JP3076545B2 - Automobile dismantling system using robots - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dismantling system for dismantling a scrap car using a robot.

[0002]

2. Description of the Related Art Home appliances such as televisions and washing machines, office equipment products such as personal computers, copiers and printers, and automobiles are disposed of as they are when they are used, or they are partially disassembled or disposed of in landfills. doing. When a part of the waste product is dismantled, the dismantling work is performed manually by an operator and / or using a single-function robot.

[0003]

In recent years, from the viewpoint of effective use of resources, it has been desired to eliminate wasteful disposal of products and recycle usable products and parts. However,
When dismantling parts and units for recycling, they are performed manually by workers and / or by single-function robots. Therefore, parts and units cannot be dismantled efficiently, and this is This is one reason that recycling is not progressing.

An object of the present invention is to provide a dismantling system capable of efficiently dismantling a scrap car by using a robot.

[0005]

According to the present invention, there are provided (a) a transport line 2 having a plurality of tables on which a scrap car 6 to be dismantled is to be mounted and a turntable provided at a predetermined interval. A transport line 2 having a pair of transport belts 4 extending in the movement direction 8 and moving through the dismantling movement path; and (b) the first stage ST0 in front of the waste vehicle 6 moved by the transport line 2 Product detection means 1 having a plurality of television cameras 14 and 15 for imaging a part and a rear part
0, a first stage ST0 having a vehicle body washer 12 for cleaning the waste vehicle 6, and (c) a transport stage provided before the first stage ST0, which is movably provided on a ceiling of a dismantling factory. A transport stage for electromagnetically attracting the waste vehicle 6 and placing it on a turntable of the transport line 2; (d) provided after the first stage ST0; In the dismantling movement path, in the moving direction 8, the second to ninth
Stages ST1 to ST8 are provided, and (e) the second stage ST1, (e1) suspended from the ceiling of the dismantling factory, and
A first laser cutting robot 20 that cuts the hood 24 and the cover 26 of the vehicle 6 and (e2) moves independently while traveling along the transport line 2, vacuum-adsorbs the cut hood 24 and the trunk cover 26, and , The removed hood 24 is placed on a bonnet place 28 provided on the side of the transport line 2, and the removed trunk cover 26 is placed on the trunk cover place 3 provided on the side of the transport line 2.
0, a first vacuum suction robot 22 mounted on the vehicle 0, (e3) a gasoline extracting robot 32 for sucking and removing gasoline remaining in the gasoline tank of the waste vehicle 6, and (e4) an oil pan of an engine of the waste vehicle. Second stage ST including oil removal robot 34 for removing engine oil by removing oil removal bolts
(F) the third stage ST2, and (f1) a second laser cutting robot 36 which cuts the dismantled car 6 so that the windshield 40 and the rear glass can be removed, wherein the dismantled car is hung from the ceiling. (F2) a second vacuum suction robot 38, which travels independently along the transfer line 2 and moves to hold the windshield 40 and the rear glass 42 by vacuum suction during cutting work by the second laser cutting robot 36; ,
After the cutting operation by the second laser cutting robot 36, the held windshield 40 was placed on the windshield storage area 44 provided on the side of the transport line 2, and was held after the cutting operation by the second laser cutting robot 36. A third stage ST2 having a second vacuum suction robot 38 for placing the rear glass 42 on a rear glass storage 46 provided on the side of the transport line 2, and (g) a fourth stage ST3, wherein (g1) Dismantled car 6
And (g2) a third vacuum suction robot 48, which moves independently along the transport line 2 and moves by the third laser cutting robot. During the cutting operation, the door 50 to be cut is held by vacuum suction, and after the cutting operation by the third laser cutting robot, the held left and right doors 50 are provided on both sides of the transfer line 2 on the same side as the door 50, respectively. (H) the fifth stage ST4, (h1) suspended from the ceiling of the dismantling plant,
A fourth laser cutting robot that cuts the roof 58 so that the seat 60 can be detached from above the scrap car 6 from which the roof 58 has been removed, and (h2) a fourth vacuum suction robot 54. Then, it travels independently along the transport line 2 and moves, and at the time of the roof cutting operation by the fourth laser cutting robot, holds the roof 58 of the waste car 6 by vacuum suction and performs the roof cutting operation by the fourth laser cutting robot. A fourth vacuum suction robot 54 for removing the held roof 58 from the waste vehicle 6; and (h3) holding the seat 60 at the time of cutting the seat 60 by the fourth laser cutting robot, and using the fourth laser cutting robot. Removal in which the seat 60 after the roof cutting operation is placed on the seat storage 62 provided on the side of the transport line 2 A fifth stage ST4 and a bot 56, the sixth stage S having an inverting robot 64 placed and held on the table upside down with (i) the body of waste automobile 6
T5; and (j) a tire detaching robot 66 that holds and removes the inverted tire 68 of the scrap car 6 and places the removed tire 68 on a tire storage 70 provided on the side of the transport line 2. A seventh stage ST6, (k) an eighth stage ST7, (k1) a fifth laser cutting robot for laser cutting the transmission and the engine 76 of the scrap car 6, and (k2) a first detaching robot 72. , The transmission and the engine 76 and the fifth
After the laser cutting operation by the laser cutting robot, the held transmission is placed on a transmission holding place 75 provided on the side of the transfer line 2, and after the laser cutting operation by the fifth laser cutting robot, the held engine 76 is transferred. A first removal robot 72 mounted on an engine storage 78 provided on the side of the line 2; and (k3) a bumper storage 82 provided on the side of the transport line 2 by removing the bumpers 80 before and after the scrapping vehicle 6. Stage S having a second removal robot 74 mounted on a stage
T7, and (l) a press machine 8 that presses the scrap car 6
A ninth stage ST8 having a 4; (m) a model dismantling information storage means 104 for storing specific model dismantling information corresponding to the model of the scrapped vehicle 6; and (n) responding to detection signals from the television cameras 14 and 15. Then, the system control means 102 for specifying the model of the scrapped vehicle 6 placed on the table and reading the disassembly information of the detected model from the model disassembly information storage means 104, and (o) the first robot control means 106 There is provided first individual dismantling information storage means for storing general dismantling information common to the models of the abandoned vehicles 6, and the specific model dismantling information provided from the system control means 102 and the first individual dismantling information storage means First robot control means 106 for creating dismantling work information by combining the general dismantling information of the first robot and the first laser cutting robot 20 according to the model; The control means 108 includes second individual dismantling information storage means for storing general dismantling information common to the models of the scrapped automobiles 6, and specific model dismantling information provided from the system control means 102 and second individual dismantling information. (Q) the third robot control means 110 which combines the general dismantling information from the information storage means to create dismantling work information and controls the second laser cutting robot 36 according to the model; There is provided a third individual dismantling information storage means for storing general dismantling information common to the models of the scrapped automobiles 6, and a specific model dismantling information provided from the system control means 102 and a third individual dismantling information storing means. And (r) a fourth robot control means 110 for generating dismantling work information by combining the general dismantling information of the first robot and the first vacuum suction robot 22 according to the model. The control means 112 includes fourth individual dismantling information storage means for storing general dismantling information common to the models of the scrapped automobiles 6, and specific model dismantling information provided from the system control means 102; A dismantling work information is created by combining the general dismantling information from the information storage means, and a fourth robot control means 112 for controlling the second vacuum suction robot 38 according to the model is used. It is a car dismantling system.

