CN104722567A - Fixing component disassembling system, fixing component disassembling method and program - Google Patents

Abstract

The invention provides a fixing component disassembling system for effectively disassembling a disassembled target, a fixing component disassembling method and program. The fixing component disassembling system is provided with a detection control device, a first conveying mechanism, a disassembly control device, and a second conveying mechanism. The detection control device detects multiple fixing components for fixing the disassembled target by means of an image recording the disassembled target and acquires fixing component positional information indicative of the detected positions of the multiple fixing components. The first conveying mechanism moves the disassembled target according to the processing carried out by the detection control device. The disassembly control device moves a fixation releasing tool to the fixing components according to the fixing component positional information received from the detection control device, and enables the fixation releasing tool to release the fixation to the fixing components. The second conveying mechanism moves the disassembled target according to the processing carried out by the disassembly control device.

Description

Fixed part break-up system, fixed part disassembling method and program

Technical field

The present invention relates to a kind of fixed part break-up system, fixed part disassembling method and program.

Background technology

In recent years, in the electronic product such as television set and personal computer comprise parts recycling receive publicity.The framework of most of electronic products and circuit substrate etc. are fixed by multiple fixed part, needs to dismantle these fixed parts, and classify by each recoverable parts when therefore disintegrating.

Further, the electronic product of disintegration due to the fixing means of its size of each product and parts all different, be therefore difficult to the automation realizing disassembling operation, always be the manual disintegration carrying out each product.

Such as, have a kind of possess detect fixed part that the detecting unit of fixed part and dismounting detect and system to the solution body unit that disintegration object disintegrates.Detecting unit conciliates the throughput direction spread configuration of body unit along the ribbon conveyer of conveying disintegration object.The ribbon conveyer of conveying disintegration object is 1 (such as with reference to patent document 1).

Patent document 1: Japanese Unexamined Patent Publication 2013-17973 publication

But in the system recorded in patent document 1, detecting unit is different from the processing speed of separating body unit.Therefore, only could process the next one object that disintegrates after the check processing of 1 disintegration object and disintegration process terminate.Therefore, there is treatment effeciency difference, the problem in processing time cannot be shortened.

Summary of the invention

The present invention completes in view of the above problems, its object is to provide a kind of can effectively to fixed part break-up system, fixed part disassembling method and program that disintegration object disintegrates.

This invention completes to solve above-mentioned problem, based on the fixed part break-up system of a mode of the present invention, it possesses: detection control apparatus, detect by the shooting image of shooting disintegration object multiple fixed parts that this disintegration object is fixed, and obtain the fixed part positional information of the position representing the described multiple fixed part detected; 1st conveying mechanism, makes described disintegration object move according to the process undertaken by described detection control apparatus; Separate member control apparatus, the described fixed part positional information according to receiving from described detection control apparatus makes fixing releasing appliance move to the position of described fixed part, and make described fixing releasing appliance remove by described fixed part carry out fixing; And the 2nd conveying mechanism, make described disintegration object move according to the process undertaken by described solution member control apparatus.

And, fixation portions part break-up system based on a mode of the present invention can be as follows: described detection control apparatus possesses dimension information acquisition unit, described dimension information acquisition unit obtains the dimension information representing and be placed in the size of the described disintegration object of described 1st conveying mechanism, described solution member control apparatus possesses position correction value calculating part, described position correction value calculating part detects the summit of described disintegration object by taking the shooting image being placed in the described disintegration object of described 2nd conveying mechanism, and according to the information representing the vertex position of described disintegration object detected and the described dimension information received from described detection control apparatus, the position correction value that the position calculating the described disintegration object of correction is departed from.

And, fixation portions part break-up system based on a mode of the present invention can be as follows: described solution member control apparatus also possesses fixed part position correction portion, described fixed part position correction portion is according to the described position correction value calculated by described position correction value calculating part, correct the described fixed part positional information received from described detection control apparatus, described fixing releasing appliance is moved to the position represented by the fixed part positional information corrected by described fixed part position correction portion.

And, fixation portions part break-up system based on a mode of the present invention can be as follows: the shooting image that described solution member control apparatus is placed in the described disintegration object of described 2nd conveying mechanism by shooting further detects not by undetected fixed part that described detection control apparatus detects, described fixing releasing appliance is moved to the position of the described undetected fixed part detected, and make described fixing releasing appliance remove by described undetected fixed part carry out fixing.

And, fixation portions part break-up system based on a mode of the present invention can be as follows: described detection control apparatus also possesses image pickup part, described image pickup part is aligned in the mode on the height and position of the half of the vertical-direction length of the described disintegration object being placed in described 1st conveying mechanism with focus, take described disintegration object.

Further, the fixation portions part break-up system based on a mode of the present invention can be as follows: described fixing releasing appliance possesses: spindle unit, is set to move vertically; And axle sleeve, be arranged at the periphery of described spindle unit.

And, based on the fixed part disassembling method of a mode of the present invention, it possesses: detection control step, detect by the shooting image of shooting disintegration object multiple fixed parts that this disintegration object is fixed, and obtain the fixed part positional information of the position representing the described multiple fixed part detected; 1st supplying step, makes described disintegration object move according to the process undertaken by described detection control step; Disintegration rate-determining steps, makes fixing releasing appliance move to the position of described fixed part according to described fixed part positional information, and make described fixing releasing appliance remove by described fixed part carry out fixing; And the 2nd supplying step, make described disintegration object move according to the process undertaken by described disintegration rate-determining steps.

And, based on the program of a mode of the present invention, it plays a role as such as lower member for making computer: detection control component, detect by the shooting image of shooting disintegration object multiple fixed parts that this disintegration object is fixed, and obtain the fixed part positional information of the position representing the described multiple fixed part detected; 1st transfer member, makes described disintegration object move according to the process undertaken by described detection control component; Disintegration control member, makes fixing releasing appliance move to the position of described fixed part according to described fixed part positional information, and make described fixing releasing appliance remove by described fixed part carry out fixing; And the 2nd transfer member, make described disintegration object move according to the process undertaken by described disintegration control member.

According to the present invention, can effectively disintegrate to disintegration object.

Accompanying drawing explanation

Fig. 1 is the summary stereogram of the summary of the fixed part break-up system dimensionally represented involved by embodiments of the present invention.

Fig. 2 is the synoptic diagram from the summary of laterally observing the fixed part break-up system involved by embodiments of the present invention.

Fig. 3 is the block diagram of the structure of the fixed part break-up system represented involved by embodiments of the present invention.

Fig. 4 is the block diagram of the structure example of the detection control apparatus represented involved by present embodiment.

Fig. 5 is the block diagram of the structure example of the solution member control apparatus represented involved by present embodiment.

Fig. 6 is the flow chart of the example for illustration of the fixed part disassembling method involved by present embodiment.

Fig. 7 is the flow chart for being described a part for the treatment of process of the fixed part disassembling method involved by present embodiment.

Fig. 8 is the flow chart for being described a part for the treatment of process of the fixed part disassembling method involved by present embodiment.

Fig. 9 is the flow chart for being described a part for the treatment of process of the fixed part disassembling method involved by present embodiment.

Figure 10 is the flow chart for being described a part for the treatment of process of the fixed part disassembling method involved by present embodiment.

Figure 11 is the flow chart for being described a part for the treatment of process of the fixed part disassembling method involved by present embodiment.

Figure 12 is the figure of an example of the front end of the driver bit represented involved by present embodiment.

In figure: 1-fixed part break-up system, 10-detecting unit, 11-area array sensor video camera, 12-line array sensor video camera (image pickup part), 13-laser displacement gauge, 14-photoelectric sensor, 15-the 1st conveying mechanism, 16-area array sensor video camera travel mechanism, 17-line array sensor video camera travel mechanism, 18-lighting device, 20-separates body unit, 21-area array sensor video camera, 22-driver bit, 25-the 2nd conveying mechanism, 26-XYZ travel mechanism, 27-driver bit rotating mechanism, the initial mounting table of 30-, 40-stops mounting table, 51-brake, 52-brake, 53-frame, 100-detection control apparatus, 101-CPU, 102-operating portion, 103-display part, 104-communication unit, 105-conveyer belt control part, 106-area array sensor video camera travel mechanism control part, 107-line array sensor video camera travel mechanism control part, 108-storage part, 111-dimension information acquisition unit, 112-line array sensor camera control portion, 113-screw position the 1st test section, 114-area array sensor camera control portion, 115-screw position the 2nd test section, 116-display control unit, 200-separates member control apparatus, 201-CPU, 202-operating portion, 203-display part, 204-communication unit, 205-conveyer belt control part, 206-XYZ travel mechanism control part, 207-driver bit rotating mechanism control part, 208-storage part, 211-area array sensor camera control portion, 212-position correction value calculating part, 213-disintegration order determination section, 214-fixed part position correction portion, 215-screw position the 3rd test section, 216-display control unit.

