CN112008389A

CN112008389A - Screw disassembling device

Info

Publication number: CN112008389A
Application number: CN202011023159.7A
Authority: CN
Inventors: 侯林
Original assignee: Shenzhen Mingjing Electronics Co Ltd
Current assignee: Shenzhen Mingjing Electronics Co Ltd
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2020-12-01
Anticipated expiration: 2040-09-25
Also published as: CN112008389B

Abstract

The invention discloses a screw disassembling device, which comprises: the screw disassembling device comprises a material conveying mechanism and a screw disassembling mechanism, wherein the material conveying mechanism is used for conveying materials to each processing station, and the processing stations comprise a material placing station, at least one working station and a material taking station; the screw disassembling mechanism comprises a visual identification unit, a screw disassembling unit and a multi-axis movement unit; the visual identification unit is arranged on each working station and used for identifying the distribution condition of screws on the materials on the working stations; the screw disassembling unit is arranged on each working station and used for disassembling screws on materials on the working stations according to the distribution condition of the screws identified by the visual identification unit; the multi-axis motion unit is used for driving the visual identification unit and the screw disassembling unit to move in a multi-axis mode. The screw disassembling device disclosed by the invention can accurately identify the screw distribution conditions of different materials, is suitable for disassembling screws of different materials, and can ensure that all screws are disassembled within a production takt.

Description

Screw disassembling device

Technical Field

The invention relates to the technical field of assembling and disassembling tool fixtures, in particular to a screw disassembling device.

Background

Intelligent terminal equipment, such as a mobile phone, has become an indispensable part of people, and the processing after recycling of old intelligent equipment also becomes a big problem. Taking a mobile phone as an example, most of the recovered mobile phones are manually disassembled at present, and the manual disassembly consumes time and labor, so that the development of an automatic disassembling machine is necessary.

The key process in the automatic disassembly of the intelligent terminal equipment is to disassemble the screws automatically, and due to the limitation of the internal space of the intelligent terminal equipment and the shielding requirements of some devices, the surfaces of some devices are pressed by shielding objects, such as small steel sheets, and the devices are shielded mutually, so that the screws are arranged in a stacked mode, and the screws cannot be displayed on the same plane. Even if the mobile phone is calibrated, all the screws cannot be dismounted at one time, so that the whole mobile phone cannot be disassembled.

In the related art, the mechanism for disassembling the mobile phone screw is generally transported by a belt, and a manipulator is arranged on the belt line and drives a disassembling tool to disassemble the screw. The method is generally limited to the situation that the screws are only shown on one plane, the specific positions of the screws need to be known in advance, the screws of the mobile phone are usually distributed in multiple layers for the whole mobile phone, and the screw distribution conditions of different mobile phones are different, so that the method cannot finish the screw disassembly of the whole mobile phone and is only suitable for disassembling partial screws of a single product on the same plane.

In view of the above, it is urgently needed to design a new technical solution to solve the above technical problems.

Disclosure of Invention

The present invention is directed to solve the above problems of the prior art, and provides a screw disassembling device.

In order to achieve the purpose, the invention adopts the following technical scheme:

a screw disassembling device, comprising: the material conveying mechanism is used for conveying materials to each processing station, and each processing station comprises a material placing station, at least one working station and a material taking station; the screw disassembling mechanism comprises a visual identification unit, a screw disassembling unit and a multi-axis movement unit; the visual identification unit is arranged on each working station and used for identifying the distribution condition of screws on materials on the working stations; the screw disassembling unit is arranged on each working station and used for disassembling screws on materials on the working stations according to the distribution condition of the screws identified by the visual identification unit; the multi-axis motion unit is used for driving the visual recognition unit and the screw disassembling unit to move in a multi-axis mode.

Optionally, the material conveying mechanism comprises a fixed part and a movable part, the fixed part comprises a material discharging piece located at the material discharging station, a workpiece located at the working station and a material taking piece located at the material taking station, and the movable part is used for moving materials from the material discharging piece to the workpiece and the material taking piece in sequence.

