CN110919685B - Integrated disassembling device for scraped car and assembly line thereof - Google Patents
Integrated disassembling device for scraped car and assembly line thereof Download PDFInfo
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- CN110919685B CN110919685B CN201911233711.2A CN201911233711A CN110919685B CN 110919685 B CN110919685 B CN 110919685B CN 201911233711 A CN201911233711 A CN 201911233711A CN 110919685 B CN110919685 B CN 110919685B
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- frame
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- mechanical arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D67/00—Systematic disassembly of vehicles for recovery of salvageable components, e.g. for recycling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/56—Reuse, recycling or recovery technologies of vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention provides a scrapped automobile integrated disassembling device and an assembly line thereof, which comprise a rack, a conveying belt, an industrial mechanical arm and a self-adaptive grabbing mechanism, wherein a bottom plate in the self-adaptive grabbing mechanism is arranged on a power output part of the industrial mechanical arm, two transmission arms are respectively arranged on the bottom plate through pin shafts, the inner sides of the transmission arms are movably provided with a sliding block and connected with a linear driving mechanism, a bidirectional damper is hinged with the sliding block, the bottom of each transmission arm is fixedly provided with a connecting plate, and a sucker frame is connected with the connecting plate through a double-ball-head connecting rod. Opening through the attenuator makes two driving arms can open certain angle, consequently the driving arm can guarantee that the sucking disc frame has certain span when the part that the sucking disc frame contact was waited to disassemble, and then has guaranteed snatching to different position spare part, and is connected for the ball pair between sucking disc frame and the connecting plate, so the arbitrary angle of rotation that the sucking disc frame can the self-adaptation, and then the sucking disc can directly laminate on the spare part of non-plane body.
Description
Technical Field
The invention relates to the technical field of automobile component recycling, in particular to a scrapped automobile integrated disassembling device and an assembly line thereof.
Background
The spare part of scraped car often need disassemble and recycle, and the spare part of car often is of great quality, and the in-process of harmless disassembling is exactly reverse of assembling process, and utilize in assembly line assembly to snatch the mechanism and grab the spare part and move to the frame by, fix spare part and frame in proper order with the connecting piece again, so need like assembly line assembly snatch the spare part with the help of grabbing device at the in-process of harmless disassembling, and then the manual adapting unit with between spare part and the frame of carrying out the manual work and demolish, and then reach the effect of harmless disassembling.
The application number is CN201610609864.2 provides a scraped car glass disassembles cleaning device, it directly exerts pulling force to the sucking disc through the robotic arm and directly pulls out glass, and the sucking disc in this kind of mode of disassembling adopts the form of fixed position, if to the automobile parts that quality is great that the sucking disc is not enough to snatch it to the shape difference of each spare part of car is not plane, if singly utilize the gesture of robotic arm adjustment sucking disc to be loaded down with trivial details, and be not suitable for on different car assembly lines.
Disclosure of Invention
The invention aims to provide an integrated disassembly device for a scraped car and a production line thereof, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a scraped car integration detaching device, includes frame, conveyer belt, industry arm and self-adaptation snatchs the mechanism, conveyer belt fixed mounting is in the frame, two industry arm is installed respectively in the frame and is located the both sides of conveyer belt, wherein:
the two self-adaptive grabbing mechanisms are respectively arranged on the industrial mechanical arm and comprise a bottom plate, transmission arms, sliding blocks, a two-way damper, a linear driving mechanism, a connecting plate, a double-ball-head connecting rod, a sucker frame and a roller frame, wherein the bottom plate is arranged on a power output part of the industrial mechanical arm, the two transmission arms are respectively arranged on the bottom plate through pin shafts, the sliding blocks are movably arranged on the inner sides of the transmission arms, two ends of the two-way damper are respectively hinged with the sliding blocks on the inner sides of the two transmission arms, an electromagnetic valve communicated with the two-way damper is arranged on the upper side of the two-way damper and used for realizing the closing and opening of the two-way damper, the linear driving mechanism is arranged in each transmission arm, the power output part of the linear driving mechanism is in transmission connection with the sliding blocks, the connecting plate is fixedly, the bottom of the suction disc frame is provided with a suction disc, the roller wheel frame is rotatably arranged on the side edge of the suction disc frame, and the bottom of the roller wheel frame is provided with a roller wheel.