According to the present invention, as dismantling information relating to abandoned vehicles, there are specific model dismantling information which is dismantling information specific to the model of the abandoned vehicle, and general waste information common to all abandoned vehicles. The discard information is stored in the system control means 102, and the general disassembly information is stored in the robot control means 106, 108, 110, 11 of a plurality of robots.
2 is stored. The system control means sends specific model disassembly information corresponding to the scrapped car to be dismantled based on the detection information from the product detection means to the robot control means of the robot, and each robot responds to the specific model disassembly information. The dismantling operation is performed in combination with general dismantling information of the robot control means to be dismantled. Therefore, the robot automatically performs dismantling work corresponding to the scrapped vehicle to be dismantled, and can efficiently dismantle the scrapped vehicle. Also, the amount of instruction information sent from the system control unit to each robot control unit may be small, and efficient control of each robot can be performed.

The present invention also relates to the system control means 10.
The specific model information transmitted from 2 includes dismantling tool information used for dismantling work, and the plurality of robots exchange the dismantling tool based on the dismantling tool information.

According to the present invention, since the specific model disassembly information sent from the system control means includes disassembly tool information, the robot selects a disassembly tool to be used in the disassembly operation based on the disassembly tool information. If necessary, a plurality of types of dismantling operations can be performed by automatically exchanging dismantling tools and exchanging the tools.

The present invention also provides (a) a turntable 202 rotatably supported on the floor of a dismantling factory and on which a waste car 204 is mounted, and (b) a turntable 202 in the forward and reverse rotation directions 206 and 2.
And (c) disposing the scrap car 204 on the turntable 202 by:
A lifting jack which rises and falls relatively to the turntable 202; and (d) one rotation direction 20 in the circumferential direction of the turntable 202.
6, a loading / unloading area A0 and first to sixth dismantling work areas A1 to A6 are provided in this order, and (e) a loading / unloading area A0 in which loading / unloading cranes are arranged. The loading / unloading crane 208 is suspended from the ceiling of the dismantling factory, magnetically attracts the waste vehicle 204 and mounts it on the turntable 202, and magnetically disposes the waste vehicle 204 on the turntable 202. (F) a first dismantling work area A1 having a first removal robot 212 for carrying in and out of the press working machine or a carry-in area for carrying into the press working machine; The first dismounting robot 212 is a first dismantling work area A1 which is a self-propelled robot for removing bumpers before and after the scrap car 204, and (g) a second dismantling work area A2, and (g1) the turntable 20 (G2) guided by the first guide rail 216, movable in the direction of approaching and separating from the turntable 202, and disposed of. The roof 218, hood, trunk cover, door 222 and windshield 23 of the automobile 204
A second dismantling work area A2 having a laser cutting robot 214 for cutting the glass frame of the second and rear glass 234; and (h) a third dismantling work area A3 having a second removal robot 224, wherein the second removal robot 224 is provided. Removes the tire 226 of the scrap car 204, holds the door 222 cut by the laser cutting robot 214 in the second dismantling work area A2, and removes the door 222 from the scrap car 20.
The third dismantling work area A3 which is a self-propelled robot to be removed from 4
(I) The fourth dismantling work area A4 having the oil removing robot 228, wherein the oil removing robot 228 is housed in the pit 227 and the engine 21 of the waste vehicle 204.
5. Remove the oil removal bolt screwed into the oil pan 5 to remove the engine oil,
(J) a fifth dismantling work area A5 for removing the transmission and the muffler of No. 04; (j1) a pair of second guide rails 231 provided on the floor of the dismantling factory; ) The vehicle is guided by the second guide rail 231 and is movable in the direction of approaching and separating from the turntable 202.
When cutting the glass frames of the front glass 232 and the rear glass 234 of the first embodiment, a fifth dismantling work area A5 having a first vacuum suction robot 230 for vacuum-suctioning and removing the front glass 232 and the rear glass 234 from the waste vehicle 204; A) The sixth dismantling work area A6 having the second vacuum suction robot 234, wherein the second vacuum suction robot 234 is hung from the ceiling of the demolition factory and the laser cutting robot 21
4, the roof 218, the hood and the trunk cover of the scrap car 204 are held in vacuum, and the roof 218, the hood and the trunk cover are cut off.
A sixth dismantling work area A6 that holds the engine 215 and the seats that have been detached from the robot 4, and (1) robot control means 242, the first detaching robot 212, the laser cutting robot 214, and the second detaching robot 224. , Oil removal robot 228, first vacuum suction robot 230, and second vacuum suction robot 234
, And stores general disassembly information for dismantling the scrap car 204. Based on the disassembly information obtained by combining the general disassembly information and the received specific model disassembly information, the received movement command is provided. (M) a first removal robot 212, a laser cutting robot 214, a second removal robot 224, an oil removal robot 228, and a first vacuum suction. A camera 248 for monitoring movement with the robot 230; and (n) a system control means 244,
In response to the output of the first removal robot 212, the laser cutting robot 214, and the second removal robot 212, the specific removal information of the specific model regarding the scrapped vehicle 204 and the movement command including the movement information based on the monitoring information from the camera 248. An automobile dismantling system using a robot including a removal robot 224, an oil removal robot 228, and a system control unit 244 provided to each robot control unit 242 of a second vacuum suction robot 234.

According to the present invention, the loading / unloading crane 20
Car 204 to be dismantled by turntable 2
02 on the turntable 20
The disassembly operation is sequentially performed by the rotation of 2. The dismantled automobile 204 carries the loading / unloading crane 2
08, it is conveyed to a press working machine, and press working is performed by this press working machine. The disassembly system of the present invention can be reduced in size and simplified, can reduce the cost of the entire system, and can therefore be conveniently implemented in a disassembly system having a small dismantling capability.

[0011]

[0012]

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a disassembly system according to the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a perspective view schematically showing a disassembly system according to a first embodiment of the present invention. FIG. 2 is a block diagram showing a control system of the disassembly system shown in FIG. FIG. 3 is a time chart showing a part of the control by the control system of FIG.

In FIG. 1, the disassembly system shown includes a transport line 2 for transporting an automobile to be discarded. The transport line 2 includes a pair of transport belts 4 extending in a predetermined direction, and a turntable (not shown) is provided on the pair of transport belts 4 at a predetermined interval.
The automobile 6, which is a waste product, is placed on a turntable moved by a pair of conveyor belts 4, and is moved in a direction indicated by an arrow 8 through a disassembly movement path constituted by the conveyor line 2.