Optionally, the movable part comprises an upper and lower transfer mechanism and a left and right transfer mechanism, the upper and lower transfer mechanism is used for driving the material to move up and down, and the left and right transfer mechanism is used for driving the material to move left and right.

Optionally, the material discharging part, the workpiece and the material taking part each include a clamp for clamping the material, the clamp includes a fixing base, a material seat and a driving part, the material seat and the driving part are disposed on the fixing base, and the driving part is used for driving the material seat to clamp the material.

Optionally, the fixed base includes a first fixed base and a second fixed base which are set up oppositely, the material seat includes a first material seat and a second material seat which are set up oppositely, the first material seat is disposed on the first fixed base, and the second material seat is disposed on the second fixed base; spaces for avoiding the upper and lower transfer mechanisms and the left and right transfer mechanisms are arranged between the first fixed base and the second fixed base and between the first material seat and the second material seat.

Optionally, a screw recovery mechanism is further arranged on the working station, and the screw recovery mechanism comprises a motor and a roller connected with the motor.

Optionally, a correcting mechanism is further arranged on the working station, and the correcting mechanism is used for calibrating the screw disassembling mechanism and judging whether the screw disassembling mechanism is adhered to a screw or not.

Optionally, the multi-axis movement unit includes a three-axis manipulator, and the three-axis manipulator is arranged on the working station in a gantry type.

Optionally, the visual recognition unit and the screw disassembling unit are both arranged on a Z axis of the three-axis manipulator.

Optionally, the screw disassembling unit includes an electric screw machine and a barrier removing mechanism, a covering recycling unit is further disposed on the working station, and the covering recycling unit is used for recycling the covering removed by the barrier removing mechanism.

Optionally, the screw disassembling unit further comprises a rechecking mechanism.

Compared with the prior art, the invention can at least bring the following beneficial effects:

the screw disassembling mechanism in the screw disassembling device comprises a visual identification unit, a screw disassembling unit and a multi-axis movement unit, wherein the visual identification unit can accurately identify the screw distribution conditions (including but not limited to the positions of screws, the existence of shielding objects and the like) of different materials through visual identification and image comparison technologies, and further, according to the distribution conditions identified by the visual identification unit, the screw disassembling unit can accurately disassemble the screws and prevent the screw disassembling unit from colliding, so that the screw disassembling device provided by the invention can be suitable for disassembling screws of various different materials without knowing the positions of the screws in advance.

Meanwhile, the screw disassembling device provided by the invention comprises at least one working station, the number of disassembling stations and disassembling assemblies can be increased according to actual conditions, screws are disassembled in a serial mode, and all screws can be disassembled in a production beat.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a perspective view of a screw disassembling device according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a material conveying mechanism of the screw disassembling device according to an embodiment of the present invention;

FIG. 3 is a top view of the material transport mechanism of the screw disassembly apparatus of one embodiment of the present invention;

FIG. 4 is a schematic structural view of a movable part in a material conveying mechanism of the screw disassembling device according to an embodiment of the present invention;

fig. 5 is a schematic structural view showing a fixing part in a material transporting mechanism of a screw disassembling apparatus according to an embodiment of the present invention;

FIG. 6 is a schematic structural view showing a screw disassembling mechanism of the screw disassembling apparatus according to an embodiment of the present invention;

fig. 7 is a schematic structural view showing a multi-axis moving unit in a screw disassembling mechanism of the screw disassembling apparatus according to an embodiment of the present invention; and

fig. 8 is a schematic view showing an assembly structure of the visual recognition unit and the screw disassembling unit in the screw disassembling mechanism of the screw disassembling apparatus according to the embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "vertical", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, releasably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 to 8, some embodiments of the present invention provide a screw disassembling device 001, which includes: a material conveying mechanism 100 and a screw disassembling mechanism 200. The material conveying mechanism 100 is configured to convey materials to each processing station, for example, the processing stations may include an emptying station 110-1, at least one working station 110-2, and a material taking station 110-3, and it can be understood that the emptying station 110-1 is mainly a processing station of an emptying procedure of materials to be disassembled, the working station 110-2 is mainly a processing station of a screw disassembling procedure, and the material taking station 110-3 is mainly a processing station of a taking procedure of the disassembled materials.