Detailed description of the invention

[the 1st embodiment]

Below, with reference to accompanying drawing, embodiments of the present invention are described in detail.

First, the summary with reference to Fig. 1,2 pairs of fixed part break-up systems 1 is described.Fig. 1 is the summary stereogram of the summary dimensionally representing fixed part break-up system 1.Fig. 2 is the synoptic diagram from the summary of laterally observing fixed part break-up system 1.

Fixed part break-up system 1 involved by present embodiment possesses detecting unit 10, solution body unit 20, detection control apparatus 100 and separates member control apparatus 200.The action of detecting unit 10 is controlled by detection control apparatus 100.The action of separating body unit 20 is controlled by separating member control apparatus 200.In the present embodiment, the process undertaken by detecting unit 10 and detection control apparatus 100 is called the 1st grade, conciliates the process that member control apparatus 200 carries out be called the 2nd grade by by separating body unit 20.

The 1st conveying mechanism 15 is called by carrying the mechanism of disintegration object in the 1st grade.1st conveying mechanism 15 possesses the conveyer belt making the movement in the horizontal direction of disintegration object.In the present embodiment, the throughput direction carried by the 1st conveying mechanism 15 is called length direction X.Further, the direction orthogonal with throughput direction is called width Y, vertical direction is called short transverse Z.

The 2nd conveying mechanism 25 is called by carrying the mechanism of disintegration object in the 2nd grade.2nd conveying mechanism 25 possesses the conveyer belt making the movement in the horizontal direction of disintegration object.2nd conveying mechanism 25 receives the disintegration object carried by the 1st conveying mechanism 15, and the throughput direction identical with the 1st conveying mechanism 15 carries disintegration object, and its solution body position to regulation is moved.That is, the throughput direction carried by the 2nd conveying mechanism 25 is the length direction X identical with the 1st conveying mechanism 15.

1st conveying mechanism 15 and the 2nd conveying mechanism 25 can make conveyer belt rotate to forward direction or reverse directions.In the present embodiment, the forward of throughput direction will be called towards the direction of the 2nd conveying mechanism 25 from the 1st conveying mechanism 15, be called the reverse of throughput direction by from the 2nd conveying mechanism 25 towards the direction of the 1st conveying mechanism 15.

As shown in Figure 1, 2, on the direction in downstream, be configured with initial mounting table 30, detecting unit 10 successively at the upstream side of the throughput direction (forward) from disintegration object, separate body unit 20, stop mounting table 40.Brake 51 (with reference to Fig. 2) is provided with between initial mounting table 30 and detecting unit 10.Brake 52 (with reference to Fig. 2) is provided with in termination mounting table 40 side of separating body unit 20.Such as, brake 51,52 is set to move along short transverse Z.Brake 51,52 is as being used for the movement of disintegration object that limit transport comes and being played a role by the align member of disintegration objects location reference position after movement.In the present embodiment, brake 51 be in original position by the align member of disintegration objects location in reference position.Brake 52 be in the 2nd grade by the align member of disintegration objects location in reference position.

Brake 51,52 when playing a role as align member, to be located on short transverse Z high compared with the upper surface (hereinafter referred to as conveyor surface) of the conveyer belt of beginning mounting table 30 and the 2nd conveying mechanism 25 and with the position of carrying the disintegration object of coming to abut.When in addition, brake 51 retreats to position lower than conveyor surface on short transverse Z, and brake 52 retreats to the position than the disintegration object Geng Gao carried on conveyor surface.So, the position predetermined the position abutted with disintegration object as brake 51,52 is called position location.On the other hand, the position predetermined the position do not abutted with disintegration object as brake 51,52 is called retreating position.

As shown in Figure 1, in the 1st grade, the frame 53 formed in the mode striding across conveyer belt is fixed on the base of mounting the 1st conveying mechanism 15.Multiple laser displacement gauges 13 and multiple lighting device 18 of Y arrangement is in the width direction fixed with in the bottom of the short transverse Z of frame 53.In the example in the figures, laser displacement gauge 13 and lighting device 18 alternately configure.On the top of the short transverse Z of frame 53,2 line array sensor video cameras 12 (image pickup part) of Y arrangement are in the width direction installed as and can move via line array sensor video camera travel mechanism 17.On short transverse Z, between laser displacement gauge 13 and line array sensor video camera 12,4 area array sensor video cameras 11 of Y arrangement in the width direction can be installed in frame 53 movably via area array sensor video camera travel mechanism 16.Area array sensor video camera 11 possesses and plays the area array sensor video camera 11a of movement on half region and the area array sensor video camera 11b of movement on second half region in the central authorities of Y in the width direction.When not taking, area array sensor video camera 11a, 11b are in the two ends of width Y difference separate configuration.When taking, area array sensor video camera 11a, 11b are along moving from two ends towards the direction of central authorities.In the present embodiment, area array sensor video camera 11a, 11b comprise 2 area array sensor video cameras respectively.Further, in the bottom of frame 53, photoelectric sensor 14 is installed.Photoelectric sensor 14 possesses 1 group of the 1st sensor 14a and the 2nd sensor 14b that arrange across conveyer belt.

In the 2nd grade, XYZ travel mechanism 26 is fixed on the base of mounting the 2nd conveying mechanism 25.XYZ travel mechanism 26 possess bearing-surface array sensor video camera 21 and driver bit rotating mechanism 27 support 26a, support 26a supported for can along the Z travel mechanism 26z of short transverse Z movement, Z travel mechanism 26z supported for can in the width direction Y movement Y travel mechanism 26y and Y travel mechanism 26y is supported for can the X travel mechanism 26x of X movement along its length.Driver bit 22 remains and can rotate by driver bit rotating mechanism 27.Can be formed in the size of the whole region all-moving surface array sensor video camera 21 at the back side of disintegration object and driver bit 22 X travel mechanism 26x and Y travel mechanism 26y is to be positioned at the solution body position of the 2nd conveying mechanism 25 during when disintegration object.

Detection control apparatus 100 detects by the shooting image of shooting disintegration object the multiple fixed parts be fixed disintegration object, and obtains the fixed part positional information of the position representing the multiple fixed parts detected.Separating member control apparatus 200 makes fixing releasing appliance move to the position of fixed part according to the fixed part positional information received from detection control apparatus 100, and make fixing releasing appliance remove by fixed part carry out fixing.In the present embodiment, disintegration object is television set, and fixed part is screw, and fixing releasing appliance is driver bit.Using the rear side (i.e. shell on the back side) of the television set as disintegration object upward, face side (i.e. picture side) to carry on the 1st conveying mechanism 15 and the 2nd conveying mechanism 25 towards getting off.At this, television set to dismantle the conveying of the state before shell on the back, also can be carried to unload facing that the circuit substrate at the back side exposes by the state after shell on the back.

Then, be described with reference to the structure of Fig. 3 to the fixed part break-up system 1 involved by present embodiment.Fig. 3 is the block diagram of the structure of the fixed part break-up system 1 represented involved by present embodiment.

Detecting unit 10 possesses area array sensor video camera 11, line array sensor video camera 12, laser displacement gauge 13, photoelectric sensor 14, the 1st conveying mechanism 15, area array sensor video camera travel mechanism 16, line array sensor video camera travel mechanism 17 and lighting device 18.

Area array sensor video camera 11 is divided into multiple cut zone by the whole region of the shell on the back side by television set, takes a part for the shell on the back side of television set.Area array sensor video camera 11 exports taken view data to detection control apparatus 100.In addition, the whole region of the shell on the back side of television set also can be taken as an image by area array sensor video camera 11.Further, area array sensor video camera 11 is preferably taken the disintegration object of inactive state.In the present embodiment, area array sensor video camera 11, when the conveyer belt of the 1st conveying mechanism 15 temporarily stops, being taken television set.

Whole of the shell on the back side of the television set by the 1st conveying mechanism 15 movement is taken as an image by line array sensor video camera 12.Line array sensor video camera 12 is the line array sensor video camera simultaneously can taken the whole region of the width Y of television set.Line array sensor video camera 12 not only detects screw, is also detected the width of television set by shooting image.That is, line array sensor video camera 12 detects the information of the length of the width Y representing television set.

Laser displacement gauge 13 irradiates laser for the television set by the 1st conveying mechanism 15 movement to vertical direction (short transverse Z).Laser displacement gauge 13, according to the reverberation from television set, detects the distance to television set, and exports the information representing the distance detected to detection control apparatus 100.That is, laser displacement gauge 13 detects the information of the distance to television set representing short transverse Z.