In this embodiment, a plurality of stages ST1 to ST8 are arranged on the disassembling movement path at intervals in the direction shown by arrow 8. Each stage ST1
In ST8, one or more dismantling robots (described later) for performing dismantling work performed in the stage are provided, and while the scrapped car 6 is moved through each of the stages ST1 to ST8, A predetermined disassembly operation is performed.

In this dismantling system, the first stage ST0 provided before the stage ST1 for performing dismantling work is a stage for performing vehicle type certification and body washing work as preparations before performing actual dismantling work. is there. And
In this regard, the stage ST0 is provided with the product detection means 10 and the vehicle body washer 12 (FIG. 2). In addition, a loading stage (not shown) is provided in front of the stage ST0, and a loading crane (not shown) is provided in the loading stage. This crane is provided, for example, movably in a predetermined direction on the ceiling of a dismantling factory where a dismantling system is installed, and electromagnetically attracts a waste car 6 to be dismantled on a turntable (not shown) of the transport line 2. And the discarded vehicle 6 placed on the turntable is transported in the direction indicated by the arrow 8 and moved to the stage ST0.

In this embodiment, the product detecting means 10
It is composed of a plurality of television cameras 14 and 15.
Front and rear support poles 16 and 18 are provided on the entrance side and the exit side of the stage ST0, and a total of three front television cameras 14 are provided on both sides and on the upper side of the front support pole 16, respectively.
A TV camera 15 on the rear side is mounted on both sides and an upper portion of the rear support pole 18. The front television camera 14 photographs the front of the scrap car 6 moved by the transport line 2, and the rear television camera 15 photographs the rear of the scrap car 6.

The second stage ST1 is a stage for performing a bonnet / trunk cover removing operation as a dismantling operation. The stage ST1 is provided with a laser cutting robot 20 and a vacuum suction robot 22 as dismantling robots. The laser cutting robot 20
It is provided to be suspended from the ceiling of a dismantling factory, is provided with a laser cutting device as a dismantling tool, and cuts as required so that the hood 24 and the trunk cover 26 of the scrap car 6 can be removed. In addition, the vacuum suction robot 22
Is provided with a vacuum suction device as a dismantling tool, vacuum-adsorbs the cut hood 24 and the trunk cover 26 and removes them from the waste vehicle 6, and places the removed hood 24 and the trunk cover 26 on the side of the transport line 2 respectively. It is placed on the provided hood storage space 28 and trunk cover storage space 30.

In this embodiment, the stage ST1 further performs an oil extracting operation, and in connection with this, a gasoline extracting robot 32 and an oil extracting robot 34 are provided as dismantling robots. The gasoline extracting robot 32 is provided with a suction device as a dismantling tool, and sucks and removes gasoline remaining in a gasoline tank (not shown) of the waste vehicle 6. The oil removing robot 34 is disposed in a pit provided on the stage ST1 and includes a bolt tightening tool as a dismantling tool. The oil removing robot 34 removes an oil removing bolt provided on an oil pan of an engine of the waste car 6 and attaches the oil removing robot to the engine. Remove residual engine oil.

The third stage ST2 is a stage for performing a glass removing operation as a dismantling operation. This stage ST2 is provided with a laser cutting robot 36 and a vacuum suction robot 38 as dismantling robots. The laser cutting robot 36 is suspended from the ceiling of the dismantling factory and the windshield 40 and the rear glass 4
Cut as required so that 2 can be removed. Also,
The vacuum suction robot 38 uses a vacuum suction device to cut the windshield 4 during the cutting operation by the laser cutting robot 36.
0, the rear glass 42 is held by vacuum suction, and after the cutting operation, the held front glass 40 and rear glass 42 are held on the side of the transport line 2 like the storage spaces 28 and 30 by the windshield storage 44 and rear glass. It is placed on the storage 46.

The fourth stage ST3 is a stage for performing a door attaching / detaching operation as a dismantling operation. On this stage ST3, a laser cutting robot (not shown) and a vacuum suction robot 48 are provided as dismantling robots. As described above, the laser cutting robot (not shown) is suspended from the ceiling of the dismantling factory, and cuts as required so that the front and rear doors 50 of the scrap car 6 can be removed by the laser cutting device. In addition, the vacuum suction robot 48 holds the door 50 that is cut by the vacuum suction device at the time of the cutting operation by the laser cutting robot by vacuum suction, and places the door 50 held after the cutting operation on the door place 52. Door storage areas 52 are provided on both sides of the transport line 2, and one (right-hand side in FIG. 1) door storage area 52 has left and right front and rear doors 50 of the discarded automobile 6 whose front and rear are reversed in the moving direction 8. In the other (left side in FIG. 1) door storage area 52, the front and rear doors 50 on the right side of the waste vehicle 6 are mounted. That is, after the cutting operation by the laser cutting robot, the left and right doors 50 held by the laser cutting robot are placed on the door storage areas 52 provided on both sides of the transfer line 2 on the same side as the doors 50 respectively.
It is placed by the vacuum suction robot 48.

The fifth stage ST4 is a stage in which a roof cutting and removing operation and a seat attaching and detaching operation are performed as dismantling operations. The stage ST4 includes a laser cutting robot (not shown), a vacuum suction robot 54, and a removal robot 56 as dismantling robots. Laser cutting robot and vacuum suction robot 54
Is hung on the ceiling of a demolition plant. The laser cutting robot (not shown) cuts the roof 58 of the scrap car 6 by the laser cutting device. In addition, the vacuum suction robot 54 holds the roof 58 of the discarded vehicle 6 by vacuum suction by the vacuum suction device during the roof cutting operation by the laser cutting robot, and removes the held roof 58 from the discarded vehicle 6 after the cutting operation. Stage S
The T4 laser cutting robot (not shown) also cuts the front and rear seats 60 from above the waste vehicle 6 from which the roof 58 has been removed so that the seats 60 can be attached and detached. At this time, the detaching robot 56 includes a holder for holding the seat 60, holds the seat 60 to be laser-cut at the time of the cutting operation, and moves the cut seat 60 to the transfer line 2 as shown in FIG. It is placed on a seat storage 62 provided on the side.

The sixth stage ST5 is a stage in which an upside-down operation as a disassembly operation is performed. In this stage ST5, a reversing robot 64 as a dismantling robot is provided. The reversing robot 64 includes a reversing tool for reversing the vehicle body, and the stages ST1 to ST1.
In ST4, the discarded vehicle 6 from which various parts have been removed is held and the vehicle is turned upside down. Therefore, after this stage ST5, the discarded vehicle 2 is placed and held on a turntable (not shown) with its upside down, and thereafter, the suspension of the discarded vehicle 6 and parts related to the engine are detached.

The seventh stage ST6 is a stage in which a tire removing operation is performed as a dismantling operation. In this stage ST6, a tire detaching robot 66 is provided as a dismantling robot. Tire removal robot 6
Reference numeral 6 denotes a tire release tool as a dismantling tool, which holds and removes the inverted tire 68 of the scrap car 6 and places the removed tire 68 in a tire storage area 70 provided on the side of the transport line 2. I do.

