enabling the disassembly of the object to be disassembled 60 more appropriately.

[0103] Furthermore, it is even more preferable that the control unit 31 includes a fastening component removal time calculation unit (311) that calculates the fastening component removal time (T1), which is the time it takes to remove the fastening component (11) using a fastening component removal tool (26); a fastening component punching time calculation unit 312 that calculates the fastening component punching time (T2), which is the time it takes to cut the fastening component (11) using a fastening component cutting tool (25) until the component 13 can be detached from the fastened member 12; and a disassembly method selection unit (313) that applies the fastening component removal tool (26) when the fastening component removal time (T1) is shorter than the fastening component punching time (T2), and applies the fastening component cutting tool (25) when the fastening component punching time (T2) is shorter than the fastening component removal time (T1). This makes it possible to select an appropriate disassembly method based on the comparison result between the fastening component removal time (T1) and the fastening component punching time (T2).

[0104] Furthermore, the dismantling device 10 further comprises a moving mechanism (16) for moving the fastening component removal tool (26) and a motor 21 for rotationally driving the fastening component removal tool (26). It is even more preferable that the control unit 31 further includes a function to select either a first operation, in which the motor 21 is rotated to rotationally drive the fastening component removal tool (26), or a second operation, in which the rotation of the motor 21 is stopped and the moving mechanism (16) is used to rotationally drive the fastening component removal tool (26). This allows the fastening component removal tool (26) to be rotated by the moving mechanism (16) even when it is difficult to rotate the fastening component removal tool (26) with the motor 21.

[0105] Furthermore, it is even more preferable to have a function that outputs a dismantling command for a worker if the removal of the fastening component (11) by the fastening component removal tool (26) or the cutting of the fastening component (11) by the fastening component cutting tool (25) fails. This allows for issuing a command to a worker to perform dismantling work when necessary.

[0106] Furthermore, it is even more preferable that the fastening component removal tool (26) and the fastening component cutting tool (25) are arranged coaxially. This allows for quick switching between the state in which the fastening component removal tool (26) is applied and the state in which the fastening component cutting tool (25) is applied.

[0107] Furthermore, the fastening component removal tool (26) is provided with a first connecting member (41), and the fastening component cutting tool (25) is provided with a second connecting member (24) that engages with the first connecting member (41) or disengages from the first connecting member (41) depending on the axial positional relationship between the fastening component cutting tool (25) and the fastening component removal tool (26). When the first connecting member (41) and the second connecting member (24) are engaged, they rotate together with the fastening component removal tool (26), and when the first connecting member (41) and the second connecting member (24) are disengaged, they rotate separately from the fastening component removal tool (26). It is even more preferable that the fastening component removal tool (26) is provided with a free-rotating part (43) that secures space for the second connecting member (24) to rotate freely when the first connecting member (41) and the second connecting member (24) are disengaged. This allows for quick selection of which of the fastening component removal tool (26) or fastening component cutting tool (25) to apply, depending on the positional relationship between the first connecting member (41) and the second connecting member (24).

[0108] Furthermore, when the fastening component (11) and the fastening component removal tool (26) are engaged, if the distance between the fastening component cutting tool (25) and the fastening component (11) is defined as the first distance (Lam), and the relative axial movement distance between the fastening component removal tool (26) and the fastening component cutting tool (25) from the engaged state to the disengaged state is defined as the second distance (Lb), then it is even more preferable that the first distance (Lam) is greater than the second distance (Lb). This prevents the fastening component cutting tool (25) from coming into contact with the fastening component (11) at the moment the fastening component removal tool (26) and the fastening component cutting tool (25) are disengaged.

[0109] Furthermore, the second connecting member (24) is provided so as to protrude outward from the circumferential surface of the fastening component cutting tool (25), the fastening component removal tool (26) is provided with a free-rotating portion (43) that forms a space in which the second connecting member (24) can rotate freely, the fastening component cutting tool (25) has a tapered tip portion 25a, and when the axial length of the inner wall of the free-rotating portion (43) is defined as the third distance (Lc), and the sum of the axial length (h) of the tip portion 25a and the axial length (Lf) of the second connecting member (24) is defined as the fourth distance (Lf+h), it is even more preferable that the third distance (Lc) is greater than the fourth distance (Lf+h). This makes it possible to eliminate obstacles when rotating the second connecting member (24).

