CN113479607B - Flexible disassembly workstation and flexible disassembly method for waste mobile phone rear cover - Google Patents
Flexible disassembly workstation and flexible disassembly method for waste mobile phone rear cover Download PDFInfo
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- CN113479607B CN113479607B CN202110889084.9A CN202110889084A CN113479607B CN 113479607 B CN113479607 B CN 113479607B CN 202110889084 A CN202110889084 A CN 202110889084A CN 113479607 B CN113479607 B CN 113479607B
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- sucker
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- 239000002699 waste material Substances 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000010438 heat treatment Methods 0.000 claims abstract description 50
- 238000003801 milling Methods 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims description 17
- 238000001179 sorption measurement Methods 0.000 claims description 17
- 241000252254 Catostomidae Species 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000003292 glue Substances 0.000 claims description 4
- 238000004064 recycling Methods 0.000 claims description 2
- 238000004321 preservation Methods 0.000 claims 4
- 238000009413 insulation Methods 0.000 description 5
- 238000011084 recovery Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/54—Reclaiming serviceable parts of waste accumulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
-
- 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
- Y02W30/84—Recycling of batteries or fuel cells
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Telephone Set Structure (AREA)
Abstract
The invention aims to provide a flexible disassembly workstation and a flexible disassembly method for a waste mobile phone rear cover, which are carried out without manual assistance and can greatly improve the working efficiency. The mobile phone disassembly device comprises a feeding mechanism, a manipulator sucker structure, a visual detection positioning guide mechanism, a card taking support mechanism, a rear cover heating mechanism, a screw taking mechanism, a switching centering mechanism, a milling buckle mechanism and a rear cover taking mechanism. The invention is applied to the technical field of disassembly of electronic products.
Description
Technical Field
The invention is applied to the technical field of disassembly of electronic products, and particularly relates to a flexible disassembly workstation and a flexible disassembly method for a rear cover of a waste mobile phone.
Background
In the recovery operation of the waste mobile phone, the waste mobile phone needs to be disassembled, useful components are classified and recycled, and useless components are classified and collected and then subjected to environment-friendly waste treatment. At present, the waste mobile phone is generally disassembled by utilizing disassembling equipment, but the existing disassembling equipment is used for disassembling a clamp support, disassembling screws, milling buckles, disassembling a rear cover and the like of the mobile phone, and the operations of manual auxiliary operation such as manual feeding and discharging or manual electric batch screw disassembling and the like are also needed, so that on one hand, the safety is low and safety accidents are easy to occur; on the other hand, the degree of automation is low, comparatively consumes manpower, and work efficiency is not high.
The prior patent with publication number CN105290081A discloses an automatic disassembly and recovery method for waste mobile phones and an automatic operation assembly line device thereof, and the method also adopts a mechanical mode to realize quick batch disassembly of the waste mobile phones, but cannot be compatible with disassembly of various mobile phones, and has lower universality. If a waste mobile phone rear cover flexible disassembly workstation which does not need manual assistance and can greatly improve the working efficiency is designed, the problem can be well solved.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and providing a flexible disassembly workstation and a flexible disassembly method for the rear cover of the waste mobile phone, which are carried out without manual assistance and can greatly improve the working efficiency.
The technical scheme adopted by the invention is as follows: the flexible disassembly workstation of the waste mobile phone rear cover comprises a machine base, a feeding mechanism, a manipulator sucker structure, a visual detection positioning guide mechanism, a card taking support mechanism, a rear cover heating mechanism, a screw taking mechanism, a switching centering mechanism, a milling buckle mechanism and a rear cover taking mechanism, wherein the feeding mechanism, the manipulator sucker structure, the visual detection positioning guide mechanism, the card taking support mechanism, the rear cover heating mechanism, the screw taking mechanism, the switching centering mechanism, the milling buckle mechanism and the rear cover taking mechanism are all arranged on the machine base, the feeding mechanism, the visual detection positioning guide mechanism, the card taking support mechanism, the rear cover heating mechanism, the screw taking mechanism, the milling buckle mechanism and the rear cover taking mechanism encircle the manipulator sucker structure, and the manipulator sucker structure is used for driving the mobile phone to be disassembled on the feeding mechanism after the mobile phone is disassembled, and the manipulator sucker structure drives the mobile phone to be disassembled to the visual detection positioning guide mechanism, the card taking support mechanism, the rear cover heating mechanism, the rear cover taking mechanism, the switching centering mechanism and the rear cover taking mechanism.