Referring to fig. 6, the screw disassembling mechanism 200 includes a visual recognition unit 220, a screw disassembling unit 240, and a multi-axis movement unit 260, wherein the visual recognition unit 220 is disposed on each working station 110-2 and is used for recognizing the distribution of screws on the material on the working station 110-2, and the screw disassembling unit 240 is disposed on each working station 110-2 and is used for disassembling screws on the material on the working station 110-2 according to the distribution of screws recognized by the visual recognition unit 220; the multi-axis movement unit 260 is used for driving the visual recognition unit 220 and the screw disassembling unit 240 to move in multiple axes.

The screw disassembling mechanism in the screw disassembling device 001 provided by this embodiment includes a visual recognition unit 220, a screw disassembling unit 240, and a multi-axis movement unit 260, where the visual recognition unit 220 can accurately recognize screw distribution of different materials (including but not limited to the position of the screw, whether or not there is a shielding object, etc.) by visual recognition and image comparison techniques, and further, according to the distribution recognized by the visual recognition unit 220, the screw disassembling unit 240 can accurately find the position of the screw, and further, the screw can be disassembled accurately, and the occurrence of a crash situation of the screw disassembling unit 240 is prevented, so that the screw disassembling device 001 provided by the present invention is applicable to screw disassembling of various materials without knowing the position of the screw in advance.

It can be understood that the specific structure of the visual recognition unit 220 is not particularly limited in the present invention, and various common visual recognition techniques may be adopted to implement the present invention, and the specific structure and the operation principle of the visual recognition unit 220 are not described in detail in the present invention.

Meanwhile, the screw disassembling device 001 provided by the invention comprises at least one working station 110-2, the number of disassembling stations and disassembling assemblies can be increased according to actual conditions, screws are disassembled in a serial mode, and all screws can be disassembled in production takt.

In some embodiments of the present invention, as shown in fig. 2-3, the material transporting mechanism 100 includes a fixed portion and a movable portion, the fixed portion includes an emptying member 102 located at the emptying station, a working member 104 located at the working station 110-2, and a material taking member 106 located at the material taking station, and the movable portion is used for moving the material from the emptying member 102 to the working member 104 and the material taking member 106 in sequence. In the process of working, the material to be disassembled can be fixed at the corresponding station position through the fixed part, and the material is moved to the next station through the movable part only after the work of a certain station is completed.

It will be understood that the invention is not particularly limited to the specific configuration of the moving parts, and that it may be of any conventional configuration, provided that it is possible to effect movement of the material to be dismantled between the various stations.

Further, in some embodiments of the present invention, referring to fig. 4, the movable portion includes an up-down transfer mechanism 101 and a left-right transfer mechanism 103, the up-down transfer mechanism 101 is used for driving the material to move up and down, and the left-right transfer mechanism 103 is used for driving the material to move left and right. Furthermore, after a material to be disassembled, such as a mobile phone, is placed on the discharging part, for example, the material can be discharged through an automatic discharging device, or the mobile phone can be manually placed on the discharging part, after the device is started, the up-and-down transfer mechanism 101 moves upwards to support the mobile phone, then the left-and-right transfer mechanism 103 moves the mobile phone from the discharging station to a first working station, then the up-and-down transfer mechanism 101 moves downwards to stably place the mobile phone on a workpiece 104 on the first working station, so that the mobile phone is transported from the discharging part to the workpiece.

That is, in this embodiment, the material transportation process is divided into two actions, i.e., the up-down transfer and the left-right transfer, by the set of up-down transfer mechanism 101 and the set of left-right transfer mechanism 103, and the actions of driving the material to transfer upward and rightward are completed together, the strokes of the up-down transfer mechanism 101 and the left-right transfer mechanism 103 are in a shape of Chinese character 'hui', and the material can be transferred to the next station every time the material moves back and forth, and the continuous operation of the production line can be realized by the reciprocating motion of the up-down transfer mechanism 101 and the left-right transfer.