Preferably, the ball bar base is respectively installed at the bottom of the connecting plate and the top of the sucker frame through bolts, and two ends of the double-ball-head connecting rod between the connecting plate and the sucker frame are respectively matched with the interior of the ball bar base to form ball pair connection.
Preferably, the roller carrier is rotatably mounted on the suction disc frame through a rotating shaft, and two ends of the rotating shaft are sleeved with torsion springs, wherein two ends of each torsion spring respectively extend into the rotating shaft and the roller carrier.
Preferably, the linear driving mechanism comprises a screw rod and a motor, two ends of the screw rod are respectively installed in the transmission arm through bearings and penetrate through the sliding block, thread transmission is formed between the screw rod and the sliding block, the motor is arranged in the transmission arm, and the power output end of the motor is fixedly connected with the screw rod.
Preferably, the industrial mechanical arm is a five-degree-of-freedom industrial mechanical arm.
An assembly line comprises the scrapped automobile integrated disassembling device.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the two transmission arms can be opened at a certain angle through the opening of the damper, so that the transmission arms can ensure that the sucker frame has a certain span when the sucker frame contacts a part to be disassembled, further the grabbing of parts at different positions is ensured, and the sucker frame is connected with the connecting plate through the ball pair, so that the sucker frame can rotate at any angle in a self-adaptive manner, and further the sucker can be directly attached to the part of a non-planar body.
2. According to the invention, the effect of adjusting the position of the bidirectional damper is achieved by adjusting the position of the sliding block in the transmission arms, so that the opening angle between the two transmission arms is correspondingly changed, and the device can meet the grabbing requirement of parts with dimension span angles.
Drawings
FIG. 1 is a three-dimensional schematic view of the overall structure of the present invention;
FIG. 2 is a three-dimensional schematic view of the adaptive grasping mechanism of the present invention;
FIG. 3 is a three-dimensional schematic view of the actuator arm and its internal components of the present invention;
fig. 4 is a three-dimensional schematic view of the suction cup frame and the roller frame of the present invention assembled together.
In the figure: 1 rack, 2 conveyer belts, 3 industrial mechanical arms, 4 self-adaptive grabbing mechanisms, 41 bottom plates, 42 transmission arms, 43 sliding blocks, 44 two-way dampers, 45 linear driving mechanisms, 46 connecting plates, 47 double-ball-head connecting rods, 48 sucker frames, 49 roller frames, 451 screw rods, 452 motors, 481 club bases, 482 suckers, 491 torsion springs, 492 rollers and 493 rotating shafts.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
referring to fig. 1 to 4, the present invention provides a technical solution:
the utility model provides a scrap car integration detaching device, includes that frame 1, conveyer belt 2, industrial robot arm 3 and self-adaptation snatch mechanism 4, wherein:
the conveyer belt 2 is fixedly arranged on the frame 1 through bolts, the two industrial mechanical arms 3 are respectively arranged on the frame 1 through bolts and positioned at two sides of the conveyer belt 2, the industrial mechanical arm 3 is a five-degree-of-freedom industrial mechanical arm for realizing the output of motion in five directions, and the five-degree-of-freedom industrial mechanical arm is a known multi-degree-of-freedom motion part and is not repeated here;
the two self-adaptive grabbing mechanisms 4 are respectively arranged on the industrial mechanical arm 3, each self-adaptive grabbing mechanism 4 comprises a bottom plate 41, a transmission arm 42, a sliding block 43, a two-way damper 44, a linear driving mechanism 45, a connecting plate 46, a double-ball-head connecting rod 47, a suction cup frame 48 and a roller frame 49, the bottom plate 41 is fixedly arranged on a power output part of the industrial mechanical arm 3 through bolts, so that the bottom plate 41 can move along with the industrial mechanical arm 3 when the industrial mechanical arm 3 acts, the two transmission arms 42 are respectively rotatably arranged on the