JP2000117563A - Fastening parts with markers - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To provide an assembly structure that can cope with automatic release of a fastening part and facilitates manual screw removal work. In an assembly structure, a marker is provided around a fastening part or around a fastening part on the assembly structure, the marker being capable of specifying a type of the fastening part and a tool to be used when releasing the fastening part. The type of fastening parts of the structure and the tool used for releasing the fastening can be easily specified, and the work load in dismantling the assembled structure can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of disassembling a waste electronic device such as used home electric appliances and OA equipment, and more particularly to a method for facilitating disassembly of a fastening portion in a waste electronic device. It is.

[0002]

2. Description of the Related Art When disassembling an assembled structure formed by assembling a plurality of parts, a method for facilitating disassembly and providing an assembled structure suitable for automating the disassembling process includes providing a fastening part or a part itself with a specific wavelength. There is a method described in Japanese Patent Application Laid-Open No. 6-291468, which uses or adds a material that generates an electromagnetic wave.

[0003]

2. Description of the Related Art Various electronic devices such as home electric appliances and OA devices are assembled with various components and boards on a chassis serving as a framework, fixed to each other with fastening components, and formed as a whole with a casing serving as a cover. It has a structure to cover. When disassembling a waste electronic device with such a structure, it is necessary to first open the housing cover and remove internal components and boards, and for that purpose, it is necessary to remove fastening parts such as screws . Here, the screws used for fastening use many types and the number of screws used, and it is necessary to change the tool to be used depending on the size of the screw thread. In the case of assembly production, as long as the products to be assembled are the same, the shape and dimensions are fixed and the screw position is uniquely determined, so it is not possible to extract the data of the screws to be used from the design data and automate the screw tightening. Have been done.

However, there is a wide variety of manufacturers and models, the shape and dimensions are not constant, and there is no design data at hand, or even if it exists, the position of the fastening part differs from the design data due to deformation at the time of disposal. For some waste electronic devices, it is difficult to automatically identify and remove screws based on design data.

In Japanese Patent Application Laid-Open No. 6-291468, a transmitting material for generating electromagnetic waves is applied to a screw itself or a landmark for determining the screw position in advance, and the screw position is automatically identified from the transmitted signal. I have. According to this method, even when it is difficult to determine the screw position based on the design data, it is possible to automatically determine the screw position and automate disassembly of the fastening portion.

However, according to the method described in this publication, it is necessary to select a special material that generates X-rays, ultraviolet rays, and the like according to the equipment and apply it to the fastening portion, which may increase the work load during assembly. There is. Further, at present, these disassembly operations are often performed manually by an operator using a tool, but this method cannot be expected to directly provide an effect for the operator.

SUMMARY OF THE INVENTION In view of the foregoing, it is an object of the present invention to provide an assembly structure that can automatically release a fastening part of an assembly structure and that can be easily removed by hand.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a fastening part for fastening a plurality of parts, a type of the fastening part, and a tool used for releasing the fastening part. Is characterized by having a marker that can specify

Further, the present invention provides an assembly structure formed by assembling a plurality of parts, wherein a fastening part having the marker is used as a fastening part between parts, or a fastening part is provided around a fastening part of the structure. It is characterized in that a marker is provided which can specify the type of component and the tool to be used when releasing the fastening component.

Further, according to the present invention, the marker is obtained by coloring the fastening part of the fastening part or the assembly structure, and the type of the fastening part and the tool used for releasing the fastening can be specified by the difference in color. Or the fastening component type and the fastening release tool can be specified by the difference in the shape of the colored portion, or the fastening component by the difference in the line type of the contour line of the coloring portion In addition, the marker is a symbol printed on the fastening part of the fastening part or the assembly structure, and the type of the fastening part and the fastening release tool can be identified by the difference in the symbol. Further, the marker is formed by stamping a fastening part of a fastening part or an assembly structure, and is fastened by a difference in a shape of the stamp or a line type of a marking line. Is obtained by enabling the identification of types of parts and unfastening tool, furthermore, the marker is characterized by a combination of the said colored and symbols printed and embossing.

Further, the present invention is characterized in that, in the assembled structure, data indicating a relationship between a marker, a type of a fastening part, and a tool used for releasing the fastening is displayed on the structure.