The eighth stage ST7 is a stage for performing the engine / transmission / detachment work and the bumper / detachment work as dismantling work. The stage ST7 is provided with a laser cutting robot (not shown) and removal robots 72 and 74. The laser cutting robot (not shown) laser-cuts the transmission (not shown) of the scrap car 6 by the laser cutting device, and the detaching robot 72 holds the transmission by the holding tool at the time of laser cutting, and cuts the transmission. Transmission storage 7
Place on 5. These laser cutting robots (not shown)
The removal robot 72 is also used when attaching and detaching the engine 76, and the engine 76 cut by the laser cutting robot is placed on the engine storage 78 by the removal robot 72. The other removal robot 74
Are used when attaching and detaching the front and rear bumpers 80, and the front and rear bumpers 80 removed by the removal robot 74 are placed on the bumper storage area 82.

The scrapped vehicle 6 moved through the stages ST0 to ST7 in this manner,
After the required work is performed in ST7 and various removable parts are removed, the stage is moved to the last stage ST8. The ninth stage ST8 is a stage for performing a vehicle body press operation as a dismantling operation. On this stage ST8, a large press machine 84 is provided. The large press machine 84 presses the discarded automobile 6 and is carried out of the press machine 84 after the press work.

In this manner, a predetermined dismantling operation of the scrapped vehicle 2 is performed, and the scrapped vehicle 6
Is dismantled as described above while being moved through the stages ST0 to ST8 along. And, in the dismantled various parts, for example, the windshield 40, the rear glass 42, the seat 60, the tire 68, the bumper 80 and the like which can be reused as they are, the various parts which are reused and dismantled as they are, For example, among the above-mentioned parts, those that are difficult to reuse as they are, such as the engine 76, the transmission, the roof 58, and the door 50, are subjected to a predetermined reprocessing for recycling, and then are manufactured as new parts and then reused. You.

The above-mentioned various dismantling robots, for example, the laser cutting robots 20 and 36 and the vacuum suction robots 22, 38, 48 and 54 can move over a predetermined range along the transfer line 2. It is composed of an autonomous traveling robot, and by constructing such an autonomous traveling robot, the scrapping vehicle 6 placed on a turntable (not shown) is dismantled as required while moving the transport line 2 at a predetermined speed. can do.
Then, by using such a dismantling system, a large number of waste vehicles 6 can be dismantled efficiently.

The disassembly system described above is controlled by a control system shown in FIG. Referring to FIG. 2, the disassembly system shown includes system control means 102 for controlling the entire disassembly system. This system control means 102 is composed of, for example, a large-sized host computer. The system control unit 102 includes a model disassembly information storage unit 104 that stores specific model disassembly information corresponding to the model of the vehicle 6 to be dismantled. Product detection means 1
0, specifically, the detection signals from the video cameras 14 and 15 are sent to the system control means 102, and the system control means 102 turns the turntable (not shown) based on the detection signals from the video cameras 14 and 15 ) Is specified and the model of the discarded vehicle 6 that has moved to the stage ST0 is specified, and specific model disassembly information corresponding to the specified discarded vehicle 6 is read from the model disassembly information storage unit 104.

[0031]

Various dismantling robots, ie, laser cutting robots 20, 36,..., Vacuum suction robots 22, 38,
, Etc., respectively, correspond to each of these robots, and the robot control means 106, 108, 110, 11
2, ... are provided. The robot control means 106, 108, 110, 112 of various dismantling robots are for controlling the corresponding robots 20, 36, 22, 38, and are constituted by, for example, small computers, and disassemble the scrap car 6 by a predetermined disassembly. It includes individual disassembly information storage means (not shown) in which general disassembly information for disassembly according to work is stored. Specific model disassembly information from the system control means 102 is used for various dismantling robots 22, 36,
, 38,... Robot control means 106, 108, 1
10 and 112, each robot control means 10
6, 108, 110, and 112 combine the supplied specific model disassembly information with pre-stored general disassembly information, and, based on the combined disassembly operation information, perform the above-described predetermined disassembly corresponding to the model. Perform processing. By dividing the disassembly information in this way, the amount of information sent from the system control means 102 to the robot control means can be reduced.

Here, the specific model disassembly information stored in the system control means 102 and each robot control means 106, 1
The general disassembly information stored in 08, 110, 112,... Will be described. The specific model disassembly information sent from the system control unit 102 includes disassembled part information indicating a disassembled part in a specific model, work order information indicating a work order for disassembling the disassembled part, and the position and disposition of the dismantled part. The information includes position information indicating the direction of the vehicle. The disassembled part information, the work order information, and the position information are information specific to the vehicle 6 to be dismantled. Therefore, the information corresponds to the model specified based on the detection signal from the model detection means 10. Is sent from the system control means 102.

Each robot control means 106, 10
The general disassembly information stored in 8, 110, 112,... Is, for example, operation information for operating and stopping the tool for removing the fixing screw (not shown) in the detaching direction when removing the fixing screw (not shown). When cutting, the operation information for operating and stopping the laser cutting device provided in the laser cutting robot 20,... When the components are vacuum-sucked, the operation information for operating and stopping the suction device for vacuum-sucking is provided. is there. These pieces of operation information are not information specific to the vehicle 6 to be dismantled, but are information common to these vehicles 6. Therefore, these information are individually stored as general dismantling information in the robot control control means of each dismantling robot. Is done. Then, the dismantling work information is generated by combining the specific model dismantling information and the general dismantling information in the robot control means of each dismantling robot, and the dismantling work of the corresponding dismantling robot is performed based on the dismantling work information. You.

For example, referring to FIG. 3 mainly showing a work flow of the dismantling work of the stage ST1, when the scrap car 6 to be dismantled is moved to the stage ST0, the product detecting means 10 turns the car 6 off. And the detection signal from the product detection means 10 is
Sent to 2. Thus, the system control means 102
Specifies a model of the car 6 to be dismantled based on a detection signal from the product detecting means 10 and outputs specific model disassembly information corresponding to the specified model to the body washing machine 12 of the stage ST0 and various robots of the stage ST1. 20, 22,
32, 34 robot control means 106, 110, 11
6,118. This specific model disassembly information is further sent to the robot control means of various robots in stages ST2 to ST7. Since the control in stages ST2 to ST7 is almost the same as the control in stage ST1, these will be described. Omitted.

When the specific model disassembly information is sent to the body washer 12 of the stage ST0, the vehicle washer 12 to be dismantled is operated while the car 6 to be dismantled passes through the body washer 12, thereby being transported. Cleaning is performed on the automobile 2 moving on the line 2. In addition, in this body washing, a car body detection sensor is provided on the entrance side and the exit side of the car body washing machine 12, and when the car body detection sensor on the entrance side detects the automobile 6, the car body washing machine 12 is activated, The operation of the body washer 12 may be stopped when the detection sensor has finished detecting the automobile 6.