Photoelectric sensor 14, for the television set by the 1st conveying mechanism 15 movement, irradiates light to the horizontal direction (width Y) orthogonal with throughput direction.Photoelectric sensor 14 is the sensor for determining whether television set.Detection control apparatus 100 calculates the length L of television set according to the speed of the turn-off time of photoelectric sensor 14 and the 1st conveying mechanism 15.That is, photoelectric sensor 14 detects the information of the length of the length direction X representing television set.1st sensor 14a of photoelectric sensor 14 is transmission and reception side, and the 2nd sensor 14b is reflection side.Also configuration can be exchanged.Such as, when the 1st sensor 14a of transmission and reception side does not receive the reverberation from the 2nd sensor 14b of reflection side, represent that (namely between photoelectric sensor 14) has television set between the 1st sensor 14a and the 2nd sensor 14b.

1st conveying mechanism 15 is controlled by detection control apparatus 100, carries television set to the 2nd conveying mechanism 25.1st conveying mechanism 15 makes disintegration object move to assigned position according to the treatment process of being undertaken by detecting unit 10.In the present embodiment, 1st conveying mechanism 15, according to the operation of the check processing undertaken by detection control apparatus 100, carries out repeatedly towards the movement moving and turn back to the direction (oppositely) of initial mounting table 30 in the direction (forward) of the 2nd conveying mechanism 25.

Area array sensor video camera travel mechanism 16 with the state of holding surface array sensor video camera 11 make area array sensor video camera 11 in the width direction Y move.

Line array sensor video camera travel mechanism 17 makes line array sensor video camera 12 move along short transverse Z with the state of retention wire array sensor video camera 12.

Lighting device 18 irradiates light to conveyer belt.

Separate body unit 20 and possess area array sensor video camera 21, driver bit 22, the 2nd conveying mechanism 25, XYZ travel mechanism 26 and driver bit rotating mechanism 27.

When driver bit 22 knockout screw, the periphery of area array sensor video camera 21 to dismantled screw is taken.

Driver bit 22 is the fixing releasing appliance of knockout screw.Driver bit 22 has the front end of the shape (such as cross shape) engaged with the screw hole of screw.

In addition, the front end of driver bit 22 can be made up of permanent magnet.In this case, driver bit 22 can keep by magnetic force the screw that is made up of magnetics such as iron.

Further, can be provided with in the front end of driver bit 22 can along the axle sleeve of the rotating shaft direction movement of driver bit 22.For the detailed content of this axle sleeve by aftermentioned, consist of after driver bit 22 knockout screw, if make driver bit 22 rise, axle sleeve makes the screw being attached to driver bit 22 front end drop.The present invention is not limited to this, as long as can remove the fixing fixing releasing appliance undertaken by fixed part, then can be any parts.Fixing releasing appliance can be such as drill bit.

2nd conveying mechanism 25 is controlled by separating member control apparatus 200, carries television set to termination mounting table 40.2nd conveying mechanism 25 makes disintegration object move to assigned position according to the treatment process of being undertaken by solution body unit 20.In the present embodiment, when television set is transported to solution body unit 20 from detecting unit 10, carried television set is delivered to by the 2nd conveying mechanism 25 separates body position.When television set being delivered to solution body position, the 2nd conveying mechanism 25 stops.After being terminated by the disintegration process of separating the disintegration object that body unit 20 carries out, the 2nd conveying mechanism 25 discharges television set to termination mounting table 40.

XYZ travel mechanism 26 with the state of holding surface array sensor video camera 21 and driver bit 22 make area array sensor video camera 21 and driver bit 22 in X direction, Y-direction and Z-direction move.

Driver bit rotating mechanism 27, to keep the state of driver bit 22, makes driver bit 22 rotate centered by the rotating shaft parallel with Z axis.

At this, the action case for the driver bit 22 based on XYZ travel mechanism 26 and driver bit rotating mechanism 27 is simply described.When television set is positioned at solution body position, XYZ travel mechanism 26 reduces downwards from the top of television set and driver bit 22 is moved near screw.Afterwards, XYZ travel mechanism 26 makes driver bit 22 slowly abut with the head of screw.And when detecting that driver bit 22 abuts with the head of screw, driver bit rotating mechanism 27 makes driver bit 22 rotate to the direction of unclamping screw.After screw is released, XYZ travel mechanism 26 promotes driver bit 22 upward.

Then, be described with reference to the structure example of Fig. 4 to the detection control apparatus 100 involved by present embodiment.Fig. 4 is the block diagram of the structure example of the detection control apparatus 100 represented involved by present embodiment.

As shown in Figure 4, detection control apparatus 100 possesses CPU101, operating portion 102, display part 103, communication unit 104, conveyer belt control part 105, area array sensor video camera travel mechanism control part 106, line array sensor video camera travel mechanism control part 107 and storage part 108.In the present embodiment, CPU101, operating portion 102, display part 103 and storage part 108 are for being contained in the formation in personal computer.Other formations are connected with this personal computer and detecting unit 10.

Each constituting portion of CPU101 centralized Control detecting unit 10 and detection control apparatus 100.CPU101 controls the 1st conveying mechanism 15 to move disintegration object according to the process undertaken by detection control apparatus 100.Further, CPU101 such as carries out the control position of brake 51 being switched to position location, retreating position.

CPU101 possesses dimension information acquisition unit 111, line array sensor camera control portion 112, screw position the 1st test section 113, area array sensor camera control portion 114, screw position the 2nd test section 115 and display control unit 116.

Dimension information acquisition unit 111, according to the input value from laser displacement gauge 13, obtains the thickness T of television set.Dimension information acquisition unit 111 can according to the disintegration object once disintegrated (such as a television set) by time the input value from laser displacement gauge 13 that obtains, obtain the mean value of the short transverse Z of television set, and the thickness T of calculated mean value as television set is obtained.The thickness T of the maximum of the short transverse Z of television set as television set also can obtain by dimension information acquisition unit 111.In addition, disintegration object when once disintegrating can be multiple television set.In this case, multiple television set is preferably near configuration.By close configuration, multiple television set detects as disintegration object when once disintegrating by photoelectric sensor 14.

Further, the view data captured by dimension information acquisition unit 111 pairs of line array sensor video cameras 12 carries out graphical analysis, obtains the width W of television set.Dimension information acquisition unit 111 can according to the disintegration object once disintegrated (such as a television set) by time the analysis result of the view data from line array sensor video camera 12 that obtains, obtain the mean value of the width Y of television set, and the width W of calculated mean value as television set is obtained.The maximum of the width Y of television set also can be obtained as the width W of television set by dimension information acquisition unit 111.

In addition, dimension information acquisition unit 111, according to the input value from photoelectric sensor 14, obtains the length L of television set.Dimension information acquisition unit 111 can according to the disintegration object once disintegrated (such as a television set) by time the input value from photoelectric sensor 14 that obtains, obtain the mean value of the length direction X of television set, and the length L of calculated mean value as television set is obtained.Further, the length L of the maximum of the length direction X of television set as television set also can obtain by dimension information acquisition unit 111.

View data captured by dimension information acquisition unit 111 pairs of line array sensor video cameras 12 carries out graphical analysis, judges that the disintegration photographed is to the shell on the back or the internal circuit that like television set.Such as, the binaryzation information that dimension information acquisition unit 111 obtains according to carrying out binary conversion treatment to view data, determines whether the information of the characteristic of the expression shell on the back predetermined.Further, dimension information acquisition unit 111 determines whether the information of the characteristic of the expression internal circuit predetermined according to binaryzation information.

Line array sensor camera control portion 112 is at the shooting moment drive wire array sensor video camera 12 of regulation, and instruction is taken.Line array sensor camera control portion 112 coordinates the transporting velocity of the 1st conveying mechanism 15 to carry out the shooting moment of control line array sensor video camera 12, to take the whole region of the disintegration object of movement on the 1st conveying mechanism 15.Further, line array sensor camera control portion 112 determines the coverage of line array sensor video camera 12 according to the length L of television set.

The near the youthful and the elderly in line array sensor camera control portion 112 determines as coverage in the scope of the length L of television set, and determines the coverage in the whole region at the back side for comprising television set.In addition, line array sensor camera control portion 112 can determine the coverage of line array sensor video camera 12 according to the width W of television set, the coverage on width Y can be the maximum predetermined.

The view data of screw position the 1st test section 113 captured by line array sensor video camera 12 detects screw image, and obtains the positional information of the position representing the screw image detected.Screw position the 1st test section 113, according to obtained positional information, makes the screw distribution map (hereinafter referred to as screw distribution map mapL) of the position representing all screw images detected.The screw distribution map mapL produced temporarily is stored in storage part 108 by screw position the 1st test section 113.