bottom plate 41 through pin shafts, guide grooves are formed in the inner sides of the transmission arms 42, the sliding blocks 43 are matched with the guide grooves in the inner sides of the transmission arms 42 to form moving pairs in the guide grooves, the two-way damper 44 is a damping part with rod cavities at two ends, two ends of the two-way damper 44 are respectively hinged with the sliding blocks 43 in the inner sides of the two transmission arms 42 through the pin shafts, therefore, the two-way damper 44 is in a state of being communicated with the outside in a state that the electromagnetic valve 441 is opened, so that free expansion and contraction can be realized, and the two-way damper 44 is in a state of being isolated from the outside in a state that the electromagnetic valve 441 is closed, so that the movement is limited, the linear driving mechanism 45 is arranged in the transmission arm 42, wherein the linear driving mechanism 45 comprises a screw rod 451 and a motor 452, two ends of the screw rod 451 are respectively arranged in a guide groove at the inner side of the transmission arm 42 through bearings and penetrate through the slider 43, and a thread transmission is formed between the screw rod 451 and the slider 43, so that the rotary motion of the screw rod 451 can be converted into the linear motion of the slider 43, the motor 452 is fixedly arranged in the guide groove at the inner side of the transmission arm 42 through bolts, the power output end of the motor 452 is fixedly connected with the screw rod 451, the, wherein the bottom of the connecting plate 46 and the top of the suction cup holder 48 are respectively provided with a ball bar base 481 by bolts, and the two ends of the double-ball-head connecting rod 47 between the connecting plate 46 and the suction cup rack 48 are respectively matched in the ball bar base 481 and form a ball pair connection, therefore, the suction cup rack 48 can be adjusted in posture around the connection plate 46 in a self-adaptive manner, the suction cup 482 is arranged at the bottom of the suction cup rack 48 and used for sucking parts to achieve the grabbing effect, the roller rack 49 is rotatably mounted on the suction cup rack 48 through a rotating shaft 493, the torsion springs 491 are sleeved at two ends of the rotating shaft 493, wherein both ends of the torsion spring 491 extend into the rotating shaft 493 and the roller frame 49 respectively, the bottom of the roller frame 49 is provided with a roller 492, the rollers 492 at the bottom of the roller frame 49 come into contact with the parts first when the suction cup frame 48 is about to come into contact with the parts, therefore, the situation that the included angle between the two transmission arms 42 cannot be adjusted due to the fact that the suction cup 482 on the suction cup frame 48 is directly contacted with the parts first is avoided;
an assembly line, wherein, include above-mentioned a scraped car integration detaching device.
The principle of the invention is as follows: the disassembly production line disclosed by the application aims at the disassembly between the parts and the frame around the frame, such as front and rear windshields, vehicle doors, engine covers, trunk lids and the like, and is similar to the reverse process of assembly when the parts are disassembled, the parts are grabbed by the self-adaptive grabbing mechanism 4, and then the connecting pieces between the parts and the frame are manually disassembled; for example, when the vehicle door is disassembled, the vehicle door is firstly grasped by the self-adaptive grasping mechanism 4, then the hinge plate connected with the vehicle door is manually disassembled, and then the vehicle door can be moved out by the self-adaptive grasping mechanism 4, so that the disassembling effect is achieved;