The specific model disassembly information from the system control means 102 is also sent to the robot control means 106, 110, 116, 118 in the stage ST1. For example, the robot control means 10 of the laser cutting robot 20
The specific model disassembly information sent to 6 includes “bonnet” and “trunk cover” as disassembled part information, “bonnet cut”, “cut off”,
"Trunk cover cutting", "cutting stop" and "return to the original", and "bonnet cutting start position", "bonnet cutting end position", "bonnet cutting locus", "trunk cover cutting start position" as position information, Trunk cover cutting end position "and" Trunk cover cutting locus "
And On the other hand, the robot control means 10
6 includes “operation” and “operation stop” as general disassembly information. Therefore, in the laser cutting robot 20, the following laser cutting operation is performed based on the specific model disassembly information described above and the general disassembly information described above. In this laser cutting robot 20,
First, the robot controller 106 performs laser cutting based on the information of “bonnet” of disassembled part information, “bonnet cutting” of work sequence information, “bonnet cutting start position” of position information, and “operation” of general dismantling information. Robot 20
To start cutting the bonnet 24. Then, the robot control means 106 moves the laser cutting device based on the “bonnet cutting locus” as the position information, and performs a predetermined laser cutting on the bonnet 24. When the movement of the laser cutting device based on the "bonnet cutting locus" is completed, the robot control is performed based on the "cutting stop" of the work sequence information, the "bonnet cutting end position" of the position information, and the "operation stop" of general dismantling information. Means 106
Temporarily stops the operation of the laser cutting device. Then
Based on the information of “trunk cover” of disassembled part information, “trunk cover cutting” of work order information, “trunk cover cutting start position” of position information, and “operation” of general disassembly information, the robot control means 106 again. The laser cutting robot 20 is operated to start cutting the trunk cover 26. Then, the robot control means 106 moves the laser cutting device based on the “trunk cover cutting locus” as the position information, and performs a predetermined laser cutting on the trunk cover 26. "Trunk cover cutting locus"
When the movement of the laser cutting device based on the information is completed, the robot control unit 106 determines the laser based on the “cutting stop” of the work sequence information, the “trunk cover cutting end position” of the position information, and the “operation stop” of the general dismantling information. Temporarily stop operation of the device. After that, "Return to the original" in the work order information
, The robot control means 106 returns the laser cutting robot 20 to the original state, and the hood 24 and the trunk cover 26 are cut by the laser cutting robot 20 in this manner.

For example, the specific model disassembly information sent to the robot control means 110 of the vacuum suction robot 22 includes "bonnet" and "trunk cover" as disassembled parts information and "bonnet suction" as work sequence information. , "Bonnet transfer", "bonnet suction release",
"Trunk cover suction" and "Trunk cover conveyance", "Trunk cover suction release" and "Return"
And "bonnet suction start position" as position information,
It includes a “bonnet transfer end position”, a “bonnet transfer locus”, a “trunk cover suction start position”, a trunk cover transfer end position, and a “trunk cover transfer locus”. On the other hand, the robot control means 106
Include "adsorption operation", "adsorption release", "transport", and "transport stop" as general disassembly information. Then, the above-described transport of the hood 24 and the trunk cover 26 is performed based on the specific model disassembly information and the general disassembly information. The disassembly order of the disassembled parts is desirably disassembled in an order substantially opposite to the assembling order of the self-propelled vehicle 6 to be disassembled. The car 6 can be easily dismantled.

In this embodiment, for example, the information on the “bonnet cutting start position” in the laser cutting robot 20 includes mere position information and position information on the operation direction, and the mere position information is specified in the stage ST1. In the three-dimensional coordinate system having the reference position as the origin, for example, (150, 300, 500) or the like is represented. Regarding the position information of the action direction at that position, the three-dimensional coordinate system having the specific reference position as the origin With a unit vector of, for example, (0.2, 0.1,
0.97). Various kinds of position information other than the “bonnet cutting start position”, for example, “bonnet cutting end position”, trunk cover cutting start position, and “trunk cover cutting end position” are also represented in the same manner as described above.

In relation to the representation of various types of position information, the stages ST1 to ST7 respectively include:
Position detection sensors 122 and 124 (shown in FIG. 2 provided on stages ST1 and ST2) are provided. The position detection sensors 122 and 124 detect, for example, the front end of the discarded vehicle 6 that is mounted and transported on a turntable (not shown). These position detection sensors 12
2 and 124 are sent to the system control means 102, and the positions of various kinds of position information are specified in consideration of the position signals from the system control means 102. Note that the detection signals of the position detection sensors 122 and 124 may be sent to the robot control means of various robots of the corresponding stages ST1 to ST7, and the detection signals may be used in each stage.

For example, the specific model disassembly information sent to the robot control means 106 of the oil removal robot 34 in the stage ST1 includes "oil removal bolt" as disassembled part information and "tool removal" as work order information. "Confirmation / replacement", "Bolt rotation", "Rotation stop" and "Return to the original", and "Bolt start position" as position information
And "M10" (information indicating that the bolt size is M10) as dismantling tool information. On the other hand, the robot control means 106 includes “rotation” and “rotation stop” as general disassembly information.
Therefore, in the oil removal robot 34, the oil removal operation is performed as follows based on the specific model disassembly information described above and the general disassembly information described above. First, based on "tool confirmation / replacement" of the work sequence information and "M10" as dismantling tool information, automatic confirmation as to whether or not the bolt removing tool provided in the oil removing robot 34 is appropriate. When the operation is performed and the provided bolt removing tool is suitable for removing the M10 bolt, the next bolt rotation operation is performed as it is. On the other hand, if the bolt removing tool is not appropriate, the "M10"
The tool for bolt removal is automatically changed based on the
Thereafter, a bolt turning operation is performed. Next, the oil removing robot 34 moves the oil removing bolt in a predetermined direction based on the “bolt rotation” of the work sequence information, the “bolt start position” as the position information, and the “rotation” of the general disassembly information. To remove the oil from the oil pan, and the engine oil is removed in this manner. When the bolt is removed in this manner, the oil removing robot 34 stops the rotation of the bolt removing tool based on the “rotation stop” of the work sequence information and the “rotation stop” of the general disassembly information. Thereafter, the operation returns to the original position based on the "return to original" of the operation sequence information, and the engine oil removing operation is performed as required.

In this embodiment, the gasoline extracting robot 32 is equipped with a cap removing tool for removing the cap and a suction device for sucking gasoline. In such a robot 32, first, the cap is removed using the cap removing tool, and then the cap removing tool and the suction device are moved to position the suction device at the oil supply port. The remaining gasoline is removed by suction.

In this manner, the predetermined dismantling work by the various robots 20, 22, 32, 34 in the stage ST1 is performed. The operation order among the various robots 20, 22, 32, and 34 in this stage ST1 is also included in the specific model disassembly information from the system control means 102.
In order to prevent the dismantling work from being interrupted due to mutual interference during the operation of 22, 32, 34, various robots 2
The operation order, operation time, and the like of 0, 22, 32, and 34 are set.

In this embodiment, the control system is constituted by a combination of the system control means 102 and the robot control means provided for the various robots. S
Stage control means may be provided to control the various robots in T7 for each stage. In such a case, the specific model disassembly information from the system control means 102 is sent to each stage control means, and the specific model disassembly information is sent to each stage control means and the robot control means for various dismantling robots provided on the corresponding stages. General disassembly information to be combined is stored.