Area array sensor camera control portion 114 is at the shooting moment drive surface array sensor video camera 11 of regulation, and instruction is taken.Illustrate, area array sensor camera control portion 114 coordinates the shooting moment of the driving moment chain of command array sensor video camera 11 of the 1st conveying mechanism 15 determined by conveyer belt control part 105, to take disintegration object in the moment that conveyer belt stops.In addition, conveyer belt control part 105 performs following control repeatedly: make conveyer belt along its length X move take at 1 time to area array sensor video camera 11 in the corresponding length of the coverage of taking, make it stop subsequently.Area array sensor camera control portion 114 coordinates the control of this conveyer belt control part 105, takes disintegration object when conveyer belt stops.The shooting moment of area array sensor camera control portion 114 chain of command array sensor video camera 11, to take the whole region of the disintegration object of movement on the 1st conveying mechanism 15 by repeatedly taking.

Further, area array sensor camera control portion 114 determines the coverage of area array sensor video camera 11 according to the length L of television set.The near the youthful and the elderly in area array sensor camera control portion 114 determines as coverage in the scope of the length L of television set, and determines the coverage in the whole region at the back side for comprising television set.In addition, area array sensor camera control portion 114 can determine the coverage of area array sensor video camera 11 according to the width W of television set, the coverage on width Y can be the maximum predetermined.

The view data of screw position the 2nd test section 115 captured by area array sensor video camera 11 detects screw image, and obtains the positional information of the position representing the screw image detected.Screw position the 2nd test section 115, according to obtained positional information, makes the screw distribution map (hereinafter referred to as screw distribution map mapA) of the position representing all screw images detected.The screw distribution map mapA produced temporarily is stored in storage part 108 by screw position the 2nd test section 115.

Display control unit 116 is created on the image of display on display part 103, and is presented on display part 103.

Operating portion 102 comprises such as keyboard, mouse, contact panel etc., receives the operation undertaken by staff.Operating portion 102 exports the operation information representing the content of operation received to CPU101.

Display part 103 comprises such as liquid crystal display etc., and displaying contents is controlled by CPU101.Display part 103 such as shows the image taken by area array sensor video camera 11 and line array sensor video camera 12 and operation screen etc.

Communication unit 104 is connected with solution member control apparatus 200, is separating the transmission and reception carrying out information between member control apparatus 200.

Conveyer belt control part 105 comprises makes conveyer belt to forward direction or the motor of reverse directions rotation, the drive control part according to the drive division of actuating quantity (displacement) CD-ROM drive motor of conveyer belt and the direction, rotational instant, actuating quantity etc. of control rotating conveying belt.Forward direction refers to, makes the direction that conveyer belt rotates forward, that is, make television set to the direction of the 2nd grade of movement.Reverse directions refers to, makes the direction that conveyer belt reversely rotates, that is, make conveyer belt turn back to the direction with the 2nd grade of opposition side.

Area array sensor video camera travel mechanism control part 106 comprise make area array sensor video camera 11 in the width direction Y movement motor, according to the drive division of actuating quantity (displacement) CD-ROM drive motor of area array sensor video camera 11 and control the direction of all-moving surface array sensor video camera 11, the drive control part of mobile moment, actuating quantity etc.

Line array sensor video camera travel mechanism control part 107 comprise make line array sensor video camera 12 along short transverse Z movement motor, actuating quantity (displacement) CD-ROM drive motor according to line array sensor video camera 12 drive division and control the direction of portable cord array sensor video camera 12, the drive control part of mobile moment, actuating quantity etc.

Then, be described with reference to the structure example of Fig. 5 to the solution member control apparatus 200 involved by present embodiment.Fig. 5 is the block diagram of the structure example of the solution member control apparatus 200 represented involved by present embodiment.

As shown in Figure 5, separate member control apparatus 200 and possess CPU201, operating portion 202, display part 203, communication unit 204, conveyer belt control part 205, XYZ travel mechanism control part 206, driver bit rotating mechanism control part 207 and storage part 208.In the present embodiment, CPU201, operating portion 202, display part 203, storage part 208 are for being contained in the formation in personal computer.Other form with this personal computer and separate body unit 20 and be connected.

CPU201 centralized Control solution body unit 20 conciliates each constituting portion of member control apparatus 200.CPU201 controls the 2nd conveying mechanism 25, to move disintegration object according to the process undertaken by solution member control apparatus 200.Further, CPU201 such as carries out the control position of brake 52 being switched to position location, retreating position.

CPU201 is according to the positional information of the screw obtained by detection control apparatus 100, and each constituting portion of conciliating member control apparatus 200 respectively with solution body unit 20 is worked in coordination with and the front end of driver bit 22 is moved to the position of screw.CPU201 making after driver bit 22 moves, by driver bit 22 remove by screw carry out fixing.

CPU201 possesses area array sensor camera control portion 211, position correction value calculating part 212, disintegration order determination section 213, fixed part position correction portion 214, screw position the 3rd test section 215 and display control unit 216.

Area array sensor camera control portion 211 is at the shooting moment drive surface array sensor video camera 21 of regulation, and instruction is taken.Illustrate, the shooting moment of area array sensor camera control portion 211 chain of command array sensor video camera 21, to take disintegration object when XYZ travel mechanism control part 206 makes area array sensor video camera 21 move to camera site.

The corrected value (position correction value) that the position that position correction value calculating part 212 obtains the position of the television set in the position of the television set in correction the 1st grade and the 2nd grade is departed from.In addition, this position is departed from the conveyer belt of the 1st conveying mechanism 15 and the conveyer belt of the 2nd conveying mechanism 25 deforms, occur when delivering from the 1st conveying mechanism 15 to the 2nd conveying mechanism 25.

Illustrate, the view data captured by position correction value calculating part 212 pairs of area array sensor video cameras 21 carries out graphical analysis, detects 2 summits of television set, and obtains the positional information on 2 summits detected.Position correction value calculating part 212, according to the positional information on obtained 2 summits, calculates the length of the width Y of television set.The bias of position correction value calculating part 212 length of obtaining the width Y of the television set calculated according to the view data of area array sensor video camera 21 and the width W of the television set comprised from the dimension information that detection control apparatus 100 receives.Position correction value calculating part 212 obtains the corrected value corresponding to calculated bias.Position correction value calculating part 212 such as by the length of the width Y of the television set calculated according to the view data of area array sensor video camera 21 and the difference of the width W of television set comprised from the dimension information that detection control apparatus 100 receives, the inclination angle of television set when obtaining mobile from the 1st grade to the 2nd grade.In addition, the present invention is not limited to this, when also can obtain the coordinate value on 2 summits of the television set in screw distribution map in detection control apparatus 100, that obtains the coordinate value on 2 summits detected to the image captured by area array sensor video camera 21 in screw distribution map departs from corresponding corrected value.

Disintegration order determination section 213 determines the order of the screw disintegrated according to the screw distribution map mapL received from detection control apparatus 100 and screw distribution map mapA.In the present embodiment, disintegration order determination section 213 with once disintegrate (such as a television set) time driver bit 22 displacement become the order of screw that the shortest mode determines to disintegrate.In addition, for the screw being present in same position in screw distribution map mapL and screw distribution map mapA, a side is appended in the screw of disintegration by disintegration order determination section 213, and a side is got rid of from the screw disintegrated.On the other hand, the screw be only present in one of them screw distribution map is appended in the screw of disintegration by disintegration order determination section 213.That is, disintegration order determination section 213 is according to screw distribution map mapL and screw distribution map mapA, and screw at least any one party comprised obtains as the screw disintegrated, and determines the order of the screw disintegrated.

The corrected value that fixed part position correction portion 214 calculates according to position correction value calculating part 212, the positional information of adjusting screw.Fixed part position correction portion 214 exports the information (hereinafter referred to as adjusting screw distribution map) of the positional information recording the screw corrected in screw distribution map to XYZ travel mechanism control part 206.XYZ travel mechanism control part 206, according to the order of the screw of the disintegration determined by disintegration order determination section 213, makes area array sensor video camera 21 and driver bit 22 move to the position (position of the screw represented in adjusting screw distribution map) of the screw disintegrated.

XYZ travel mechanism control part 206 makes area array sensor video camera 21 move to the position such as taking the initial screw disintegrated.XYZ travel mechanism 26 make area array sensor video camera 21 move to camera site after (namely, under the state that area array sensor video camera 21 stops), area array sensor camera control portion 211 exports the instruction of instruction shooting to area array sensor video camera 21.In addition, the expression that area array sensor camera control portion 211 is determined by XYZ travel mechanism control part 206 because input has controls the information in moment, therefore, it is possible to judge the shooting moment of area array sensor video camera 21.