Further, feed mechanism includes material loading transportation line, material loading straight line module and product jacking module, the material loading transportation line is X to setting, the material loading straight line module is Y to setting, the material loading straight line module is located the top of material loading transportation line, the cooperation is provided with first Z axle straight line module on the material loading straight line module, be provided with first sucking disc on the first Z axle straight line module, product jacking module with the material loading straight line module all with first sucking disc cooperatees, manipulator sucking disc structure includes manipulator and adsorption module, the adsorption module includes fixed plate, second sucking disc and two at least locating pieces, the fixed plate sets up the expansion end of manipulator, the second sucking disc sets up on the fixed plate, two the locating pieces set up respectively the adjacent both sides of fixed plate, two the locating pieces all expose in the lower terminal surface of fixed plate, treat that the adjacent both sides of disassembling are close to respectively when two the locating pieces on the locating piece, treat that the second sucking disc will disassemble the terminal surface under the fixed plate.
Further, get card and hold in palm mechanism includes first base, be provided with second Z axle straight line module, support bracket and card on the first base and hold in the palm the storage box, the cooperation is provided with the sliding seat on the second Z axle straight line module, be provided with card on the sliding seat and hold in the palm clamping jaw and thimble height adjustment subassembly, thimble height adjustment subassembly's regulation end is provided with the thimble, be provided with on the support bracket and get the card and hold in the palm the station, card hold in the palm clamping jaw with thimble mechanism all with get card and hold in the palm the station cooperation, card holds in the palm the storage box and is located get the below that holds in the palm the station.
Further, back lid heating mechanism includes second base, first X axle sharp module, heater and cross slip table module, be provided with the straight line module of third Z axle on the straight line module of first X axle, be provided with the third sucking disc on the straight line module of third Z axle, be provided with on the second base heating insulation board and with the heating bracket that the heating insulation board meets, the heater is located heating bracket's below, heating insulation board reaches heating bracket all with the third sucking disc cooperatees, the expansion end of cross slip table module is provided with the movable plate, waits to disassemble the cell-phone and places on the movable plate, still be provided with on the cross slip table module with heating bracket matched with infrared temperature sensor.
Further, get screw mechanism includes supporting seat and two screw dismantlement modules, two the screw dismantles the module and is set up respectively the both sides of supporting seat, the screw dismantles the module and includes box, electric batch and the electric jar of gathering materials, the box setting of gathering materials is in on the supporting seat, the electric jar is vertical to be set up on the inner wall of box of gathering materials, electric batch with electric jar transmission is connected.
Further, the switching centering mechanism comprises a third base, a first clamping cylinder, a second clamping cylinder and a positioning plate, wherein the first clamping cylinder is arranged on the third base in the X-axis direction, first clamping plates are arranged on two output ends of the first clamping cylinder, the second clamping cylinder is arranged in the Y-axis direction and is slidably matched with the first clamping cylinder along the X-axis direction, second clamping plates are arranged on two output ends of the second clamping cylinder, the positioning plate is arranged on the second clamping cylinder, a mobile phone to be disassembled is placed on the positioning plate, front and rear ends of the mobile phone to be disassembled are clamped between the two second clamping plates, and left and right ends of the mobile phone to be disassembled are clamped between the two first clamping plates.
Further, mill buckle mechanism includes third base, triaxial mobile module, spindle motor, milling cutter and product anchor clamps, triaxial mobile module sets up on the third base, spindle motor sets up triaxial mobile module's expansion end, milling cutter sets up spindle motor's expansion end, product anchor clamps include mounting panel and two at least locating component, the vertical setting of mounting panel is in on the third base, locating component includes first cylinder, big sucking disc and two little sucking discs, first cylinder set up on the mounting panel and with big sucking disc transmission is connected, two little sucking discs all set up on the mounting panel, treat dismantling the product and adsorb between big sucking disc and the two little sucking discs.
Further, get back lid mechanism includes that second X axle straight line module, back lid fall into case and stock case, the stock case is located the back lid falls into the below of case, the cooperation is provided with the straight line module of fourth Z axle on the straight line module of second X axle, be provided with the second cylinder on the straight line module of fourth Z axle, the cooperation is provided with pneumatic scissors on the second cylinder, pneumatic scissors is located the back lid falls into the top of case, the back lid falls into and is provided with a plurality of fourth sucking disc on the case, a plurality of all be connected with the vacuum air cock on the fourth sucking disc, the vacuum air cock passes through the vacuum tube and is connected with vacuum generator.