the specific process of grabbing parts is as follows: the industrial mechanical arm 3 is used for adjusting the posture of the bottom plate 41 to enable the corresponding parts to be disassembled, when the suction cup frame 48 is about to contact the parts, the roller 492 at the bottom of the roller frame 49 is firstly contacted with the parts, at the moment, the bottom plate 41 is continuously pressed downwards to enable the roller 492 to move along the surfaces of the parts, the two ends of the bidirectional damper 44 can freely stretch and retract when the electromagnetic valve 441 is in an open state, because the bottom plate 41 is pressed downwards and the roller 492 moves along the surfaces of the parts, an included angle between the two transmission arms 42 is enlarged to achieve an opening effect, when the suction cup 482 at the bottom of the suction cup frame 48 contacts the parts, resistance is generated to the pressing of the bottom plate 41, at the moment, the electromagnetic valve 441 is closed, the rod cavity of the bidirectional damper 44 cannot extend out, at the moment, the position where the bottom plate 41 continuously presses the transmission arms 42 is in a locked state, and the suction cup frame 48, the suckers 482 at the bottom of the sucker frame 48 are all in contact with the parts, the parts are grabbed at the moment, and then the industrial mechanical arm 3 is utilized to drive the self-adaptive grabbing mechanism 4 to be separated from the vehicle main body, so that the vehicle parts can be disassembled;
when a part with a large size span is faced, the motor 452 is started to drive the screw rod 451 to rotate, and at the moment, the sliding block 43 moves along the guide groove on the inner side of the transmission arm 42, so that the distance between the two-way damper 44 and the hinge point of the transmission arm 42 and the bottom plate 41 is correspondingly changed, the opening angle of the transmission arm 42 is directly changed, and the effect of adapting to parts with different sizes is achieved;
since the surface of the component is not a horizontal smooth surface, the roller frame 49 swings when the roller 492 at the bottom of the roller frame 49 moves along the surface of the component, and the torsion spring 491 on the rotating shaft 493 of the roller frame 49 can provide torsion force to make the roller 492 adhere to the surface of the component.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a scraped car integration detaching device, includes frame (1), conveyer belt (2), industrial mechanical arm (3) and self-adaptation snatchs mechanism (4), conveyer belt (2) fixed mounting is in frame (1), two industrial mechanical arm (3) are installed respectively in frame (1) and are located the both sides of conveyer belt (2), its characterized in that:
the two self-adaptive grabbing mechanisms (4) are respectively arranged on the industrial mechanical arm (3), each self-adaptive grabbing mechanism (4) comprises a bottom plate (41), a transmission arm (42), a sliding block (43), a two-way damper (44), a linear driving mechanism (45), a connecting plate (46), a double-ball-head connecting rod (47), a sucking disc frame (48) and a roller frame (49), the bottom plate (41) is arranged on a power output part of the industrial mechanical arm (3), the two transmission arms (42) are respectively arranged on the bottom plate (41) through pin shafts, the sliding blocks (43) are movably arranged on the inner sides of the transmission arms (42), two ends of each two-way damper (44) are respectively hinged with the sliding blocks (43) on the inner sides of the two transmission arms (42), and an electromagnetic valve (441) communicated with the two-way dampers (44) is arranged on the upper side of the two-way dampers (44) and used for, the ball arm type vacuum chuck is characterized in that a linear driving mechanism (45) is arranged in the transmission arm (42), wherein a power output part of the linear driving mechanism (45) is in transmission connection with the sliding block (43), a connecting plate (46) is fixedly arranged at the bottom of the transmission arm (42), the suction cup frame (48) is connected with the connecting plate (46) through a double-ball-head connecting rod (47), a ball rod base (481) is respectively arranged at the bottom of the connecting plate (46) and the top of the suction cup frame (48) through bolts, two ends of the double-ball-head connecting rod (47) between the connecting plate (46) and the suction cup frame (48) are respectively matched with the ball rod base (481) to form ball pair connection, a suction cup (482) is arranged at the bottom of the suction cup frame (48), the roller frame (49) is rotatably arranged on the side edge of the suction cup frame (48.
2. The integrated disassembly device of a scraped car according to claim 1, wherein: the roller frame (49) is rotatably installed on the suction disc frame (48) through a rotating shaft (493), two ends of the rotating shaft (493) are sleeved with torsion springs (491), and two ends of each torsion spring (491) respectively extend into the rotating shaft (493) and the roller frame (49).