It can be understood that the up-down transfer mechanism 101 realizes the up-down movement of the material, and the left-right transfer mechanism 103 realizes the right-right movement of the material, the invention has no special limitation on the specific structure of the up-down transfer mechanism and the left-right transfer mechanism 103, and can adopt various mechanisms commonly used in the field as long as the up-down movement and the left-right movement of the material can be driven, for example, the structure of a cylinder and a slide rail can be adopted, and the up-down transfer mechanism comprises a slide rail vertically arranged and a cylinder driving the slide rail to slide up and down, the slide rail is driven by the cylinder to move up and down, and the slide rail; the left and right transfer mechanism 103 comprises a slide rail horizontally arranged at left and right and a cylinder driving the slide rail to move left and right, the cylinder drives the slide rail to move left and right, so that a material can move right to form a station, and the return of the up and down transfer mechanism is realized.

Furthermore, in the embodiment, compared with the traditional belt line conveying structure, the belt line conveying device disclosed by the invention can be used for conveying materials through the upper and lower conveying mechanisms and the left and right conveying mechanisms, so that the conveying precision can be ensured, and the position accuracy can be improved.

In some embodiments of the present invention, referring to fig. 5, the emptying member 102, the working member 104 and the emptying member 106 each comprise a clamp for clamping the material, the clamp comprises a fixing base 10, a material seat 12 and a driving member (not shown), the material seat 12 and the driving member are disposed on the fixing base 10, and the driving member is used for driving the material seat 12 to clamp the material.

It is understood that the present invention is not limited to any particular connection relationship between the driving member and the material seat 12, and that various connection relationships or connection structures may be adopted as long as the driving member can drive the material seat 12 to clamp the material, for example, in some embodiments of the present invention, the driving member is a plurality of clamping cylinders, and the material seat 12 is driven by the clamping cylinders to clamp the material. Similarly, the present invention may be used with a variety of conventional material holder configurations, so long as it is capable of holding materials placed thereon.

Furthermore, when the material to be disassembled is placed on the material seat 12 of the discharging member 102 or moved to the material seat 12 of the working member 104, the driving member drives the material seat 12 to clamp the material, so that the material can be fixed.

Further, in some embodiments of the present invention, referring to fig. 5, the fixed base 10 includes a first fixed base 10-1 and a second fixed base 10-2 which are oppositely arranged, the material seat 12 includes a first material seat 12-1 and a second material seat 12-2 which are oppositely arranged, the first material seat 12-1 is disposed on the first fixed base 10-1, and the second material seat 12-2 is disposed on the second fixed base 10-2; spaces for avoiding the upper and lower transfer mechanisms and the left and right transfer mechanisms are arranged between the first fixed base 10-1 and the second fixed base 10-2 and between the first material seat 12-1 and the second material seat 12-2. That is, in this embodiment, the fixed base and the material seat are divided into two parts, respectively, which drag the material to be disassembled, such as the front and rear ends of the mobile phone, and a distance is directly left between the fixed base and the material seat for avoiding the movable parts of the material transporting mechanism 100, that is, the up-down transferring mechanism 101 and the left-right transferring mechanism 103. Further, the up-down transfer mechanism 101 and the left-right transfer mechanism 103 may be disposed below the fixed base 10 and the material holder 12 to facilitate the operation of the up-down transfer mechanism and the left-right transfer mechanism.

That is, the up-and-down transfer mechanism moves upwards to lift the mobile phone on the material seat 12 from the space gap between the first fixed base 10-1 and the second fixed base 10-2 and the space gap between the first material seat 12-1 and the second material seat 12-2, and then the left-and-right transfer mechanism 103 realizes the movement of the mobile phone to the right to another station.

In some embodiments of the present invention, referring to fig. 3, a screw recycling mechanism 112 is further disposed at the work station 110-2 for recycling the disassembled screws. It is understood that the present invention is not limited to the specific structure of the screw recovering mechanism 112, and various screw recovering mechanisms 112 can be adopted as long as the recovering of the disassembled screw can be realized.