Further, the flexible disassembling method of the flexible disassembling workstation for the waste mobile phone rear cover comprises the following steps:
A. when feeding, a plurality of mobile phones are placed on the product jacking module, the mobile phones are jacked by the product jacking module, and the first sucking discs can suck the mobile phones under the action of the first Z-axis linear module and the feeding linear module, and the mobile phones are moved to the feeding conveying line for conveying;
B. driving the adsorption module to move to the upper part of the mobile phone by the driving of the manipulator, then driving the adsorption module to move downwards by the manipulator, enabling two adjacent sides of the mobile phone to respectively lean against the two positioning blocks, positioning the placing position of the mobile phone, then switching on an air source, enabling the second sucker to adsorb the mobile phone, driving the mobile phone to move to the upper part of the visual detection positioning guide mechanism by the manipulator for photographing detection, confirming the position of a limiting structure of a rear cover of the mobile phone, and finally dismantling the limiting structure;
C. after the limit structure on the mobile phone rear cover is disassembled, the mobile phone is moved to the mobile phone sucker by the manipulator to be fixed, at the moment, the mobile phone is sucked by the fourth sucker under the action of the vacuum generator, the pneumatic scissors are further moved to the upper part of the mobile phone under the action of the second X-axis linear module and the fourth Z-axis linear module, and the rear cover is sheared off, so that the sheared rear cover falls into the rear cover falling box to be collected, and the whole disassembly process of the mobile phone is completed.
Further, the step B of disassembling the limit structure on the rear cover of the mobile phone includes one or more steps of:
s1, the mobile phone is moved onto the support bracket by the manipulator, at the moment, the clamping support end of the mobile phone faces downwards, the second Z-axis linear module drives the clamping support clamping jaw and the thimble height adjusting assembly to lift up, so that the thimble can jack up the needle position of the clamping support, meanwhile, the clamping support clamping jaw clamps the clamping support, the mobile phone is further moved onto the heating bracket by the manipulator, at the moment, the clamping support clamping jaw releases the clamping support, and the clamping support falls into the clamping support storage box;
s2, the heater heats the mobile phone on the heating bracket, the infrared temperature sensor measures the temperature of the mobile phone, so that whether the mobile phone is heated is judged, the third sucker can move the heated mobile phone to the heating insulation table under the action of the first X-axis linear module and the third Z-axis linear module after the heating is finished, glue of two rear small covers on the mobile phone is dissolved, and then the vacuum sucker is used for adsorbing and removing the two rear small covers;
s3, when the manipulator moves the mobile phone to the upper part of the screw disassembling module, the electric screwdriver moves upwards through the driving of the electric cylinder until the electric screwdriver head of the electric screwdriver is matched in the cross screw groove of the mobile phone, then the electric screwdriver is driven, the cross screw on the mobile phone can be disassembled after the electric screwdriver head rotates, and the disassembled cross screw automatically falls into the collecting box to be recycled;
s4, the mobile phone is placed on the positioning plate by the manipulator, the two second clamping plates move in opposite directions until the front end and the rear end of the mobile phone are clamped by the driving of the second clamping cylinder, so that the front position and the rear position of the mobile phone are corrected, the two first clamping plates move in opposite directions until the left end and the right end of the mobile phone are clamped by the driving of the first clamping cylinder, so that the left position and the right position of the mobile phone are corrected, and finally the mobile phone is centered and positioned on the positioning plate;
s5, the mobile phone on the positioning plate is moved between the large sucker and the two small suckers by the mechanical arm, the front side surface of the mobile phone is tightly supported on the adsorption surfaces of the two small suckers, the large sucker is linearly moved until the adsorption surface of the large sucker is tightly supported on the rear side surface of the waste mobile phone by driving of the first cylinder, finally, an air source is connected, the large sucker and the two small suckers are simultaneously adsorbed and fixed on the waste mobile phone, the spindle motor is driven, and meanwhile, the milling cutter mills the buckle on the waste mobile phone under the driving of the triaxial moving module.
The beneficial effects of the invention are as follows: the feeding mechanism can automatically feed the waste mobile phones, the manipulator sucker structure absorbs the mobile phones on the feeding mechanism, the mobile phones are driven to the card taking support mechanism, the rear cover heating mechanism, the screw taking mechanism, the milling fastening mechanism and the rear cover mechanism, so that the card support on the mobile phones is removed, glue is covered on the mobile phones after the mobile phones are dissolved, cross screws on the mobile phones are removed, the fastening on the mobile phones are milled, and the rear cover of the mobile phones is removed, the whole operation flow is not needed to be manually assisted, the safety is greatly improved, the full-automatic disassembly of the waste mobile phones is realized, and the working efficiency is greatly improved.
In addition, because the limit structure of the mobile phone rear cover comprises a clamping support, a rear small cover, a cross screw and a buckle, and the limit structure components on the rear cover of different types of mobile phones are different, and one or more rear cover limit parts in the clamping support, the rear small cover, the cross screw and the buckle are not available in some types of mobile phones, the mobile phone rear cover disassembling device can drive the mobile phone in the feeding mechanism to the corresponding disassembling mechanism for disassembling the limit parts according to one or more limit parts in different types of mobile phones, and finally the mobile phone rear cover is disassembled, so that the flexible disassembling effect is achieved, the flexibility is high, and the practicability is high.