The present invention also provides a means for detecting a marker position in an assembly structure, a marker used in the assembly structure, and a type of a fastening part represented by the marker. Means for obtaining fastening conditions at the time of fastening and related data of a tool used for unfastening, and a position of the marker determined by the marker position detecting means, a tool used for unfastening and a use condition of the tool are used for each marker position. It is characterized by comprising a deriving means and a fastening release tool driven based on the derived use condition of the fastening release tool.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The details of the present invention will be described below with reference to the drawings.

FIG. 1 shows an example in which an assembly structure with a screw marker according to the present invention is applied to a mounting board of a personal computer. FIG.
1A is a top view, and the lower view of FIG. 1B is a side view. In the figure, 1 is a motherboard, 2 is a bottom plate portion of a metal housing, 3 is a cable, and 4 is a mounting bracket for a built-in component. In FIG. 1, between the mother board and the housing bottom plate, a portion indicated by p in the figure is a screw nominal diameter M2, a pitch of 0.
It is fastened with coarse pan head screws 4 mm in length and 5 mm under the neck, and the portion indicated by q is fastened with a stepped hexagonal spacer having a nominal screw diameter of 2, a pitch of 0.4 mm, and a screw length of 5 mm. Also, at the position indicated by r, the board and the component mounting bracket have a screw nominal number of 2-56 UNC, a pitch of 0.4536 mm, and a length of 6.
It is fastened with a 35 mm unified coarse thread, and at the position indicated by s, the board and the cable fitting are screwed with a nominal diameter of M1.
6, Fastened with fine cross-sliding screws with a pitch of 0.2 mm and a length under the neck of 7 mm.

As shown in FIG. 2, a colored marker circle indicating the type of the screw is printed around the screw hole of each screw. The marker circle is obtained by printing a circle having a radius that is not covered by a washer or a spring seat from the center of the screw hole, and may be painted in the same color as the circle from the circle to the outline of the screw hole. Here, for the screw used in FIG. 1, the relationship between the color of the marker circle and the screw type is as follows: the periphery of the hole for the M2 pan-head screw is a red marker circle, and the hole for the stepped hexagonal spacer is The circumference is defined as a blue marker circle, the circumference of the hole for the unified screw is defined as an orange marker circle, and the circumference of the hole for the fine screw is defined as a yellow marker circle.

Therefore, the operator uses a Phillips screwdriver for M2 for the screws marked with a red circle, and uses the Phillips screwdriver for the screws marked with an orange circle. Use a Phillips screwdriver for No. 2-56 UNC, and for the screws marked with a yellow circle, use a Phillips precision screwdriver for M1.6, and mark the parts marked with a blue circle. With respect to the screw No. 2, the screw may be released using a hexagonal wrench for M2.

Next, an embodiment of a system for automatically disassembling the motherboard with a screw marker shown in FIG. 1 will be described with reference to FIGS.
This will be described with reference to FIG. FIG. 3 is a block diagram of the automatic dismantling system. In the figure, 10 is a model number reading means, 11 is a screw marker reading means, 12 is a reference database, 13
Is an unthreading data generating means, 14 is a control device of an automatic unthreading mechanism, and 15 is an automatic unthreading mechanism. A communication line is connected between the model number reading means, the reference database, the marker reading means, and the screw removal data generating means.

The system functions as follows. First, the model number of the motherboard to be dismantled is read by the model number reading means. The model number reading means is, for example, a bar code reader, and reads a bar code indicating a model number engraved on the motherboard. Using the read model number as key data, a marker and a screw type related data corresponding to the model number as shown in FIG. 4 are extracted from the reference database. The data table in Fig. 4 shows that on the motherboard of model number MBTAA12, the red circle marker is M2, a small screw with a pitch of 0.4 mm and a length of 5 mm is fixed with a tightening torque of 3.0 kgf · cm. 2 indicates that a plus-bit driver is used. Similar screw information is listed for all screw types used on the target motherboard. The list data in FIG. 4 is sent to the unscrewed data generating means.

In the system shown in FIG. 3, the marker circle data is stored in an external reference database, and data corresponding to the model number as shown in FIG. 4 is derived from the model number read by the model number reading means. A bar code indicating the corresponding marker circle data itself may be pasted on the substrate, and the marker circle data may be directly obtained from the bar code.