In some embodiments of the present invention, screw recovery mechanism 112 includes a motor, two rollers coupled to the motor, and a recovery box. Specifically, two gyro wheels parallel mount, the motor is connected with the hub connection of one of them gyro wheel, the surface of two gyro wheels adopts soft material, can produce certain deformation when extrudeing each other, carry out the transmission through the static friction, at the during operation, motor drive rotates rather than the gyro wheel of being connected, and then this gyro wheel drives another gyro wheel and rotates, when the screw that the unit area was disassembled to the screw contacted between two gyro wheels, two gyro wheels rotate in opposite directions each other, and then fall into the recovery box of bottom under the screw belt, realize disassembling the recovery of screw.

In an embodiment of the present invention, referring to fig. 3, a calibration mechanism 114 is further disposed on the working station 110-2, and the calibration mechanism 114 is used for calibrating the screw disassembling mechanism and determining whether the screw disassembling mechanism is stuck with a screw. The calibration mechanism 114 may be any one commonly used in the art, and the present invention is not limited thereto, as long as the screw disassembling mechanism can be calibrated and whether the screw is adhered to the screw disassembling structure is determined.

In the screw disassembling apparatus 001 according to the present invention, the multi-axis movement of the visual recognition unit 220 and the screw disassembling unit 240 may be realized by the multi-axis movement unit 260, and it is to be understood that the present invention is not particularly limited to a specific structure of the multi-axis movement unit 260, and various differential structures in the art may be adopted as long as the multi-axis movement can be realized. For example, a robot or the like may be employed.

In some embodiments of the present invention, as shown with reference to fig. 6-8, the multi-axis motion unit 260 includes a three-axis robot disposed on the work station 110-2 in a gantry type. That is, the multi-axis movement unit 260 is formed by combining three single-axis (XYZ-axes) sliding tables 260-1, and is arranged above the working station 110-2 in the form of a portal frame, and the movement in three directions can be realized by controlling the movement of the single-axis sliding table 260-1 in the XYZ-axes, so as to drive the visual recognition unit 220 and the screw disassembling unit 240 to move in the whole spatial coordinate system. Under the condition that a plurality of working stations 110-2 are provided, the portal frames can be arranged in parallel. It is understood that the specific structure and operation principle of the single-shaft sliding table 260-1 are well known to those skilled in the art, and the detailed description of the present invention is omitted.

The visual recognition unit 220 is used for recognizing the distribution of the screws on the material to be disassembled, such as the coordinate position, size and depth of the screws, the existence of a covering such as a small steel sheet, and the like. It is understood that the visual recognition unit 220 may recognize the distribution of all screws after one-time recognition, and then the screw disassembling unit 240 disassembles the screws according to the recognition result, for example, the recognition result of the visual recognition unit 220 may be stored in the host or the processor, and then the control module of the screw disassembling unit 240 may retrieve the data in the recognition result to disassemble the screws.

Of course, the visual recognition unit 220 may also recognize one screw in real time each time, then the screw disassembling unit disassembles the screw in real time according to the recognition result, and then recognizes another screw in real time, and the screw disassembling unit disassembles another screw in real time, at this time, the visual recognition unit 220 generally needs to move simultaneously with the screw disassembling unit 240, that is, in some embodiments of the present invention, the visual recognition unit 220 and the screw disassembling unit 240 are both disposed on the Z-axis of the three-axis manipulator to achieve synchronous movement.

It can be understood that, due to the internal space limitation of the intelligent terminal, such as a mobile phone, and the shielding requirements of some devices, the surfaces of some devices may be pressed by the small steel sheets, and further, the small steel sheets may press the screws, and meanwhile, the devices are shielded from each other, so that the screws are arranged in a stacked manner, and therefore, the screws cannot be presented on the same layer plane.

In this regard, in some embodiments of the present invention, referring to fig. 8, the screw disassembling unit 240 includes an electric screw driver 242 and an obstacle clearing mechanism 244, and the work station 110-2 is further provided with a cover recovery unit 246, and the electric screw driver (or electric screw driver) is used for disassembling screws, and if there are different types of screws, a plurality of electric screw drivers can be installed. The cover retriever 246 is used to retrieve the cover removed by the obstacle removal mechanism 244. Furthermore, when the visual recognition unit can recognize that there is a shelter, such as a small steel sheet, on the material, the obstacle clearing mechanism 244 can remove the shelter from the surface of the screw, such as a steel sheet, so that the sheltered screw is exposed, and the shelter can be recovered through the cover recovering unit 246.