Drawings
FIG. 1 is a perspective view of the present invention;
fig. 2 is a perspective view of the feeding mechanism;
FIG. 3 is a perspective view of the feeding conveyor line and the feeding linear module;
FIG. 4 is a perspective view of the manipulator suction cup structure;
FIG. 5 is a perspective view of the adsorption module;
FIG. 6 is a perspective view of the card picking mechanism;
FIG. 7 is a perspective view of the card stock mechanism from a first perspective with the card stock bin and the housing removed;
FIG. 8 is a perspective view of the card stock mechanism from a second perspective with the card stock bin and the housing removed;
FIG. 9 is a perspective view of the rear cover heating mechanism;
FIG. 10 is a perspective view of the screw extraction mechanism;
FIG. 11 is a perspective view of the milled snap mechanism;
FIG. 12 is an exploded view of the product clamp;
FIG. 13 is a perspective view of the rear cover mechanism from a first perspective;
FIG. 14 is a perspective view of the rear cover mechanism from a second perspective;
FIG. 15 is a perspective view of the shift centering mechanism;
fig. 16 is an exploded view of the switching centering mechanism.
Detailed Description
As shown in fig. 1 to 16, in this embodiment, the flexible disassembly workstation for the rear cover of the waste mobile phone includes a machine base 1, a feeding mechanism 2, a manipulator chuck structure 3, a visual detection positioning guide mechanism 9, a card taking support mechanism 4, a rear cover heating mechanism 5, a screw taking mechanism 6, a switching centering mechanism 10, a milling fastening mechanism 7 and a rear cover taking mechanism 8, wherein the feeding mechanism 2, the manipulator chuck structure 3, the visual detection positioning guide mechanism 9, the card taking support mechanism 4, the rear cover heating mechanism 5, the screw taking mechanism 6, the switching centering mechanism 10, the milling fastening mechanism 7 and the rear cover taking mechanism 8 are all arranged on the machine base 1, the feeding mechanism 2, the visual detection positioning guide mechanism 9, the card taking support mechanism 4, the rear cover heating mechanism 5, the screw taking mechanism 6, the milling fastening mechanism 7 and the rear cover taking mechanism 8 are surrounded by the manipulator chuck structure 3, and when the manipulator chuck structure 3 absorbs the feeding mechanism 2, the card taking mechanism 7 and the clamping mechanism 4 are driven by the manipulator chuck structure 3 to disassemble the centering mechanism 4.
In this embodiment, the feeding mechanism 2 includes a feeding transport line 21, a feeding linear module 22 and a product lifting module 23, the feeding transport line 21 is arranged in an X direction, the feeding linear module 22 is arranged in a Y direction, the feeding linear module 22 is located above the feeding transport line 21, a first Z-axis linear module 24 is arranged on the feeding linear module 22 in a matching manner, a first suction cup 25 is arranged on the first Z-axis linear module 24, the product lifting module 23 and the feeding linear module 22 are matched with the first suction cup 25, the manipulator suction cup structure 3 comprises a manipulator 31 and an adsorption module 32, the adsorption module 32 comprises a fixing plate 33, a second suction cup 34 and at least two positioning blocks 35, the fixing plate 33 is arranged at the mobile phone end of the manipulator 31, the second suction cup 34 is arranged on the fixing plate 33, the two positioning blocks 35 are respectively arranged at two sides of the fixing plate, the two positioning blocks 33 are respectively exposed at the end surfaces of the two positioning blocks 35, and when the two positioning blocks are detached from the two adjacent positioning blocks 33.
In this embodiment, the card taking support mechanism 4 includes a first base 41, a second Z-axis linear module 42, a support bracket 43 and a card support storage box 44 are disposed on the first base 41, a sliding seat 45 is disposed on the second Z-axis linear module 42 in a matching manner, a card support clamping jaw 46 and a thimble height adjusting assembly 47 are disposed on the sliding seat 45, a thimble 48 is disposed at an adjusting end of the thimble height adjusting assembly 47, a card taking support station is disposed on the support bracket 43, the card support clamping jaw 46 and the thimble 48 are both in matching relationship with the card taking support station, and the card support storage box 44 is disposed below the card taking support station.
In this embodiment, the rear cover heating mechanism 5 includes a second base 51, a first X-axis linear module 52, a heater 53 and a cross sliding table module 58, a third Z-axis linear module 54 is disposed on the first X-axis linear module 52, a third suction cup 55 is disposed on the third Z-axis linear module 54, a heating and insulating table 56 and a heating bracket 57 connected with the heating and insulating table 56 are disposed on the second base 51, the heater 53 is located below the heating bracket 57, the heating and insulating table 56 and the heating bracket 57 are both matched with the third suction cup 55, a moving plate is disposed at a moving end of the cross sliding table module 58, a mobile phone to be disassembled is disposed on the moving plate, and an infrared temperature sensor 59 matched with the heating bracket 57 is also disposed on the cross sliding table module 58.