Second Embodiment FIG. 4 is a perspective view schematically showing a disassembly system according to a second embodiment of the present invention. In FIG. 4, the disassembly system shown includes a turntable 202 on which a car to be discarded is placed, and a discarded car 204 is placed on the turntable 202 which is a specific stage. The turntable 202 is rotatably supported on the floor of a demolition plant,
It is rotated in a direction indicated by arrows 206 and 207 by a rotation driving means (not shown) such as a motor. The turntable 202 is also provided with a lifting jack (not shown). By operating the lifting jack, the waste vehicle 204 on the turntable 202 is raised and lowered relatively to the turntable 202. Can be.

In the second embodiment, a carry-in / out area A0 and dismantling work areas A1 to A6 are provided at intervals in the circumferential direction of the turntable 202. The loading / unloading crane 20 is related to the loading / unloading area A0 serving as a reference.
8 are provided. The loading / unloading crane 208 is hung on the ceiling of a dismantling factory, is provided with an electromagnetic suction means 210 as an adsorption device, magnetically adsorbs the waste vehicle 204 to be dismantled, and places it on the turntable 202. The dismantled automobile 204 after dismantling on the table 202 is magnetically attracted and transported to a press machine (not shown) or to a carry-in area for carrying the press machine.

Dismantling work areas A1 to A6 are provided in this order in the rotation direction of the turntable 202 indicated by the arrow 206. Demolition work area A located next to import / export area A0
1 is provided with a removal robot 212 as a dismantling robot, and this removal robot 212
Perform bumper removal work to remove bumpers before and after. The removal robot 212 may have the same configuration as the removal robot 74 in the stage ST7 of the first embodiment.

A laser cutting robot 214 is provided in a dismantling work area A2 located next to the dismantling work area A1. A pair of guide rails 216 extending linearly outward in the radial direction from the turntable 202 are laid on the floor of the dismantling factory, and the laser cutting robot 212 is guided by the pair of guide rails 216 to turn the turntable. 20
2 can be moved in the direction of approaching and separating from it. The laser cutting robot 214 includes a laser cutting device for cutting a member, and performs a cutting operation as a disassembly operation.
Such a laser cutting robot 214 may have the same configuration as the laser cutting robot 36 in the stage ST2 of the first embodiment.

With this laser cutting robot 214,
When cutting the roof 218, hood (not shown), trunk cover (not shown), etc. of the automobile 204, the vacuum suction robot 220 provided in the dismantling work area A6 holds them in vacuum, and When cutting the front and rear doors 222 of the automobile 204 by the cutting robot 214, the removal robot 224 provided in the next dismantling work area A3 holds them. When cutting is performed by the laser cutting robot 214, the turntable 202 is turned by arrows 206 and 207 as necessary.
It is rotated in the direction shown by.

In the dismantling work area A3 located next to the dismantling work area A2, the removal robot 224 is provided as described above. The removal robot 224 removes the tires 226 and the front and rear doors 222 cut by the laser cutting robot 214 in the dismantling work area A2.
Is removed from the car 204. This removal robot 224
May have substantially the same configuration as the tire attaching / detaching robot 66 in the stage 6 of the first embodiment, and the door 222 can be held by exchanging a removal tool.

An oil removal robot 228 is provided in a dismantling work area A4 located next to the dismantling work area A3. A pit 227 is provided on the turntable 202 corresponding to the dismantling work area A4, and an oil removing robot 228 is accommodated in the pit 227. The oil removing robot 228 removes an oil removing bolt (not shown) screwed into the oil pan of the engine 215, thereby removing the engine oil. The oil removing robot 228 may have substantially the same configuration as the oil removing robot 34 in the stage ST1 of the first embodiment. The oil removal robot 34 also functions as a removal robot by exchanging a work tool, and detaches and attaches components, for example, a transmission, a muffler, and the like, disposed at a lower portion of the waste vehicle 204.

A vacuum suction robot 230 is provided in a dismantling work area A5 located next to the dismantling work area A4.
A pair of guide rails 231 is provided on the floor of the dismantling factory, and the vacuum suction robot 2 is mounted on the guide rails 231.
30 is movably guided in a direction approaching and separating from the turntable 202. This vacuum suction robot 2
30 vacuum-adsorbs the front glass 232 and the rear glass 234 and removes them from the automobile 204. When the windshield 232 and the rear glass 234 are removed, the laser cutting robot 214 is used to cut the glass frames of the windshield 232 and the rear glass 234 of the automobile 204. This vacuum suction robot 23
Reference numeral 0 may have a configuration substantially similar to that of the vacuum suction robot 38 in the stage ST2 of the first embodiment.

In the dismantling work area A6, a vacuum suction robot 234 suspended from the ceiling of the dismantling factory is provided. The vacuum suction robot 234 holds the cut roof 218, hood (not shown), trunk cover (not shown), and the like under vacuum and removes the roof 218 from the automobile. Also,
In this embodiment, the vacuum suction device of the vacuum suction robot 234 can be replaced with a holder for holding the engine 215 and the like.
A cut engine 215, a seat (not shown), and the like can be held.

In the second embodiment, the loading / unloading crane 208 and the various robots 212, 214, 224,
Each of the cameras 228, 230, and 234 is equipped with a camera (not shown) for detecting a predetermined work position and the like, and is equipped with a receiving means 240 composed of a receiver. In addition, various robots 212, 214, 224, 228, 2
30 and 234 are provided with a robot control means 242 (shown for some robots in FIG. 4), as in the first embodiment.
General disassembly information for dismantling the automobile 204 is stored.

In the second embodiment, a system control means 244 for controlling the entire dismantling system is provided.
As in the first embodiment, specific model disassembly information of a plurality of models is stored in the system control unit 244.
In connection with the system control means 244, a transmission means 246 composed of a transmitter and a camera 248 for monitoring the entire system control means 244 are provided. In this disassembly system, the laser cutting robot 214 and the vacuum suction robot 230 are composed of rail traveling robots, and the removal robot 212 and the removal robot 224 are provided.
And the oil removing robot 228 is composed of a self-propelled robot.
The movement of 4, 228, 230 is monitored by the camera 248, and the monitoring information of the camera 248 is sent to the system control means 244. The system control means 244 sends specific model disassembly information relating to the disassembled automobile 204 to the robot control means 242 of each robot, and issues a movement command including movement information based on the monitoring information during the dismantling work, to the robot control of each robot. To the means 242. The specific model disassembly information and the movement command are transmitted by the transmitting means 246.
Is transmitted as a transmission signal, and the transmitted signal is
It is received by the receiving means 240 of each robot. The information contained in the signals received at each robot is:
The general dismantling information stored in the corresponding robot control means 242 is combined, and the dismantling work of the dismantling car 204 is performed based on the combined dismantling information.