[0110] Furthermore, when the distance between the rotation axis of the fastening component removal tool (26) and the rotational force application point (29), which is the point where rotational force is applied to the fastening component removal tool (26) by the moving mechanism (16), is defined as the fifth distance (W), and the sixth distance (Wmin) is defined as the result of dividing the maximum torque (Tmax) that can be applied to the fastening component (11) by the maximum load Fmax that can be applied to the moving mechanism (16), it is even more preferable that the fifth distance (W) is greater than or equal to the sixth distance (Wmin). This allows the moving mechanism (16) to apply the maximum torque (Tmax) to the fastening component (11) when necessary. [Explanation of Symbols]

[0111] 1. First Robot 4. Second Robot 3. Force sensor (torque measurement unit) 10 Demolition equipment 11. Screws (fastening components) 12 Parts to be fastened 13 parts 16. Arm (movement mechanism) 21 Motor 24 blades (second connecting member) 25 Drill (Fastener parts cutting tool) 25a Tip 26. Socket (fastening component removal tool) 29. Robot connection jig (rotational force application point) 31 Control Unit 32 Storage section 41. Wing fitting portion (first connecting member) 43. Blade free-rotating section (free-rotating section) 60 Objects to be demolished 311 Screw removal time calculation unit (fastening component removal time calculation unit) 312 Punching Time Calculation Unit 313 Screw Disassembly Method Selection Section (Disassembly Method Selection Section) 1000 Fastening component information 1140 Screw Disassembly Instructions (Disassembly Conditions) 1230 Rivet Dismantling Instructions (Dismantling Conditions) 2000 Parts Information 3000 Fastening component disassembly operation information 3110 Mating operation information 3120 Screw removal operation information (fastening component removal operation information) 3140 Cutting operation information 3220 Cutting operation information 4100 Demolition order information W: Length of the connecting section (fifth distance) Lb depth (second distance) Lc Axial height (third distance) T1 Screw removal time (time to remove fastening components) T2 Punching time (Punching time for fastening components) Lam distance (first distance) Fmax Maximum Load Tmax Maximum Torque for Loosening Screws (Maximum Torque) Wmin Minimum connection length (6th distance)

Claims

1. A fastening component removal tool for removing a fastening component from an object to be dismantled, which comprises a member to be fastened, a component, and a fastening component that fastens the two together, by fitting onto the fastening component and rotating it, A fastening component cutting tool that allows the fastening component to be detached from the fastened member by cutting the fastening component, A torque measuring unit for measuring the torque applied to the fastening component removal tool, The system includes a control unit that applies either the fastening part removal tool or the fastening part cutting tool to the fastening part according to the measurement result from the torque measuring unit. A dismantling device characterized by the following features.

2. The control unit acquires fastening component information, component information, fastening component disassembly operation information, and disassembly sequence information from the storage unit. The fastening component information includes dismantling conditions that define the conditions for dismantling the fastening component, and the dismantling conditions include classifications that define the materials included in the fastening component. The aforementioned part information includes classifications that define the materials contained in the part, The fastening component disassembly operation information includes fitting operation information that defines the conditions for fitting the fastening component removal tool and the fastening component, fastening component removal operation information that is the operating conditions for removing the fastening component, and cutting operation information that is the operating conditions for cutting the fastening component with the fastening component cutting tool. The dismantling sequence information is information that specifies the dismantling sequence of the fastening components and the components. The dismantling apparatus according to feature 1.

3. The control unit, A fastening component removal time calculation unit calculates the fastening component removal time, which is the time it takes to remove the fastening component using the fastening component removal tool. A punching time calculation unit calculates the punching time for the fastening part, which is the time it takes to cut the fastening part with the fastening part cutting tool until the part can be detached from the fastened member. The system includes a disassembly method selection unit that applies the fastening part removal tool when the fastening part removal time is shorter than the fastening part punching time, and applies the fastening part cutting tool when the fastening part punching time is shorter than the fastening part removal time. The dismantling apparatus according to feature 1.