Next, the screw marker on the motherboard is read by the marker reading means to obtain data on the marker circle and position as shown in FIG. The obtained marker circle position data is sent to the unscrewed data generating means.

The marker reading means includes a camera 20, an image processing device 21, and a color identification device 2 as shown in FIG.
2 can be realized by a combination of the two. FIG. 7 shows a marker detection flow. First, the whole image of the target substrate is captured by the camera, and the captured image is sent to the image processing apparatus. The image processing device extracts an outline from the entire image. Next, the whole image is divided into small windows for scanning, and the circles in the small windows are detected by comparing with a marker detection reference circle image created in advance. The relative position of the detected marker circle is determined based on the outline of the whole image extracted earlier.

In the case of the substrate shown in FIG.
Since the rectangle is determined by BCD, the center point of each ring may be described with the vertex A as the origin, the line AB as the X axis, and the line AD as the Y axis. The color of the marker circle whose relative position is determined is detected by the color identification device, and the position data for each marker circle color shown in FIG. 5 is obtained. Note that, in the flow of FIG. 7, the position of the marker circle may be determined after identifying the color first. It is also possible to prepare a colored reference circle using an image processing device that can handle a color image and detect a marker circle for each color. In FIG. 7, the contour line is obtained from the entire image of the target substrate, and the relative position of the marker circle is obtained. The position may be determined.

The screw removal data generating means compares the screw information extracted from the reference database with the position data of the marker circle detected by the marker reading means, and obtains the data shown in FIG.
The sequence data for screw removal shown in (1) is generated.
The sequence data expresses the positions of all detected marker circles as a sequence of points, and for each point, the tool to be used, the torque at tightening, that is, the minimum torque value required to loosen the screw, and the screw to remove the screw. It lists the number of reverse rotations that need to be given to.

The generated sequence data is sent to the control device of the screw removing mechanism. The control device positions the screw removing mechanism on the screw based on the point sequence data indicating the screw position,
Control the unscrewing operation. Here, the screw removing mechanism is, for example, an assembling robot provided with a reverse-rotation type automatic driver at the user's hand, and positioning based on point sequence data may be considered as follows.

Now, the coordinate system fixed to the substrate is the work coordinate system, the coordinate system fixed to the robot is the robot coordinate system, and the virtual coordinate system fixed to the work environment for performing the unscrewing operation is the world coordinate system. Call. Since the point sequence data created by the unthreading data generation means is defined based on the contour of the substrate, it is expressed as a point on the work coordinate system.

Then, Pw: a vector indicating the screw position on the work coordinate system Two: a homogeneous transformation matrix from the work coordinate system to the world coordinate system Tor: a homogeneous transformation matrix from the world coordinate system to the robot coordinate system

[0027]

## EQU1 ## By using Pr = TorTwoPw, the screw position Pw on the work coordinate system can be converted to a position on the robot coordinate system. By positioning the robot hand to the converted point Pr, the tip of the driver tool is positioned at the center of the thread.

Note that the homogeneous transformation matrix is

[0029]

## EQU2 ## This is a 4 × 4 matrix represented by nx ox ax px ny oy ay py nz oz az pz 0 0 1, and a column vector n (nx, n
y, nz), o (ox, oy, oz), a (ax, a
y, az) indicate the directions of the x-axis, y-axis, and z-axis of the coordinate system after rotation and translation are converted from the original coordinate system, respectively, and the column vector p (px, py, pz) is the origin. It shows the position.

Further, Two and Tor shall be obtained by performing calibration in a working environment in advance.

The robot changes the hand tool type according to the tool data described in the sequence data, and positions the tool tip at the center of the thread as described above. Then, the tool is set so as to generate a torque equal to or more than the minimum torque required for releasing the fastening, pressed against the screw, reversely rotated at the required number of revolutions, and then unscrewed.

Next, a second embodiment of the present invention is shown in FIG.

FIG. 9 shows a case in which the present invention is applied to a fastening screw portion of a metal chassis. A marker circle is formed around a screw hole formed on the metal chassis so as to indicate a screw type depending on a wire type. It is stamped.