The view data of screw position the 3rd test section 215 captured by area array sensor video camera 21 detects screw image, and obtains the positional information of the position representing the screw image detected.Screw position the 3rd test section 215 exports to XYZ travel mechanism control part 206 and driver bit rotating mechanism control part 207 positional information obtained.

Display control unit 216 is created on the image of display on display part 203, and is presented on display part 203.

Operating portion 202 comprises such as keyboard, mouse, contact panel etc., receives the operation undertaken by staff.Operating portion 202 exports the operation information representing the content of operation received to CPU201.

Display part 203 comprises such as liquid crystal display etc., and displaying contents is controlled by CPU201.The screw distribution map that display part 203 such as shows the positional information of the expression screw inputted from detection control apparatus 100 and the image, operation screen etc. taken by area array sensor video camera 21.

Communication unit 204 is connected with detection control apparatus 100, carries out the transmission and reception of information between detection control apparatus 100.

Conveyer belt control part 205 comprises makes conveyer belt to forward direction or the motor of reverse directions rotation, the drive control part according to the drive division of actuating quantity (displacement) CD-ROM drive motor of conveyer belt and the direction, rotational instant, actuating quantity etc. of control rotating conveying belt.Forward direction refers to, makes the direction that conveyer belt rotates forward, that is, make television set to the direction stopping mounting table 40 movement.Reverse directions refers to, makes the direction that conveyer belt reversely rotates, that is, make conveyer belt turn back to and the direction stopping mounting table 40 opposition side.

XYZ travel mechanism control part 206 comprise make X travel mechanism 26x along its length X move, make Y travel mechanism 26y in the width direction Y move, make the drive division of the motor of Z travel mechanism 26z along short transverse Z movement, actuating quantity (displacement) CD-ROM drive motor according to area array sensor video camera 21 or driver bit 22 and control the direction of all-moving surface array sensor video camera 21 or driver bit 22, the drive control part of mobile moment, actuating quantity etc.

Driver bit rotating mechanism control part 207 comprises control driver bit rotating mechanism 27 and comes the motor of rotary screw cutter head 22, the drive control part according to the drive division of actuating quantity (revolution) CD-ROM drive motor of driver bit 22 and the direction, rotational instant, actuating quantity etc. of control rotary screw cutter head 22.Further, driver bit rotating mechanism control part 207 is provided with the encoder of the rotation amount detecting driver bit 22.Encoder detects revolution (anglec of rotation) and the rotating speed of the rotation amount representing motor.

Driver bit rotating mechanism control part 207 is according to the rotary driving force produced by drive division and the torque calculating driver bit 22 from the rotation amount of encoder input.Driver bit rotating mechanism control part 207 judges that whether the torque calculated is as more than the threshold value predetermined, and when torque is more than threshold value, is judged to be the state that the front end of driver bit 22 is chimeric with screw hole.When torque is changed into lower than threshold value more than threshold value, driver bit rotating mechanism control part 207 detects that the screw work of unclamping of driver bit 22 terminates, exports the information representing that screw disassembling has terminated to XYZ travel mechanism control part 206.

Then, be described with reference to the example of Fig. 6 to the fixed part disassembling method involved by present embodiment.

Fig. 6 is the flow chart of the example for illustration of the fixed part disassembling method involved by present embodiment.In addition, in explanation afterwards, the upstream side of throughput direction and downstream refer to upstream side and the downstream of forward.

(step ST1)

Staff performs the setting work at start position setting disintegration object.By setting work, the original position that loads is being carried out the location of television set, start process of disintegrating.

(step ST2)

Due to the beginning of process of disintegrating, detection control apparatus 100 performs the collection process of collecting the dimension information of disintegration object in the 1st grade.Simple declaration, detection control apparatus 100 makes the conveyer belt of the 1st conveying mechanism 15 rotate to forward direction and carry television set, obtains the dimension information of the size representing television set simultaneously.In the present embodiment, detection control apparatus 100 obtains and represents thickness T, the length L of television set, the information of width W.

(step ST3)

Then, detection control apparatus 100 performs the photographing process of taking disintegration object in the 1st grade.In the present embodiment, detection control apparatus 100 makes the conveyer belt of the 1st conveying mechanism 15 rotate to reverse directions and perform the photographing process making line array sensor video camera 12 take the television set in conveying.Afterwards, detection control apparatus 100 makes the conveyer belt of the 1st conveying mechanism 15 rotate to forward direction and perform the photographing process making area array sensor video camera 11 take the television set in conveying.Further, detection control apparatus 100 is represented the positional information of the position of screw by the Image Acquisition obtained by photographing process.

(step ST4)

Then, detection control apparatus 100 and separate member control apparatus 200 and control the 1st conveying mechanism 15 and the 2nd conveying mechanism 25 and make television set from the 1st grade to the 2nd grade movement.Further, detection control apparatus 100 sends to solution member control apparatus 200 information (dimension information and positional information) obtained.

(step ST5)

And, separate member control apparatus 200 and perform the disintegration process of dismantling fixed part in the 2nd grade.In the present embodiment, television set is delivered to the solution body position on the conveyer belt of the 2nd conveying mechanism 25 by solution member control apparatus 200, and makes the 2nd conveying mechanism 25 stop action.Afterwards, separate member control apparatus 200 according to the positional information of the screw detected by detection control apparatus 100, make driver bit 22 move to screw, unload after screw is unclamped.At this, separate member control apparatus 200 and the periphery of area array sensor video camera 21 to dismantled screw is taken.Separate the image of member control apparatus 200 captured by area array sensor video camera 21 and detect the screw (hereinafter referred to as undetected screw) not being detected control device 100 and detecting.When detecting undetected screw, separating member control apparatus 200 and utilizing driver bit to dismantle undetected screw.

Then, be described with reference to the detailed content of Fig. 7 to the step ST1 shown in Fig. 6.Fig. 7 is the flow chart for being described a part for the treatment of process of the fixed part disassembling method involved by present embodiment.

(step ST101)

First, the television set as disintegration object is placed in initial mounting table 30 by staff.Further, staff completes via the mounting of the operating portion 102 indication TV machine of detection control apparatus 100.

(step ST102)

Detection control apparatus 100, according to the operation information inputted from operating portion 102, makes brake 51 move to position location.Thus, brake 51 rises, and its part is given prominence to more upward than the conveyor surface of the 1st conveying mechanism 15.

(step ST103)

Staff is placed in the television set in initial mounting table 30 to the 1st grade of thruster ballast, the side of television set is crimped with brake 51.Thus, television set is set in original position, and length direction X is located.

(step ST104)

Then, staff indicates detection control apparatus 100 to start to process via the operating portion 102 of detection control apparatus 100.

(step ST105)

Detection control apparatus 100 processes according to the operation information inputted from operating portion 102.At this, detection control apparatus 100 makes brake 51 move to retreating position.

Then, be described with reference to the detailed content of Fig. 8 to the step ST2 shown in Fig. 6.Fig. 8 is the flow chart for being described a part for the treatment of process of the fixed part disassembling method involved by present embodiment.

(step ST201)

Conveyer belt control part 105 makes conveyer belt rotate to forward direction and carry television set from the upstream side of the 1st grade towards downstream.

(step ST202)

Then, dimension information acquisition unit 111 judges that the input value inputted from laser displacement gauge 13 is with or without changing.

(step ST203)

When the input value inputted from laser displacement gauge 13 changes, dimension information acquisition unit 111 using changing from input value to unchanged period the input value that detects as once disintegrate (such as a television set) time the input value from laser displacement gauge 13 obtain.Dimension information acquisition unit 111, according to the input value from laser displacement gauge 13 of a television set, obtains the mean value of the thickness direction Z of television set, using the information of this mean value as the thickness T of expression television set.Afterwards, the process of step ST210 described later is transitioned into.

(step ST204)

Then, line array sensor camera control portion 112 determines whether the shooting moment of line array sensor video camera 12.

(step ST205)

When being judged to be the shooting moment, line array sensor camera control portion 112 utilizes line array sensor video camera 12 pairs of television sets to take.Line array sensor video camera 12 exports captured view data to dimension information acquisition unit 111.

(step ST206)

View data captured by dimension information acquisition unit 111 pairs of line array sensor video cameras 12 carries out graphical analysis, and the disintegration captured by judgement is to the shell on the back or the internal circuit that like television set.Result of determination is temporarily stored in storage part 108 by dimension information acquisition unit 111.