In this embodiment, the screw taking mechanism 6 includes a support seat 61 and two screw disassembling modules, the two screw disassembling modules are respectively disposed at two sides of the support seat 61, the screw disassembling modules include a material collecting box 62, an electric batch 63 and an electric cylinder 64, the material collecting box 62 is disposed on the support seat 61, the electric cylinder 64 is vertically disposed on an inner wall of the material collecting box 62, and the electric batch 63 is in transmission connection with the electric cylinder 64.
In this embodiment, the switching centering mechanism 10 includes a third base 11, a first clamping cylinder 12, a second clamping cylinder 13 and a positioning plate 14, where the first clamping cylinder 12 is disposed on the third base 11 in the X-axis direction, two output ends of the first clamping cylinder 12 are each provided with a first clamping plate 15, the second clamping cylinder 13 is disposed in the Y-axis direction and is slidably matched with the first clamping cylinder 12 along the X-axis direction, two output ends of the second clamping cylinder 13 are each provided with a second clamping plate 16, the positioning plate 14 is disposed on the second clamping cylinder 13, a mobile phone to be disassembled is placed on the positioning plate 14, front and rear ends of the mobile phone to be disassembled are clamped between the two second clamping plates 16, and left and right ends of the mobile phone to be disassembled are clamped between the two first clamping plates 15.
In this embodiment, the milling and fastening mechanism 7 includes a third base 71, a triaxial moving module 72, a spindle motor 73, a milling cutter 74 and a product fixture, the triaxial moving module 72 is disposed on the third base 71, the spindle motor 73 is disposed at a movable end of the triaxial moving module 72, the milling cutter 74 is disposed at a movable end of the spindle motor 73, the product fixture includes a mounting plate 75 and at least two positioning components, the mounting plate 75 is vertically disposed on the third base 71, the positioning components include a first cylinder 76, a large suction cup 77 and two small suction cups 78, the first cylinder 76 is disposed on the mounting plate 75 and is in transmission connection with the large suction cup 77, the two small suction cups 78 are disposed on the mounting plate 75, and a product to be disassembled is adsorbed between the large suction cup 77 and the two small suction cups 78.
In this embodiment, the rear cover taking mechanism 8 includes a second X-axis linear module 81, a rear cover falling box 82 and a stock box 83, the stock box 83 is located below the rear cover falling box 82, a fourth Z-axis linear module 84 is disposed on the second X-axis linear module 81 in a matching manner, a second cylinder 85 is disposed on the fourth Z-axis linear module 84, a pneumatic shear 86 is disposed on the second cylinder 85 in a matching manner, the pneumatic shear 86 is located above the rear cover falling box 82, a plurality of fourth suction cups 87 are disposed on the rear cover falling box 82, and a plurality of vacuum air nozzles 88 are connected to the fourth suction cups 87, and the vacuum air nozzles 88 are connected with a vacuum generator through vacuum tubes.
In this embodiment, the flexible disassembling method of the flexible disassembling workstation for the rear cover of the waste mobile phone includes the following steps:
A. during feeding, a plurality of mobile phones are placed on the product jacking module 23, the mobile phones are jacked by the product jacking module 23, and the first sucking discs 25 can suck the mobile phones under the action of the first Z-axis linear module 24 and the feeding linear module 22, and the mobile phones are moved to the feeding transport line 21 for transport;
B. the adsorption module 32 is driven to move to the upper part of the mobile phone by the driving of the manipulator 31, then the manipulator 31 drives the adsorption module 32 to move downwards, two adjacent sides of the mobile phone are respectively abutted against the two positioning blocks 35, so that the placing position of the mobile phone is positioned, then an air source is connected, the mobile phone is adsorbed by the second sucker 34, the mobile phone is driven by the manipulator 31 to move to the upper part of the visual detection positioning guide mechanism 9 for shooting detection, the position of a limiting structure of a rear cover of the mobile phone is confirmed, and finally the limiting structure is disassembled;
C. after the limit structure on the mobile phone rear cover is disassembled, the mobile phone is moved to the mobile phone sucker by the manipulator 31 to be fixed, at the moment, the mobile phone is sucked by the fourth sucker 87 under the action of the vacuum generator, the pneumatic scissors 86 further move to the upper part of the mobile phone under the action of the second X-axis linear module 81 and the fourth Z-axis linear module 84, and the rear cover is sheared off, so that the sheared rear cover falls into the rear cover falling box 82 to be collected, and the whole disassembly process of the mobile phone is completed.