It is to be understood that the cover recovering member 246 may employ various conventional recovering mechanisms, and the present invention is not limited thereto, and for example, it may include a recovering box, and the removed shield such as steel sheet may be sucked out by a suction nozzle and put into a designated recovering box.

It is also understood that the specific structure and operation principle of the obstacle clearing mechanism 244 are not particularly limited in the present invention, as long as the object identified by the visual recognition unit can be cleared, and for example, the object can be hooked by a hook-like structure.

In some embodiments of the present invention, the screw disassembling unit 240 further includes a re-checking mechanism (not shown in the figure) for re-checking the material after the screw is disassembled, so as to realize that the screw is disassembled without omission or error, thereby ensuring that the subsequent disassembling process is performed smoothly. It can be understood that the rechecking mechanism of the invention is not particularly limited, and various rechecking devices can be adopted as long as the materials after the screws are disassembled can be rechecked. After all the screws are disassembled, the materials are conveyed to the material taking part 106 on the material taking station 110-3, and then the rest materials are taken out through a material taking device, or the materials can be taken out on the material taking part 106 in a manual material taking mode.

It can be understood that, in the screw disassembling device 001 provided by the invention, a rechecking mechanism can be arranged on each working station 110-2 to recheck the disassembling work on each working station 110-2; the rechecking mechanism may be disposed on the last working station 110-2 only, and the disassembled material may be subjected to a total inspection, which is not particularly limited in the present invention.

The screw disassembling device 001 provided by the invention comprises at least one working station 110-2, screws on materials are identified and disassembled on the working station 110-2, the number of the working stations 110-2 is not particularly limited, and the number of the working stations 110-2 can be set according to actual requirements.

It can be understood that, in the screw disassembling apparatus 001 of the present invention, the visual recognition unit 220, the screw disassembling unit 240, and the multi-axis moving unit 260 of the screw disassembling mechanism 200 are electrically connected to each other, that is, electrically connected through the control module, and the control module can receive the recognition result of the visual recognition unit 220 and control the screw disassembling unit 240 and the multi-axis moving unit 260 to work according to the result, so as to complete the screw recognition and disassembly. The present invention is not particularly limited to the control module, and a control module, a CPU (central processing unit), and the like commonly used in the art may be used. Similarly, other components in the screw disassembling device 001 provided by the present invention, for example, the material transporting mechanism 100 and the screw disassembling mechanism 200, are electrically connected to each other, and for example, the linkage between the components can be controlled by a host computer, so as to realize the control of each component and the continuous operation of the production line.

Taking the four working stations 110-2 as an example, the specific working process of the screw disassembling device 001 provided by the invention can be as follows:

the mobile phone to be disassembled with the surface shielding objects (such as the shell) removed is firstly placed on the material placing station 110-1 through the blanking mechanism (or manually), after the equipment is started, the material conveying mechanism 100 moves the mobile phone to be disassembled to the material seat 12 of the first working station 110-2 through the up-down transmission mechanism and the left-right transmission mechanism, and the driving piece drives the material seat 12 to clamp the mobile phone to be disassembled, so that the mobile phone to be disassembled is in a fixed state. Then, the visual recognition unit 220 of the screw disassembling mechanism installed on the first working station 110-2 photographs and recognizes the mobile phone to be disassembled to recognize the position of the screw and the condition of the shielding object, and the screw disassembling unit 240 (e.g. an electric screwdriver) disassembles the screw according to the recognition result to disassemble the first layer of partial screw on the head of the mobile phone, and meanwhile, the shielding object is removed by the obstacle removing mechanism 244 installed on the first working station 110-2. Then, the material transporting mechanism 100 moves the mobile phone to be disassembled from the first working station 110-2 to the material seat 12 of the second working station 110-2 through the up-down transferring mechanism and the left-right transferring mechanism, the screw disassembling mechanism on the second working station 110-2 performs screw disassembling by the same method, and the obstacle removing mechanism 244 removes the shielding object; by analogy, the first layer of partial screws at the tail part of the mobile phone are disassembled on the third working station 110-2, the barrier removing mechanism 244 removes the barrier, the fourth working station 110-2 performs recheck through the rechecking mechanism, the rest screws are disassembled, and then all the screws on the mobile phone to be disassembled are disassembled in a multi-station series connection mode, so that the complete machine disassembly is realized.