(step ST207)

View data captured by dimension information acquisition unit 111 pairs of line array sensor video cameras 12 carries out graphical analysis, obtains the mean value of the width Y of television set, and using the information of this mean value as the width W of expression television set.Afterwards, the process of step ST210 described later is transitioned into.

(step ST208)

On the other hand, when being judged to not to be the shooting moment in step ST204, dimension information acquisition unit 111 judges that the input value inputted from photoelectric sensor 14 is with or without changing.When the input value inputted from photoelectric sensor 14 does not change, be transitioned into the process of step ST210 described later.

(step ST209)

On the other hand, when the input value inputted from photoelectric sensor 14 changes, dimension information acquisition unit 111 using to rise when input value changes to unchanged input value that period detects as once disintegrate (such as a television set) time the input value from photoelectric sensor 14 obtain.Dimension information acquisition unit 111, according to the input value from photoelectric sensor 14 of a television set, obtains the mean value of the length direction X of television set, and using the information of this mean value as the length L of expression television set.Afterwards, the process of step ST210 described later is transitioned into.

(step ST210)

Dimension information acquisition unit 111 determines whether to obtain prespecified all dimension informations.In the present embodiment, dimension information acquisition unit 111 is prescribed in advance and the thickness T of television set, width W, length L is obtained as dimension information.When being judged to not obtain all dimension informations, dimension information acquisition unit 111 turns back to step ST202 and repeatedly processes.

(step ST211)

When judging to have obtained all dimension informations, dimension information acquisition unit 111 exports to area array sensor video camera travel mechanism control part 106 and line array sensor video camera travel mechanism control part 107 all dimension informations obtained.

Then, be described with reference to the detailed content of Fig. 9 to the step ST3 shown in Fig. 6.Fig. 9 is the flow chart for being described a part for the treatment of process of the fixed part disassembling method involved by present embodiment.

(step ST301)

Conveyer belt control part 105 makes conveyer belt rotate to reverse direction and television set is moved towards upstream side from the downstream of the 1st grade.

(step ST302)

Line array sensor video camera travel mechanism control part 107 according to the thickness T of the dimension information inputted from dimension information acquisition unit 111, control line array sensor video camera travel mechanism 17.Illustrate, control part 107 control line array sensor video camera travel mechanism of line array sensor video camera travel mechanism 17, so that the mode be aligned in the focus of line array sensor video camera 12 on the height and position of the half of the thickness T of television set changes the height and position of line array sensor video camera 12.

Line array sensor video camera travel mechanism 17 is by the control of line array sensor video camera travel mechanism control part 107, and the mode be aligned in focus on the position of the half of the thickness T of television set adjusts the height of line array sensor video camera 12.

(step ST303)

Then, line array sensor camera control portion 112, according to the length L of the dimension information inputted from dimension information acquisition unit 111, determines the coverage of line array sensor video camera 12.Line array sensor camera control portion 112 determines the coverage comprising the whole region at the back side of television set.

(step ST304)

Line array sensor camera control portion 112 exports the instruction representing shooting instruction to line array sensor video camera 12.Line array sensor video camera 12, by the control in line array sensor camera control portion 112, is taken the whole region at the back side of television set, and is exported captured view data to screw position the 1st test section 113.

(step ST305)

Then, the view data of screw position the 1st test section 113 captured by line array sensor video camera 12 detects screw image, and obtains the positional information of the position representing the screw image detected.

(step ST306)

Screw position the 1st test section 113, according to obtained positional information, makes the screw distribution map mapL of the position representing all screw images detected.The screw distribution map mapL produced temporarily is stored in storage part 108 by screw position the 1st test section 113.

(step ST307)

Then, area array sensor camera control portion 114, according to the length L of the dimension information inputted from dimension information acquisition unit 111 and width W, determines the coverage of area array sensor video camera 11.

Area array sensor camera control portion 114 determines the coverage comprising the whole region at the back side of television set.

(step ST308)

Conveyer belt control part 105 controls the 1st conveying mechanism 15 and makes conveyer belt only rotate ormal weight to forward direction, and conveyer belt is moved from the upstream side of the 1st grade towards downstream.Thus, television set together moves from upstream side towards downstream and conveyer belt.

Afterwards, conveyer belt control part 105 controls the 1st conveying mechanism 15 and makes conveyer belt temporarily stop moving.Thus, television set stops on the conveyor belt.In addition, conveyer belt control part 105 can obtain the position of the television set by conveyer belt movement according to the testing result detected by photoelectric sensor 14.Thus, conveyer belt control part 105, when judging that television set has arrived the camera site taken by area array sensor video camera 11, makes conveyer belt temporarily stop mobile.

(step ST309)

Area array sensor camera control portion 114 exports the instruction of instruction shooting 1 lines amount to area array sensor video camera 11.Area array sensor video camera 11, by the control in area array sensor camera control portion 114, is only taken the back side of the television set of 1 lines amount, and is exported captured view data to screw position the 2nd test section 115.

Illustrate, when carrying out the shooting of 1 lines amount, area array sensor camera control portion 114 such as controls as follows, namely area array sensor video camera 11a, 11b along television set width Y outside-in point moved further while the back side of television set is taken.After the shooting of 1 lines amount terminates, conveyer belt control part 105 controls the 1st conveying mechanism 15 and makes the conveyer belt only length that predetermines of movement.Then, area array sensor camera control portion 114 controls as follows in order to carry out the shooting of next 1 lines amount, and namely area array sensor video camera 11a, 11b take the back side of television set while Inside To Outside point moved further along the width Y of television set.After the shooting of 1 lines amount terminates, conveyer belt control part 105 controls the 1st conveying mechanism 15 and makes the conveyer belt only length that predetermines of movement.By repeatedly carrying out this process, area array sensor video camera 11 can be taken the whole back side of television set.In addition, area array sensor camera control portion 114 makes area array sensor video camera 11a, 11b move in the scope corresponding to the width W of television set.Conveyer belt control part 105 controls the 1st conveying mechanism 15 and conveyer belt is moved in the scope corresponding to the length L of television set.

(step ST310)

After the television set of 1 lines amount only taken by area array sensor video camera 11, conveyer belt control part 105 and area array sensor camera control portion 114 turn back to step ST308 and repeatedly process.

That is, conveyer belt control part 105 and area array sensor camera control portion 114 judge whether the shooting of the coverage that area array sensor camera control portion 114 determines completes.When judging that the shooting of the coverage that area array sensor camera control portion 114 determines all completes, CPU101 enters the process of step ST311.

(step ST311)

Then, the view data of screw position the 2nd test section 115 captured by area array sensor video camera 11 detects screw image, and obtains the positional information of the position representing the screw image detected.

(step ST312)

Screw position the 2nd test section 115, according to obtained positional information, makes the screw distribution map mapA of the position representing all screw images detected.The screw distribution map mapA produced temporarily is stored in storage part 108 by screw position the 2nd test section 115.

Then, be described with reference to the detailed content of Figure 10 to the step ST4 shown in Fig. 6.Figure 10 is the flow chart for being described a part for the treatment of process of the fixed part disassembling method involved by present embodiment.

(step ST401)

CPU101 reads dimension information from storage part 108, represents the information of screw distribution map mapL and represent the information of screw distribution map mapA, sends to solution member control apparatus 200 via communication unit 104.

(step ST402)

Detection control apparatus 100 conciliates member control apparatus 200 makes the action of the action of the 1st conveying mechanism 15 and the 2nd conveying mechanism 25 synchronous.That is, conveyer belt control part 105 and conveyer belt control part 205 control the 1st conveying mechanism 15 and with the 2nd conveying mechanism 25, each conveyer belt are rotated to forward direction with identical start time with identical speed.Thus, television set is from the 1st grade to the 2nd grade conveying.

(step ST403)

Then, separating member control apparatus 200 makes brake 52 move to position location.

(step ST404)

From the 1st grade to the 2nd grade television set carried, by the 2nd conveying mechanism 25, side crimps with brake 52.Thus, television set is set in separates body position, and length direction X is located.

(step ST405)

And conveyer belt control part 105 and conveyer belt control part 205 control the 1st conveying mechanism 15 and the 2nd conveying mechanism 25 and make conveyer belt stop the rotation.

Then, be described with reference to the detailed content of Figure 11 to the step ST5 shown in Fig. 6.Figure 11 is the flow chart for being described a part for the treatment of process of the fixed part disassembling method involved by present embodiment.