In FIG. 9, the marker circle e is stamped with a straight line, and the screw at that position is M3, pitch 0.5 mm, length 5
mm indicates a pan-head screw. Also, the marker circle of f is stamped with a dashed line, and the screw at that position is M2.
5, which indicates that it is a flat head screw having a pitch of 0.45 mm and a screw length of 7 mm. The marker circle of g is stamped with a very thick line, indicating that the screw at that position is M3, the pitch is 0.5 mm, the screw length is 5 mm, and the screw thread is minus.

Therefore, the operator uses a plus screwdriver for M3 for the portion where the straight circle marker is stamped, and uses the M3 screwdriver for the portion where the dot-dash circle marker is stamped.
It is sufficient to use a plus screwdriver for 2.5, and remove the screws at the portions where the very thick line circle markers are stamped using a minus screwdriver for M3.

Also, using the automatic dismantling system described above,
Automatic screw removal may be performed. Here, in the automatic disassembly system described above, when it is difficult to detect the engraved circle by the image, a change in the height of the embossed portion is extracted by using a three-dimensional laser measuring machine instead of the camera and the image processing device. Alternatively, a circle marker may be read to detect a difference in the line type of the circle.

In the above embodiment, the screw marker indicating the screw position and type is a colored circle or a stamped circle with a different line type, but the realization of the screw marker is not limited to these. For example, the screw position and type are set by a marker that changes shape in the same color, a marker that uses a similar shape, a marker that indicates the screw position by stamping a point at the vertex angle of the marker shape, and a marker that appropriately combines them. You may.

In the above description, a marker is described around the fastening portion of the assembly structure. However, a marker symbol may be printed or stamped on the screw itself, and the assembly structure may be fastened with a screw with a marker. The marker may be directly printed or stamped on the assembled structure or the fastening part, or may be implemented by attaching a tape or the like on which the marker is written.

Furthermore, in the above embodiments, the fastening parts are described as screws. However, the fastening parts to which the present invention is applied are not limited to screws. The structure does not impair the effects of the present invention.

[0040]

According to the present invention, it is possible to easily specify the type of the fastening component of the assembly structure and the tool used for releasing the fastening,
Work load in dismantling work of the assembly structure can be reduced.

[Brief description of the drawings]

FIGS. 1A and 1B are a plan view and a side sectional view of FIG. 1A of a mounting board according to a first embodiment of the present invention.

FIG. 2 is an explanatory view showing types of screws used in the first embodiment of the present invention.

FIG. 3 is a block diagram of an automatic screw disassembly system.

FIG. 4 is a view showing thread data of a marker and a thread type;

FIG. 5 is a diagram showing marker data obtained from position data for each marker circle color.

FIG. 6 is a diagram illustrating a mechanism configuration of a marker reading unit.

FIG. 7 is a flowchart of marker detection.

FIG. 8 is a diagram showing screw removal sequence data.

FIG. 9 is an explanatory view showing embossing of a marker circle by the type of screw according to the second embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Motherboard, 2 ... Case bottom plate, 3 ... Cable, 4 ...
Parts mounting bracket, 10 ... Model number reading means, 11 ... Marker reading means, 12 ... Database, 13 ... Screw removal data generation means, 14 ... Screw removal mechanism control device, 15
... Screw removal mechanism, 20 ... Camera, 21 ... Image processing device,
22 ... Color identification device.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masakatsu Hayashi 502, Kandate-cho, Tsuchiura-shi, Ibaraki Pref. Machinery Research Laboratories, Hitachi, Ltd. (72) Eiji Sato 502-502, Kantate-cho, Tsuchiura, Ibaraki, Japan Inside the Machinery Research Laboratory (72) Inventor Shigeki Kunii 4-6-1 Kanda Surugadai, Chiyoda-ku, Tokyo Inside Hitachi, Ltd. (72) Inventor Chihiro Fukumoto 4-6-Kanda Surugadai, Chiyoda-ku, Tokyo Hitachi, Ltd.

Claims (1)

[Claims] 1. A fastening part for fastening a plurality of parts,
A fastening component having a marker capable of specifying a type of a fastening component and a tool to be used for releasing the fastening component.