3. The integrated disassembly device of a scraped car according to claim 1, wherein: the linear driving mechanism (45) comprises a screw rod (451) and a motor (452), two ends of the screw rod (451) are respectively installed in the transmission arm (42) through bearings and penetrate through the sliding block (43), thread transmission is formed between the screw rod (451) and the sliding block (43), the motor (452) is arranged in the transmission arm (42), and the power output end of the motor is fixedly connected with the screw rod (451).
4. The integrated disassembly device of a scraped car according to claim 1, wherein: the industrial mechanical arm (3) is a five-degree-of-freedom industrial mechanical arm.
5. A production line, characterized by comprising the integrated disassembly device of scraped cars of any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911233711.2A CN110919685B (en) | 2019-12-05 | 2019-12-05 | Integrated disassembling device for scraped car and assembly line thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911233711.2A CN110919685B (en) | 2019-12-05 | 2019-12-05 | Integrated disassembling device for scraped car and assembly line thereof |
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| Publication Number | Publication Date |
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| CN110919685A CN110919685A (en) | 2020-03-27 |
| CN110919685B true CN110919685B (en) | 2021-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911233711.2A Active CN110919685B (en) | 2019-12-05 | 2019-12-05 | Integrated disassembling device for scraped car and assembly line thereof |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111422012B (en) * | 2020-04-16 | 2021-11-30 | 安徽科技学院 | Special tool for disassembling scrapped automobile hub tire |
| CN111703525B (en) * | 2020-06-30 | 2023-02-28 | 安徽科技学院 | Scraped car door glass disassembles equipment |
| CN112874661A (en) * | 2021-02-02 | 2021-06-01 | 江西辽燚环保产业有限公司 | Automatic robot for disassembling two covers of automobile and control system thereof |
| CN113895546A (en) * | 2021-10-12 | 2022-01-07 | 安徽国伟金属资源有限公司 | Platform is disassembled to old and useless car |
| CN114311008A (en) * | 2022-01-26 | 2022-04-12 | 上海电机学院 | Angle self-interacting sucking disc manipulator actuating mechanism |
| CN115945875B (en) * | 2022-10-24 | 2024-02-06 | 北京建筑大学 | Intelligent hierarchical disassembly equipment for whole assembly line of mobile terminal |
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| GB272262A (en) * | 1926-02-03 | 1927-06-07 | William Marsden Fletcher | Improvements in valve operating and reversing gear for internal combustion engines |
| DE2835921C3 (en) * | 1978-08-16 | 1981-02-12 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Vacuum gripper |
| FR2859126A1 (en) * | 2003-05-21 | 2005-03-04 | A M G | Retention head for robot structure, has clamping device closing clamp collars, and simultaneously immobilizing leg at interior of ball joint and ball joint at interior of cage |
| WO2004103652A2 (en) * | 2003-05-21 | 2004-12-02 | Societe Amg | Gripper element for retaining a part to be displaced by a manipulator, provided with a layered structure comprising a beam on which carrier arms for a retainer head are disposed |
| US7278462B2 (en) * | 2005-02-11 | 2007-10-09 | Aar-Kel Enterprises, Inc. | Engine block die-casting apparatus having mechanically actuated bank core slides |
| FR2882534B1 (en) * | 2005-02-28 | 2008-09-26 | Philippe Crelier | METHOD FOR SIMULTANEOUSLY CUTTING HETEROGENEOUS MATERIALS AND ITS DEVICE FOR IMPLEMENTING THE SAME |
| EP3285977A1 (en) * | 2014-12-22 | 2018-02-28 | Milosavljevic, Sascha | Device for installing a windscreen of a vehicle |
| CN104985465B (en) * | 2015-07-21 | 2017-10-10 | 安徽科技学院 | A kind of cylindrical workpiece processing tool |
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| CN207045500U (en) * | 2017-06-27 | 2018-02-27 | 格林美股份有限公司 | A kind of glass disassembling apparatus of abandoned car |
| CN207466518U (en) * | 2017-08-08 | 2018-06-08 | 驭势（上海）汽车科技有限公司 | For the mounting platform and vehicle of vehicle |
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2019
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