(step ST501)

First, XYZ travel mechanism control part 206, according to the dimension information control XYZ travel mechanism 26 received from detection control apparatus 100, moves to the position on 2 summits of televising machine to make area array sensor video camera 21.XYZ travel mechanism 26 makes area array sensor video camera 21 move according to the control of XYZ travel mechanism control part 206.After XYZ travel mechanism 26 stops, area array sensor camera control portion 211 index plane array sensor video camera 21 is taken.Thus, area array sensor video camera 21 after moving to camera site, 2 summits of televising machine, and export captured view data to position correction value calculating part 212.2 summits that this side comprises are taken in the side that this area array sensor video camera 21 is such as positioned at the television set in the downstream of throughput direction by shooting on the conveyer belt of the 2nd conveying mechanism 25.

View data captured by position correction value calculating part 212 pairs of area array sensor video cameras 21 carries out graphical analysis, detects 2 summits of television set, and obtains the positional information on 2 summits detected.Position correction value calculating part 212, according to the positional information on obtained 2 summits, calculates the length of the width Y of television set.Position correction value calculating part 212 obtains the length of the width Y of the television set calculated according to the view data of area array sensor video camera 21 and the bias of the width W of the television set received from detection control apparatus 100.Position correction value calculating part 212 obtains the corrected value corresponding to calculated bias.

(step ST502)

Disintegration order determination section 213, according to the screw distribution map mapL received from detection control apparatus 100 and screw distribution map mapA, determines the order of the screw disintegrated.

(step ST503)

Then, the positional information of corrected value adjusting screw that calculates according to position correction value calculating part 212 of fixed part position correction portion 214.Fixed part position correction portion 214 exports the information (adjusting screw distribution map) of the positional information recording the screw corrected in screw distribution map to XYZ travel mechanism control part 206.XYZ travel mechanism control part 206, according to the order of the screw of the disintegration determined by disintegration order determination section 213, makes area array sensor video camera 21 and driver bit 22 move to the position (position of the screw represented in adjusting screw distribution map) of the screw disintegrated.

XYZ travel mechanism control part 206 such as makes area array sensor video camera 21 move to the position of the initial screw disintegrated of shooting.After the area array sensor video camera 21 by XYZ travel mechanism 26 movement stops, area array sensor camera control portion 211 exports the instruction of instruction shooting to area array sensor video camera 21.

(step ST504)

XYZ travel mechanism control part 206 makes driver bit 22 move to the position that the head center of the initial screw disintegrated is consistent with the center of driver bit 22.In addition, the present invention is not limited to this, and XYZ travel mechanism control part 206 also can make the head center of screw of initial disintegration and the center of driver bit 22 stagger a little.Then, driver bit rotating mechanism control part 207 is making after driver bit 22 abuts with the head of screw, to make driver bit 22 rotate to the fixing direction of removing screw.Driver bit rotating mechanism control part 207, at the end of detecting that screw disassembling, lifts while driver bit 22 is rotated upward.Thus, from television set knockout screw.

(step ST505, step ST506)

Then, the view data of screw position the 3rd test section 215 captured by area array sensor video camera 21 detects screw image, and obtains the positional information of the position representing the screw image detected.Screw position the 3rd test section 215 judges in the middle of the screw that detected by the image of area array sensor video camera 21 with or without the screw (undetected screw) that detected control device 100 detects.Such as, screw position the 3rd test section 215 judges according to positional information in the middle of the screw that detected by the image of area array sensor video camera 21 with or without the screw be not contained in adjusting screw distribution map.When having the screw be not contained in adjusting screw distribution map, the screw be not contained in adjusting screw distribution map is judged to be undetected screw by screw position the 3rd test section 215.

(step ST507)

When being determined with undetected screw, screw position the 3rd test section 215 indicates XYZ travel mechanism control part 206 and driver bit rotating mechanism control part 207 to carry out the disintegration of undetected screw.That is, XYZ travel mechanism control part 206 makes driver bit 22 move to the position that the head center of undetected screw is consistent with the center of driver bit 22.Then, driver bit rotating mechanism control part 207 is making after driver bit 22 abuts with the head of screw, to make driver bit 22 rotate to the fixing direction of removing screw.Driver bit rotating mechanism control part 207 lifts while driver bit 22 is rotated upward.Thus, undetected screw is dismantled from television set.

(step ST508)

CPU201 determines whether to dismantle the screw comprising and being detected by detection control apparatus 100 and all screws passing through to separate the screw (undetected screw) that member control apparatus 200 detects.CPU201 turns back to step ST503 and repeatedly processes, until dismantle all screws.

At this, be described in detail with reference to the structure of Figure 12 to the front end of driver bit 22.Fixing releasing appliance involved by present embodiment possess be set to can movement vertically spindle unit (driver bit 22) and be arranged at the axle sleeve (axle sleeve 22a) of periphery of spindle unit.

As shown in figure 12, axle sleeve 22a is provided with in the front end of driver bit 22.When the front end of driver bit 22 has magnetic force, screw is by magnetic suck.In addition, the front end of driver bit 22 also can not have magnetic force.Even if the front end of driver bit does not have magnetic force, also exist and and screw chimeric with screw hole can be attached to the situation of front end by front end.

Axle sleeve 22a is arranged at the periphery of driver bit 22.Driver bit 22 runs through the inner side of axle sleeve 22a.Driver bit 22 and axle sleeve 22a are set to can relative movement.Such as, XYZ travel mechanism control part 206 makes driver bit 22 and screw together unload from television set and after moving to the top of short transverse Z, axle sleeve 22a is moved to the below of short transverse Z.In addition, the present invention is not limited to this, also can be that Z travel mechanism 26z only makes driver bit 22 move to short transverse Z and not make axle sleeve 22a to the structure of short transverse Z movement.In this case, be fixed on can not by the position of Z travel mechanism 26z to short transverse Z movement for axle sleeve 22a.

Z travel mechanism 26z reduces axle sleeve 22a, until the front end of driver bit 22 is hidden in axle sleeve 22a.Or Z travel mechanism 26z slings driver bit 22 upward, until the front end of driver bit 22 is hidden in axle sleeve 22a.By this action, screw is abutted with the front end of axle sleeve 22a, and screw is removed from driver bit 22 thus.

As mentioned above, based on the fixed part break-up system 1 involved by present embodiment, the 1st grade of positional information of detection screw possesses independently detection control apparatus 100 respectively with the 2nd grade of knockout screw and conciliates member control apparatus 200, the 1st conveying mechanism 15 and the 2nd conveying mechanism 25.Thus, fixed part break-up system 1 can, after the positional information detecting screw, make television set from the 1st grade to the 2nd grade movement.Thus, at television set to after the 2nd grade of movement, the positional information of the screw of next television set can be detected in the 1st grade, treatment effeciency when disintegrating process can be improved.Thus, the processing time of disintegrating can be shortened.

Based on the fixed part break-up system 1 involved by present embodiment, can according to the dimension information of the disintegration object detected in the 1st grade and the image taken in the 2nd grade, the corrected value that the position calculating the disintegration object in correction the 1st grade and the 2nd grade is departed from.Thus, when when separating knockout screw in member control apparatus 200, the position that can correct the screw on the screw distribution map produced in detection control apparatus 100 is departed from.

Further, based on the fixed part break-up system 1 involved by present embodiment, the positional information of the screw that can correct according to the corrected value departed from by correction position makes driver bit 22 move.

Thus, as present embodiment, though when detection control apparatus 100 conciliate conveying mechanism in member control apparatus 200 independently, also can improve by the precision of separating the disintegration that member control apparatus 200 carries out.

Based on the fixed part break-up system 1 involved by present embodiment, when disintegrating to screw in solution member control apparatus 200, the screw detected with or without detected control device 100 at its periphery can be confirmed.Thereby, it is possible to prevent by detection control apparatus 100 cause undetected, and reliably knockout screw.

Based on the fixed part break-up system 1 involved by present embodiment, according to be aligned in focus television set thickness half height and position on mode image that television set is taken, detect screw.Thus, even if the focal length of distance video camera is different in the degree of depth difference because of screw, the head of focus alignment screw also can be made.Further, the degree of depth saved based on screw repeatedly carries out the trouble of taking.

Based on the fixed part break-up system 1 involved by present embodiment, the screw being magnetically attached to driver bit 22 can be made to crimp with axle sleeve 22a and to dismantle.Thereby, it is possible to simple structure reliably knockout screw.

Be the ribbon conveyer carried to horizontal direction disintegration object to be positioned over the state on conveyer belt based on fixed part break-up system the 1,1st conveying mechanism 15 involved by present embodiment and the 2nd conveying mechanism 25.Thereby, it is possible to improve the free degree of the method for placing television set, and the position reducing television set when carrying is departed from.

Based on the fixed part break-up system 1 involved by present embodiment, when utilizing area array sensor video camera 11 to take, the 1st conveying mechanism 15 stops conveying television set.Thereby, it is possible to prevent the shooting image causing area array sensor video camera 11 because of mechanical oscillation from thickening unclear.