And B, disassembling the limit structure on the mobile phone rear cover comprises one or more of the following steps:
s1, the manipulator 31 moves the mobile phone onto the support bracket 43, at the moment, the clamping end of the mobile phone faces downwards, the second Z-axis linear module 42 drives the clamping jaw 46 and the thimble height adjusting assembly 47 to lift up, so that the thimble 48 can push up the needle position of the clamping holder, meanwhile, the clamping holder is clamped by the clamping jaw 46, the manipulator 31 further moves the mobile phone onto the heating bracket 57, at the moment, the clamping holder is loosened by the clamping jaw 46, and the clamping holder falls into the clamping holder storage box 44;
s2, the heater 53 heats the mobile phone on the heating bracket 57, the infrared temperature sensor 59 measures the temperature of the mobile phone, so as to judge whether the mobile phone is heated, after the heating is finished, the third sucker 55 can move the heated mobile phone to the heating insulation table 56 under the action of the first X-axis linear module 52 and the third Z-axis linear module 54, so that glue of two rear small covers on the mobile phone is dissolved, and then the vacuum sucker is used for absorbing and removing the two rear small covers;
s3, when the manipulator 31 moves the mobile phone to the upper part of the screw disassembling module, the electric screwdriver 63 moves upwards by the driving of the electric cylinder 64 until the electric screwdriver 63 head of the electric screwdriver 63 is matched in a cross screw groove of the mobile phone, then the electric screwdriver 63 is driven, the cross screw on the mobile phone can be disassembled after the electric screwdriver 63 head rotates, and the disassembled cross screw automatically falls into the collecting box 62 for recycling;
s4, the mobile phone is placed on the positioning plate 14 by the manipulator 31, the two second clamping plates 16 move in opposite directions until the front end and the rear end of the mobile phone are clamped by the driving of the second clamping cylinder 13, so that the front position and the rear position of the mobile phone are corrected, the two first clamping plates 15 move in opposite directions until the left end and the right end of the mobile phone are clamped by the driving of the first clamping cylinder 12, so that the left end and the right end of the mobile phone are corrected, and finally the mobile phone is centered and positioned on the positioning plate 14;
s5, the manipulator 31 moves the mobile phone on the positioning plate 14 between the large sucker 77 and the two small suckers 78, wherein the front side surface of the mobile phone is tightly attached to the attaching surfaces of the two small suckers 78, the large sucker 77 is linearly moved until the attaching surface of the large sucker abuts against the rear side surface of the waste mobile phone by driving of the first air cylinder 76, and finally an air source is connected, the large sucker 77 and the two small suckers 78 are simultaneously attached to and fixed with the waste mobile phone, the spindle motor 73 is driven, and meanwhile, the milling cutter 74 mills the buckles on the waste mobile phone under the driving of the triaxial moving module 72.
Claims (8)
1. The flexible workstation of disassembling of lid, its characterized in that behind the old and useless cell-phone: it comprises a machine base (1), a feeding mechanism (2), a manipulator sucker structure (3), a visual detection positioning guide mechanism (9), a card taking support mechanism (4), a rear cover heating mechanism (5), a screw taking mechanism (6), a switching centering mechanism (10), a milling buckle mechanism (7) and a rear cover taking mechanism (8), wherein the feeding mechanism (2), the manipulator sucker structure (3), the visual detection positioning guide mechanism (9), the card taking support mechanism (4), the rear cover heating mechanism (5), the screw taking mechanism (6), the switching centering mechanism (10), the milling buckle mechanism (7) and the rear cover taking mechanism (8) are all arranged on the machine base (1), feeding mechanism (2) visual detection location guiding mechanism (9) get card holds in palm mechanism (4) back lid heating mechanism (5) get screw mechanism (6) milling buckle mechanism (7) and get back lid mechanism (8) encircle in manipulator sucking disc structure (3), works as manipulator sucking disc structure (3) absorbs after waiting to disassemble the cell-phone on feeding mechanism (2), manipulator sucking disc structure (3) will wait to disassemble the cell-phone and drive to visual detection location guiding mechanism (9) The clamping and supporting mechanism (4), the rear cover heating mechanism (5), the screw taking mechanism (6), the switching centering mechanism (10), the milling and buckling mechanism (7) and the rear cover taking mechanism (8) are arranged on the clamping and supporting mechanism; the feeding mechanism (2) comprises a feeding conveying line (21), a feeding linear module (22) and a product jacking module (23), the feeding conveying line (21) is arranged in the X direction, the feeding linear module (22) is arranged in the Y direction, the feeding linear module (22) is located above the feeding conveying line (21), a first Z-axis linear module (24) is matched with the feeding linear module (22), a first sucker (25) is arranged on the first Z-axis linear module (24), the product jacking module (23) and the feeding linear module (22) are matched with the first sucker (25), the mechanical sucker structure (3) comprises a mechanical arm (31) and an adsorption module (32), the adsorption module (32) comprises a fixing plate (33), a second sucker (34) and at least two positioning blocks (35), the fixing plate (33) is arranged at the movable end of the mechanical arm (31), the second sucker (34) is arranged at the two sides of the two adjacent positioning blocks (35) and is fixed by the two adjacent positioning blocks (33) when the two adjacent positioning blocks (35) are arranged at the two sides of the fixing plate (33), the second sucker (34) adsorbs the mobile phone to be disassembled on the lower end face of the fixed plate (33); milling buckle mechanism (7) include fourth base (71), triaxial remove module (72), spindle motor (73), milling cutter (74) and product anchor clamps, triaxial remove module (72) set up on fourth base (71), spindle motor (73) set up the expansion end of triaxial remove module (72), milling cutter (74) set up the expansion end of spindle motor (73), product anchor clamps include mounting panel (75) and two at least locating component, mounting panel (75) are vertical to be set up on fourth base (71), locating component includes first cylinder (76), big sucking disc (77) and two little sucking discs (78), first cylinder (76) set up on mounting panel (75) and with big sucking disc (77) transmission are connected, two little sucking discs (78) all set up on mounting panel (75), treat that the cell-phone is disassembled adsorb between big sucking disc (77) and two little sucking disc (78).