It can be understood that the screw disassembling device 001 provided by the invention can be used for disassembling various types of mobile terminal equipment, such as a mobile phone, a tablet computer, a pad, and the like, but is not limited to a certain type or a certain type of mobile terminal or intelligent terminal equipment, and the size of the material clamp can be specifically set according to the sizes of different materials. Meanwhile, the screw disassembling device 001 provided by the invention can be correspondingly distributed according to the number of screws of each type of terminal equipment, such as a mobile phone, the number of working stations and the number of disassembling assemblies are increased according to actual conditions, and the disassembling of all screws in a production beat is guaranteed.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A screw disassembling device is characterized by comprising:

the material conveying mechanism is used for conveying materials to each processing station, and each processing station comprises a material placing station, at least one working station and a material taking station; and

the screw disassembling mechanism comprises a visual identification unit, a screw disassembling unit and a multi-axis movement unit;

the visual identification unit is arranged on each working station and used for identifying the distribution condition of screws on materials on the working stations; the screw disassembling unit is arranged on each working station and used for disassembling screws on materials on the working stations according to the distribution condition of the screws identified by the visual identification unit; the multi-axis motion unit is used for driving the visual recognition unit and the screw disassembling unit to move in a multi-axis mode.

2. The screw disassembling device according to claim 1, wherein the material transporting mechanism includes a fixed portion and a movable portion, the fixed portion includes a material discharging member located at the material discharging station, a workpiece located at the work station, and a material taking member located at the material taking station, and the movable portion is used for moving the material from the material discharging member to the workpiece and the material taking member in sequence.

3. The screw disassembling apparatus according to claim 2, wherein the movable portion includes an up-and-down transfer mechanism for moving the material up and down, and a left-and-right transfer mechanism for moving the material left and right.

4. The screw disassembling apparatus according to claim 3, wherein each of the discharging member, the operating member and the taking member includes a clamp for clamping the material, the clamp includes a fixing base, a material seat, and a driving member, the material seat and the driving member are disposed on the fixing base, and the driving member is used for driving the material seat to clamp the material.

5. The screw disassembling device according to claim 4, wherein the fixed base includes a first fixed base and a second fixed base which are oppositely arranged, and the material seat includes a first material seat and a second material seat which are oppositely arranged, the first material seat is arranged on the first fixed base, and the second material seat is arranged on the second fixed base; spaces for avoiding the upper and lower transfer mechanisms and the left and right transfer mechanisms are arranged between the first fixed base and the second fixed base and between the first material seat and the second material seat.

6. The screw disassembling device according to claim 2, wherein a screw recovering mechanism is further provided at the working station, and the screw recovering mechanism includes a motor and a roller connected to the motor.

7. The screw disassembling device according to claim 2, wherein a calibration mechanism is further provided at the work station, and the calibration mechanism is configured to calibrate the screw disassembling mechanism and determine whether the screw disassembling mechanism is stuck with a screw.

8. The screw disassembling apparatus according to claim 2, wherein the multi-axis moving unit includes a three-axis robot disposed on the work station in a gantry type; the visual identification unit and the screw disassembling unit are arranged on the Z axis of the three-axis manipulator.

9. The screw disassembling device according to claim 1, wherein the screw disassembling unit includes an electric screw machine and an obstacle removing mechanism, and the work station is further provided with a cover recovering member for recovering the cover removed by the obstacle removing mechanism.

10. The screw disassembling apparatus according to claim 1, wherein said screw disassembling unit further includes a rechecking mechanism.