In the second embodiment, the vehicle 204 to be dismantled is positioned on a specific stage on the turntable 202 by the loading / unloading crane 208, so that a predetermined dismantling operation for the located vehicle 204 is performed. . Then, the automobile 204 disassembled at the specific stage is conveyed to a press machine (not shown) by the loading / unloading crane 208 and is subjected to press working by this press machine. In such a disassembly system, as easily understood by comparison with the first embodiment, the entire disassembly system can be reduced in size and simplified, and the cost of the entire system can be reduced. . Therefore, it can be conveniently applied to a dismantling system having a small dismantling ability.

[0057]

[0058]

[0059]

[0060]

[0061]

[0062]

[0063]

[0064]

[0065]

[0066]

According to the dismantling system according to the first aspect of the present invention, as dismantling information relating to a scrapped vehicle, specific model dismantling information which is dismantling information specific to a scrapped car, and general discarding information common to all discarded cars. The specific model disposal information is stored in the system control means, and the general dismantling information is stored in the robot control means of a plurality of robots. Then, the system control means sends specific model disassembly information corresponding to the scrapped car to be dismantled based on the detection information from the product detection means to the robot control means of the robot,
Each robot performs dismantling work by combining the specific model disassembly information and the general disassembly information of the corresponding robot control means. Therefore, the robot automatically performs dismantling work corresponding to the scrapped vehicle to be dismantled, and can efficiently dismantle the scrapped vehicle. Also, the amount of instruction information sent from the system control unit to each robot control unit may be small, and efficient control of each robot can be performed. In particular, according to the present invention, along the moving direction 8 of the transport line 2 of the waste vehicle 6, the transport stage and the first to ninth
Stages ST0 to ST8 are provided, and in the second to ninth stages ST1 to ST8, the cutting and removing work of the scrap car 6 is sequentially performed, and the dismantling work can be performed efficiently.

According to the disassembly system of the second aspect of the present invention, since the specific model disassembly information sent from the system control means includes disassembly tool information, the robot
A plurality of types of demolition work can be performed by selecting a demolition tool used in the demolition work based on the demolition tool information, automatically exchanging the demolition tool as needed, and exchanging the tool.

According to the disassembly system of the third aspect of the present invention, the entire disassembly system can be reduced in size and simplified, and the cost of the entire system can be reduced. Therefore, the present invention can be conveniently implemented in a dismantling system having a small dismantling ability.

[0069]

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing a first embodiment of a disassembly system according to the present invention.

FIG. 2 is a block diagram schematically showing a control system of the disassembly system of FIG.

FIG. 3 is a diagram showing a part of the flow of control by the control system of FIG. 2;

FIG. 4 is a perspective view schematically showing a second embodiment of the disassembly system according to the present invention.

[Explanation of symbols]

2 Conveyance line 6 Waste car 10 Product detection means 20, 36 Laser cutting robot 22, 38, 48, 54 Vacuum suction robot 32 Gasoline extraction robot 34 Oil removal robot 56, 72, 74 Removal robot 64 Reversing robot 66 Tire removal robot 102, 244 System control means 104 Specific disassembly information storage means 106, 108, 110, 112, 116, 118 Robot control means

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-5-233059 (JP, A) JP-A-2-201300 (JP, A) JP-A-7-329844 (JP, A) JP-A-9-9 150717 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B25J 13/00 B23P 19/04 B60S 5/00

Claims (3)