2. The flexible disassembly workstation for the rear cover of the waste mobile phone according to claim 1, wherein: get card and hold in palm mechanism (4) including first base (41), be provided with second Z axle straight line module (42), support bracket (43) and card on first base (41) hold in the palm storage box (44), the cooperation is provided with sliding seat (45) on second Z axle straight line module (42), be provided with card on sliding seat (45) and hold in the palm clamping jaw (46) and thimble height adjustment subassembly (47), the regulation end of thimble height adjustment subassembly (47) is provided with thimble (48), be provided with on support bracket (43) and get the card and hold in the palm the station, card hold in the palm clamping jaw (46) with thimble (48) all with get card and hold in the palm the cooperation of station, card holds in the palm storage box (44) and is located get the below of card holding in the palm the station.
3. The flexible disassembly workstation for the rear cover of the waste mobile phone according to claim 2, wherein: the rear cover heating mechanism (5) comprises a second base (51), a first X-axis linear module (52), a heater (53) and a cross sliding table module (58), a third Z-axis linear module (54) is arranged on the first X-axis linear module (52), a third sucker (55) is arranged on the third Z-axis linear module (54), a heating heat preservation table (56) and a heating bracket (57) connected with the heating heat preservation table (56) are arranged on the second base (51), the heater (53) is located below the heating bracket (57), the heating heat preservation table (56) and the heating bracket (57) are matched with the third sucker (55), a movable plate is arranged at the movable end of the cross sliding table module (58), and an infrared temperature sensor (59) matched with the heating bracket (57) is further arranged on the cross sliding table module (58) to be disassembled.
4. The flexible disassembly workstation for the rear cover of the waste mobile phone according to claim 3, wherein: screw mechanism (6) are dismantled including supporting seat (61) and two screws, two the screw is dismantled the module and is set up respectively the both sides of supporting seat (61), the screw is dismantled the module and is included box (62), electric batch (63) and electric jar (64) that gathers materials, box (62) that gathers materials sets up on supporting seat (61), electric jar (64) vertical setting is in on the inner wall of box (62) that gathers materials, electric batch (63) with electric jar (64) transmission is connected.
5. The flexible disassembly workstation for the rear cover of the waste mobile phone according to claim 4, wherein: the switching centering mechanism (10) comprises a third base (11), a first clamping cylinder (12), a second clamping cylinder (13) and a positioning plate (14), wherein the first clamping cylinder (12) is arranged on the third base (11) in the X-axis direction, first clamping plates (15) are arranged at two output ends of the first clamping cylinder (12), the second clamping cylinder (13) is arranged in the Y-axis direction and is in sliding fit with the first clamping cylinder (12) along the X-axis direction, second clamping plates (16) are arranged at two output ends of the second clamping cylinder (13), the positioning plate (14) is arranged on the second clamping cylinder (13), a mobile phone to be disassembled is placed on the positioning plate (14), front and rear ends of the mobile phone to be disassembled are clamped between the two second clamping plates (16), and left and right ends of the mobile phone to be disassembled are clamped between the two first clamping plates (15).
6. The flexible disassembly workstation for the rear cover of the waste mobile phone according to claim 5, wherein: get back lid mechanism (8) including second X axle straight line module (81), back lid fall into case (82) and stock case (83), stock case (83) are located back lid falls into the below of case (82), the cooperation is provided with fourth Z axle straight line module (84) on second X axle straight line module (81), be provided with second cylinder (85) on fourth Z axle straight line module (84), the cooperation is provided with pneumatic scissors (86) on second cylinder (85), pneumatic scissors (86) are located back lid falls into the top of case (82), back lid falls into and is provided with a plurality of fourth sucking disc (87) on case (82), a plurality of all be connected with vacuum air cock (88) on fourth sucking disc (87), vacuum air cock (88) are connected with vacuum generator through the vacuum tube.