At this, an example of the detection method of the screw image undertaken by screw position the 1st test section 113, screw position the 2nd test section 115 and screw position the 3rd test section 215 is described.Below, in order to schematic illustration, the formation of any one be equivalent in screw position the 1st test section 113, screw position the 2nd test section 115 and screw position the 3rd test section 215 is called screw position test section.

Screw position test section, according to the image taken by video camera, detects the nose shape as the screw exposed on the backboard of television set and the shape that predetermines.Screw position test section is such as by the fixed part region of geometry character pattern matching detection toroidal.

Screw position test section calculates the average brightness value of each pixel to each fixed part region.Calculated average brightness value as threshold value, is carried out binary conversion treatment to the image in fixed part region by screw position test section.With regard to the brightness value in fixed part region, the brightness value of central cross shape is lower than round-shaped entirety.This is because the screw hole part of cross shape caves in concavity.Screw position test section can detect the image-region in the screw hole region of cross shape by performing binary conversion treatment.The image-region of brightness value lower than the threshold value as average brightness value, by binary conversion treatment, detects as screw hole region by screw position test section.So, screw position test section detects screw hole region and screw image.

Then, an example of the acquisition methods of the positional information of the screw image undertaken by screw position the 1st test section 113, screw position the 2nd test section 115 and screw position the 3rd test section 215 is described.

In the present embodiment, in screw distribution map, distribute the reference position predetermined.This reference position can be the position of a jiao being equivalent to the such as television set that (such as on the 1st conveying mechanism 15 and the 2nd conveying mechanism 25) locates on real space, also can be the position of a jiao being equivalent to television set in image.On the 1st conveying mechanism 15 and the 2nd conveying mechanism 25, the television set of location refers to, the disintegration object of being located by brake 51,52.

In the present embodiment, screw position test section (screw position the 1st test section 113, screw position the 2nd test section 115) makes with reference position the screw distribution map of the XY coordinate system being initial point.Further, screw position the 3rd test section 215 adds the position of undetected screw in screw distribution map.In addition, the X-direction of screw distribution map is consistent with length direction X, and Y direction is consistent with width Y.

Illustrate, screw position test section is according to representing that the information in the screw hole region detected calculates the coordinate of the central point in screw hole region, and the positional information as the position representing the screw hole region (screw image) detected obtains.The central point in this screw hole region represents with the XY coordinate value on screw distribution map.So, screw position test section, according to the image through binary conversion treatment, detects and is formed at the concaveconvex shape of screw head, using the characteristic point of the screw represented by this concaveconvex shape and central point as representing that the positional information of screw position obtains.

Further, separating member control apparatus 200 can be the translational speed changing the short transverse Z of driver bit 22 according to the thickness T of the television set detected by detection control apparatus 100.

Illustrate, make driver bit 22 to vertical direction decline and near screw time, separating member control apparatus 200, the speed making driver bit 22 drop to the upper surface of television set to be set to the speed declined than upwards lower face fast.Thus, separating member control apparatus 200 can make the front end of driver bit 22 move to rapidly near above screw.Further, when utilizing driver bit 22 to remove screw fixing, separate member control apparatus 200 can make driver bit 22 with to remove corresponding speed and move.

Further, area array sensor video camera 11 also can when taking television set, take multiple time for exposure according to the color of detected screw different images.Such as, area array sensor video camera 11, for black screw and silver color screw, takes the image that 2 change the time for exposure.Detection control apparatus 100 detects the image of screw by respective image, makes the screw distribution map of the position representing the screw image detected by respective image.

In addition, can the program being used for realizing being conciliate by detection control apparatus 100 operation that member control apparatus 200 carries out be recorded in computer-readable recording medium, computer system be read in and performs the program be recorded in this recording medium to carry out performing process.In addition, in this said " computer system " can be the system comprising the hardware such as operating system (OS, Operating System) or ancillary equipment.

Further, when utilizing WWW system, " computer system " also comprises webpage provides environment (or display environment).Further, " computer-readable recording medium " refers to the tape decks such as floppy disk, photomagneto disk, ROM, flash memory etc. can write the portable medium such as nonvolatile memory, CD-ROM, the hard disk be built in computer system.

In addition, " computer-readable recording medium " comprises the recording medium that program is kept certain hour by nonvolatile memory (such as dynamic random access memory (DRAM, Dynamic Random Access Memory)) by becoming the inside computer system of server or client during the communication line such as network or the telephone line transmission program such as internet etc.

Further, above-mentioned program from the computer system this program be contained in tape deck etc., can be transmitted via transmission medium or by the transmission wave in transmission medium to other computer systems.At this, " transmission medium " of transmission procedure refers to that the communication lines (order wire) etc. such as the networks such as internet (communication network) or telephone line have the medium of the function of transmission information.

Further, said procedure can be the program for realizing a part of aforementioned function.

In addition, can also be can by carrying out combining the program realizing aforementioned function with the program recorded in computer systems, which, so-called differential file (difference program).

Claims (8)

1. a fixed part break-up system, is characterized in that, possesses:

Detection control apparatus, detects by the shooting image of shooting disintegration object the multiple fixed parts be fixed this disintegration object, and obtains the fixed part positional information of the position representing the described multiple fixed part detected;

1st conveying mechanism, makes described disintegration object move according to the process undertaken by described detection control apparatus;

Separate member control apparatus, the described fixed part positional information according to receiving from described detection control apparatus makes fixing releasing appliance move to the position of described fixed part, and make described fixing releasing appliance remove by described fixed part carry out fixing; And

2nd conveying mechanism, makes described disintegration object move according to the process undertaken by described solution member control apparatus.

2. fixed part break-up system according to claim 1, is characterized in that,

Described detection control apparatus possesses dimension information acquisition unit, and described dimension information acquisition unit obtains the dimension information representing and be placed in the size of the described disintegration object of described 1st conveying mechanism,

Described solution member control apparatus possesses position correction value calculating part, described position correction value calculating part detects the summit of described disintegration object by taking the shooting image being placed in the described disintegration object of described 2nd conveying mechanism, and according to the information representing the vertex position of described disintegration object detected and the described dimension information received from described detection control apparatus, calculate the position correction value that the position that corrects described disintegration object is departed from.

3. fixed part break-up system according to claim 2, is characterized in that,

Described solution member control apparatus also possesses fixed part position correction portion, described fixed part position correction portion is according to the described position correction value calculated by described position correction value calculating part, correct the described fixed part positional information received from described detection control apparatus

Described fixing releasing appliance is moved to the position represented by the fixed part positional information corrected by described fixed part position correction portion.

4. fixed part break-up system according to any one of claim 1 to 3, is characterized in that,

The shooting image that described solution member control apparatus is placed in the described disintegration object of described 2nd conveying mechanism by shooting further detects not by undetected fixed part that described detection control apparatus detects, described fixing releasing appliance is moved to the position of the described undetected fixed part detected, and make described fixing releasing appliance remove by described undetected fixed part carry out fixing.

5. fixed part break-up system according to any one of claim 1 to 3, is characterized in that,

Described detection control apparatus also possesses image pickup part, and described image pickup part is aligned in the mode on the height and position of the half of the vertical-direction length of the described disintegration object being placed in described 1st conveying mechanism with focus, take described disintegration object.

6. fixed part break-up system according to any one of claim 1 to 3, is characterized in that,

Described fixing releasing appliance possesses: spindle unit, is set to move vertically; And axle sleeve, be arranged at the periphery of described spindle unit.

7. a fixed part disassembling method, is characterized in that, possesses:

Detection control step, detects by the shooting image of shooting disintegration object the multiple fixed parts be fixed this disintegration object, and obtains the fixed part positional information of the position representing the described multiple fixed part detected;

1st supplying step, makes described disintegration object move according to the process undertaken by described detection control step;

Disintegration rate-determining steps, makes fixing releasing appliance move to the position of described fixed part according to described fixed part positional information, and make described fixing releasing appliance remove by described fixed part carry out fixing; And

2nd supplying step, makes described disintegration object move according to the process undertaken by described disintegration rate-determining steps.

8. a program, it plays a role as such as lower member for making computer:

Detection control component, detects by the shooting image of shooting disintegration object the multiple fixed parts be fixed this disintegration object, and obtains the fixed part positional information of the position representing the described multiple fixed part detected;

1st transfer member, makes described disintegration object move according to the process undertaken by described detection control component;

Disintegration control member, makes fixing releasing appliance move to the position of described fixed part according to described fixed part positional information, and make described fixing releasing appliance remove by described fixed part carry out fixing; And

2nd transfer member, makes described disintegration object move according to the process undertaken by described disintegration control member.