(57) [Claims] 1. A transport line 2, on which a plurality of tables on which scrap vehicles 6 to be dismantled are to be mounted are provided with turntables at predetermined intervals, and extend in a moving direction 8, A transport line 2 having a pair of transport belts 4 moving through the dismantling movement path; and (b) a plurality of images of the first stage ST0, which image the front part and the rear part of the scrap car 6 moved by the transport line 2 Product detecting means 10 having television cameras 14 and 15 of FIG.
(C) a transfer stage provided in front of the first stage ST0, which has a loading crane movably provided on the ceiling of the dismantling plant, and the loading crane electromagnetically disposes the waste vehicle 6 (D) provided after the first stage ST0, and sequentially provided in the dismantling movement path in the moving direction 8 at intervals in the moving direction 8. 2nd to 9th
Stages ST1 to ST8 are provided, and (e) the second stage ST1, (e1) suspended from the ceiling of the dismantling factory, and
A first laser cutting robot 20 that cuts the hood 24 and the cover 26 of the vehicle 6 and (e2) moves independently while traveling along the transport line 2, vacuum-adsorbs the cut hood 24 and the trunk cover 26, and The removed hood 24 is placed on a bonnet place 28 provided on the side of the transport line 2, and the removed trunk cover 26 is placed on a trunk cover place 30 provided on the side of the transport line 2. (E3) a gasoline extraction robot 32 for sucking and removing gasoline remaining in the gasoline tank of the waste vehicle 6, and (e4) an oil removal robot provided in an oil pan of an engine of the waste vehicle. Second stage ST including oil removal robot 34 for removing engine oil by removing bolts
(F) the third stage ST2, and (f1) a second laser cutting robot 36 which cuts the dismantled car 6 so that the windshield 40 and the rear glass can be removed, wherein the dismantled car is hung from the ceiling. (F2) a second vacuum suction robot 38, which travels independently along the transfer line 2 to move and hold the front glass 40 and the rear glass 42 by vacuum suction during the cutting operation by the second laser cutting robot 36; After the cutting operation by the second laser cutting robot 36, the held windshield 40 is placed on the windshield storage 44 provided on the side of the transport line 2, and after the cutting operation by the second laser cutting robot 36, the holding is performed. A second vacuum for placing the rear glass 42 on a rear glass storage 46 provided on the side of the transfer line 2 (G) a fourth stage ST3 having an adsorption robot 38; and (g1) a suspended vehicle 6 suspended from a ceiling of a dismantling plant.
And (g2) a third vacuum suction robot 48, which travels independently along the transport line 2 to move, and is moved by the third laser cutting robot. During the cutting operation, the door 50 to be cut is held by vacuum suction, and after the cutting operation by the third laser cutting robot, the held left and right doors 50 are moved to the doors 50 on both sides of the transport line 2.
And (h) a fifth stage ST4, (h1) suspended from the ceiling of the dismantling plant, and a waste vehicle 6
A fourth laser cutting robot that cuts the roof 58 so that the seat 60 can be detached from above the scrap car 6 from which the roof 58 has been removed, and (h2) a fourth vacuum suction robot 54. Then, it travels independently along the transport line 2 and moves, and at the time of the roof cutting work by the fourth laser cutting robot, while holding the roof 58 of the waste car 6 by vacuum suction, and the roof cutting work by the fourth laser cutting robot. And (h3) holding the seat 60 during the cutting operation of the seat 60 by the fourth laser cutting robot and removing the held roof 58 from the waste vehicle 6 by the fourth laser cutting robot. The seat 60 after the roof cutting operation is moved to the seat storage space 6 provided on the side of the transport line 2.
A fifth stage ST4 having a detaching robot 56 mounted on the second stage 2, and (i) a sixth stage S having a reversing robot 64 for reversing the vehicle body of the discarded vehicle 6 up and down and mounting it on a table.
T5; and (j) a tire detaching robot 66 that holds and removes the inverted tire 68 of the scrap car 6 and places the removed tire 68 on a tire storage 70 provided on the side of the transport line 2. A seventh stage ST6, (k) an eighth stage ST7, (k1) a fifth laser cutting robot for laser cutting the transmission and the engine 76 of the scrap car 6, and (k2) a first detaching robot 72. After the laser cutting operation by the fifth laser cutting robot while holding the transmission and the engine 76, the held transmission is placed on a transmission place 75 provided on the side of the transport line 2, and the fifth laser cutting robot After the laser cutting operation, the held engine 76 is moved to the side of the transport line 2. The first removal robot 7 for mounting an engine storage 78 provided
And (k3) an eighth stage S having a second removal robot 74 that removes the bumpers 80 before and after the waste vehicle 6 and places them on a bumper storage area 82 provided on the side of the transport line 2.
T7, and (l) a press machine 8 that presses the scrap car 6
A ninth stage ST8 having a 4; (m) a model dismantling information storage means 104 for storing specific model dismantling information corresponding to the model of the scrapped vehicle 6; and (n) responding to detection signals from the television cameras 14 and 15. Then, the system control means 102 for specifying the model of the scrapped vehicle 6 placed on the table and reading the disassembly information of the detected model from the model disassembly information storage means 104, and (o) the first robot control means 106 A first individual disassembly information storage unit for storing general disassembly information common to the models of the scrapped automobiles 6; a specific model disassembly information provided from the system control unit 102; and a first individual disassembly information storage unit. The first robot control means 106 which creates dismantling work information in combination with the general dismantling information of FIG. 1 and controls the first laser cutting robot 20 according to the model.
(P) a second robot control means 108, which has second individual dismantling information storage means for storing general dismantling information common to the models of the abandoned vehicles 6, and a specific model provided from the system control means 102. The second robot control means 108 which combines the disassembly information and general disassembly information from the second individual disassembly information storage means to create disassembly work information and controls the second laser cutting robot 36 according to the model.
(Q) third robot control means 110, comprising third individual dismantling information storage means for storing general dismantling information common to the models of the scrapped automobiles 6, and a specific model provided from the system control means 102. Third robot control means 110 for creating dismantling work information by combining dismantling information and general dismantling information from the third individual dismantling information storage means and controlling the first vacuum suction robot 22 according to the model.
(R) fourth robot control means 112, comprising fourth individual dismantling information storage means for storing general dismantling information common to the models of the scrapped automobiles 6, and a specific model provided by the system control means 102. A fourth robot control means for combining the disassembly information and the general disassembly information from the fourth individual disassembly information storage means to generate disassembly operation information and controlling the second vacuum suction robot in accordance with the model; A car dismantling system using a robot characterized by the following. 2. The specific model information sent from the system control means 102 includes demolition tool information used for demolition work, and the plurality of robots determine the demolition tool based on the demolition tool information. The vehicle dismantling system using the robot according to claim 1, wherein the vehicle is replaced. 3. A turntable 20 rotatably supported on the floor of a dismantling factory and on which a scrap car 204 is mounted.
And (b) turning the turntable 202 in forward and reverse rotation directions 206 and 2
And (c) disposing the scrap car 204 on the turntable 202 by:
A lifting jack which rises and falls relatively to the turntable 202; and (d) one rotation direction 20 in the circumferential direction of the turntable 202.
6, a loading / unloading area A0 and first to sixth dismantling work areas A1 to A6 are provided in this order, and (e) a loading / unloading area A0 in which loading / unloading cranes are arranged. The loading / unloading crane 208 is hung on the ceiling of the dismantling factory, magnetically attracts the waste vehicle 204 and turns the turntable 2.
02, and a loading / unloading area A0 for magnetically attracting and discarding the waste car 204 on the turntable 202 to a press machine or to a carry-in area for carrying into the press machine; (F) a first dismantling work area A1 having a first dismounting robot 212, wherein the first dismounting robot 212 is a self-propelled robot that removes a bumper in front of and behind the scrap car 204; (G) a second dismantling work area A2, (g1) a pair of first guide rails 216 extending linearly in the radial direction from the turntable 202, and (g2) guiding to the first guide rails 216. And is movable toward and away from the turntable 202. The roof 218, the hood, the trunk cover, the door 222, and the windshield of the scrap car 204 are disposed. 23
A second dismantling work area A2 having a laser cutting robot 214 for cutting the glass frame of the second and rear glass 234; and (h) a third dismantling work area A3 having a second removal robot 224, wherein the second removal robot 224 is provided. Is a self-propelled robot that removes the tire 226 of the scrap car 204, holds the door 222 cut by the laser cutting robot 214 in the second dismantling work area A2, and removes the door 222 from the scrap car 204. A work area A3, and (i) a fourth dismantling work area A4 having an oil removal robot 228, wherein the oil removal robot 228 is housed in the pit 227 and screwed into the oil pan of the engine 215 of the waste car 204. Unscrewed oil removal bolts to remove engine oil, A fourth dismantling work area A4 for removing the mission and the muffler, (j) a fifth dismantling work area A5, (j1) a pair of second guide rails 231 provided on the floor of the dismantling factory, (j2) It is guided by the second guide rail 231 and is movable in the direction of approaching and separating from the turntable 202.
When cutting the glass frames of the front glass 232 and the rear glass 234 of the first embodiment, a fifth dismantling work area A5 having a first vacuum suction robot 230 for vacuum-suctioning and removing the front glass 232 and the rear glass 234 from the waste vehicle 204; ) The sixth dismantling work area A6 having the second vacuum suction robot 234, wherein the second vacuum suction robot 234 is hung from the ceiling of the demolition plant and has the laser cutting robot 2
14, the roof 218, the hood and the trunk cover of the scrap car 204 are held in vacuum, and the roof 218, the hood and the trunk cover are cut off.
A sixth dismantling work area A6 for holding the engine 215 and the seat that has been detached from the main body 04 and holding the seat; and (1) the robot control means 242, the first detaching robot 212 and the laser cutting robot 21.
4. Second removal robot 224, oil removal robot 2
28, each of which is provided in the first vacuum suction robot 230 and the second vacuum suction robot 234, and stores general disassembly information for dismantling the scrap car 204, the general disassembly information and the specific model disassembly information received. Robot control means 242 for performing the dismantling operation of the abandoned vehicle 204 in accordance with the received movement command based on the disassembly information obtained by combining: (m) a first detaching robot 212, a laser cutting robot 214, and a second A camera 248 for monitoring the movement of the removal robot 224, the oil removal robot 228, and the first vacuum suction robot 230; and (n) a system control means 244, which responds to the output of the camera 248 and Movement including movement information based on specific model disassembly information and monitoring information from the camera 248 The decree, the first removal robot 212, a laser cutting robot 214,
Second removal robot 224 and oil removal robot 22
8, and a system control means 244 provided to each robot control means 242 of the second vacuum suction robot 234.