4. A moving mechanism for moving the aforementioned fastening component removal tool, The system further comprises a motor that rotates the fastening component removal tool, The control unit further includes a function to select either a first operation, which involves rotating the motor to rotate the fastening component removal tool, or a second operation, which involves stopping the rotation of the motor and then rotating the fastening component removal tool using the moving mechanism, in accordance with the measurement result from the torque measuring unit. The dismantling apparatus according to feature 1.

5. The system further includes a function to output a dismantling command to the worker if the removal of the fastening component using the fastening component removal tool or the cutting of the fastening component using the fastening component cutting tool fails. The dismantling apparatus according to feature 1.

6. The fastening component removal tool and the fastening component cutting tool are arranged coaxially. The dismantling apparatus according to feature 1.

7. The fastening component removal tool includes a first connecting member, The fastening component cutting tool includes a second connecting member that engages with or disengages from the first connecting member depending on the axial positional relationship between the fastening component cutting tool and the fastening component removal tool. When the first and second connecting members are engaged, they rotate together with the fastening component removal tool, and when the first and second connecting members are disengaged, they rotate separately from the fastening component removal tool. The fastening component removal tool includes a free-rotating portion that secures space for the second connecting member to rotate freely when the first and second connecting members are disengaged. The dismantling apparatus according to feature 1.

8. In the fitted state of the fastening component and the fastening component removal tool, if the distance between the fastening component cutting tool and the fastening component is defined as the first distance, and the relative axial movement distance between the fastening component removal tool and the fastening component cutting tool from the fitted state to the detached state is defined as the second distance, then the first distance is greater than the second distance. The dismantling apparatus according to feature 7.

9. The second connecting member is provided so as to protrude outward from the circumferential surface of the fastening component cutting tool, The fastening component removal tool is equipped with a free-rotating portion that forms a space in which the second connecting member can rotate freely. The fastening component cutting tool has a tapered tip, When the axial length of the inner wall of the free-spinning portion is defined as the third distance, and the sum of the axial length of the tip portion and the axial length of the second connecting member is defined as the fourth distance, the third distance is greater than the fourth distance. The dismantling apparatus according to feature 7.

10. When the distance between the rotation axis of the fastening component removal tool and the rotational force application point, which is the point at which rotational force is applied to the fastening component removal tool by the moving mechanism, is defined as the fifth distance, and the result of dividing the maximum torque that can be applied to the fastening component by the maximum load that can be applied to the moving mechanism is defined as the sixth distance, then the fifth distance is greater than or equal to the sixth distance. The dismantling apparatus according to feature 4.

11. A fastening component removal tool for removing a fastening component from an object to be dismantled, which comprises a member to be fastened, a component, and a fastening component that fastens the two together, by fitting onto the fastening component and rotating it, A fastening component cutting tool that allows the fastening component to be detached from the fastened member by cutting the fastening component, A torque measuring unit for measuring the torque applied to the fastening component removal tool, A demolition method applicable to a demolition apparatus comprising a control unit, The steps include: obtaining the torque measurement result from the torque measuring unit; The control unit is instructed to perform the following steps: apply either the fastening part removal tool or the fastening part cutting tool to the fastening part, in accordance with the measurement result from the torque measuring unit. A demolition method characterized by the following features.

12. A step of calculating the fastening part removal time, which is the time it takes to remove the fastening part using the fastening part removal tool, A step of calculating the fastening part punching time, which is the time it takes to cut the fastening part with the fastening part cutting tool until the part can be detached from the fastened member. The control unit is further instructed to perform the following steps: apply the fastening part removal tool if the fastening part removal time is shorter than the fastening part punching time, and apply the fastening part cutting tool if the fastening part punching time is shorter than the fastening part removal time. The demolition method according to feature 11.

13. The aforementioned dismantling device is A moving mechanism for moving the aforementioned fastening component removal tool, The system further comprises a motor that rotates the fastening component removal tool, The control unit is further instructed to perform the step of selecting either a first operation, which involves rotating the motor to rotate the fastening component removal tool, or a second operation, which involves stopping the rotation of the motor and then rotating the fastening component removal tool using the moving mechanism, in accordance with the measurement result from the torque measuring unit. The demolition method according to feature 11.

14. If the removal of the fastening component using the fastening component removal tool, or the cutting of the fastening component using the fastening component cutting tool, fails, the control unit is further instructed to output a dismantling command to the worker. The demolition method according to feature 11.

Images