7. The flexible disassembling method based on the flexible disassembling workstation of the waste mobile phone rear cover of claim 6 is characterized by comprising the following steps: it comprises the following steps:
A. when feeding, a plurality of mobile phones are placed on the product jacking module (23), the mobile phones are jacked by the product jacking module (23), and the mobile phones can be sucked by the first sucking disc (25) under the action of the first Z-axis linear module (24) and the feeding linear module (22) and are moved onto the feeding conveying line (21) for conveying;
B. the adsorption module (32) is driven to move to the upper side of the mobile phone by driving of the manipulator (31), then the manipulator (31) drives the adsorption module (32) to move downwards, two adjacent sides of the mobile phone are respectively abutted against the two positioning blocks (35), so that the placing position of the mobile phone is positioned, then an air source is connected, the mobile phone is adsorbed by the second sucker (34), the mobile phone is driven by the manipulator (31) to move to the upper side of the visual detection positioning guide mechanism (9) for photographing detection, the position of a limiting structure of a rear cover of the mobile phone is confirmed, and finally the limiting structure is disassembled;
C. after the limit structure on the mobile phone rear cover is disassembled, the mobile phone is moved to the mobile phone sucker by the manipulator (31) to be fixed, the mobile phone is sucked by the fourth sucker (87) under the action of the vacuum generator, the pneumatic scissors (86) move to the upper part of the mobile phone under the action of the second X-axis linear module (81) and the fourth Z-axis linear module (84), and the rear cover is sheared, so that the sheared rear cover falls into the rear cover falling box (82) to be collected, and the whole disassembly process of the mobile phone is completed.
8. The flexible disassembly method of the flexible disassembly workstation for the rear cover of the waste mobile phone according to claim 7, which is characterized in that: and B, disassembling the limit structure on the mobile phone rear cover comprises one or more of the following steps:
s1, the manipulator (31) moves the mobile phone onto the support bracket (43), at the moment, the clamping support end of the mobile phone faces downwards, the second Z-axis linear module (42) drives the clamping support clamping jaw (46) and the thimble height adjusting assembly (47) to lift up, so that the thimble (48) can jack up the needle position of the clamping support, meanwhile, the clamping support clamping jaw (46) clamps the clamping support, the manipulator (31) further moves the mobile phone onto the heating bracket (57), at the moment, the clamping support clamping jaw (46) releases the clamping support, and the clamping support falls into the clamping support storage box (44);
s2, the heater (53) heats the mobile phone on the heating bracket (57), the infrared temperature sensor (59) measures the temperature of the mobile phone, so that whether the mobile phone is heated is judged, after the heating is finished, the third sucker (55) can move the heated mobile phone to the heating heat preservation table (56) under the action of the first X-axis linear module (52) and the third Z-axis linear module (54), glue of two rear small covers on the mobile phone is dissolved, and then the vacuum sucker is used for absorbing and removing the two rear small covers;
s3, when the manipulator (31) moves the mobile phone to the upper part of the screw disassembling module, the electric screwdriver (63) moves upwards through the driving of the electric cylinder (64) until the electric screwdriver (63) head of the electric screwdriver (63) is matched with the cross screw groove of the mobile phone, then the electric screwdriver (63) is driven, the cross screw on the mobile phone can be disassembled after the electric screwdriver (63) head rotates, and the disassembled cross screw automatically falls into the collecting box (62) for recycling;
s4, the mobile phone is placed on the positioning plate (14) by the manipulator (31), the two second clamping plates (16) move in opposite directions until the front end and the rear end of the mobile phone are clamped by the driving of the second clamping cylinder (13), so that the front position and the rear position of the mobile phone are corrected, and the two first clamping plates (15) move in opposite directions until the left end and the right end of the mobile phone are clamped by the driving of the first clamping cylinder (12), so that the left position and the right position of the mobile phone are corrected, and finally the mobile phone is centered and positioned on the positioning plate (14);
s5, the mobile phone on the positioning plate (14) is moved to a position between the large sucker (77) and the two small suckers (78) by the mechanical arm (31), the front side surface of the mobile phone is tightly supported on the adsorption surfaces of the two small suckers (78), the large sucker (77) is linearly moved until the adsorption surface of the large sucker is tightly supported on the rear side surface of the waste mobile phone by the driving of the first air cylinder (76), and finally an air source is connected, the large sucker (77) and the two small suckers (78) are simultaneously adsorbed and fixed on the waste mobile phone to drive the spindle motor (73), and meanwhile, the milling cutter (74) mills the buckle on the waste mobile phone under the driving of the triaxial moving module (72).
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| CN116000367A (en) * | 2022-12-09 | 2023-04-25 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Automatic cutting and unscrewing system for dust cover of shock absorber and operation method |
| CN118023900A (en) * | 2024-04-11 | 2024-05-14 | 镇江蓝博万能源科技有限公司 | Lithium battery dismounting system for new energy automobile |
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