CN112605972A - Automatic sliding plate fulcrum adjusting robot system and method - Google Patents
Automatic sliding plate fulcrum adjusting robot system and method Download PDFInfo
- Publication number
- CN112605972A CN112605972A CN202011265704.3A CN202011265704A CN112605972A CN 112605972 A CN112605972 A CN 112605972A CN 202011265704 A CN202011265704 A CN 202011265704A CN 112605972 A CN112605972 A CN 112605972A
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- sliding plate
- positioning pin
- robot
- robot system
- clamping jaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of adjustment of fulcrums of vehicle body sliding plate conveying lines, and discloses a sliding plate fulcrum automatic adjustment robot system and a method. The positioning pin clamping jaw is fixed on an end holding part of the robot system and used for adjusting the height of the positioning pin; the vision system is fixed on the positioning pin clamping jaw and used for transmitting and analyzing the positioning pin position data; and the electric control system is in data connection with the robot system and is used for controlling the robot system. The system can automatically identify the vehicle body and adjust the sliding plate pivot according to vehicle types.
Description
Technical Field
The invention relates to the technical field of adjustment of vehicle body sliding plate conveyor line fulcrums, in particular to a sliding plate fulcrum automatic adjustment robot system and a method.
Background
The description of the background of the invention pertaining to the related art to which this invention pertains is given for the purpose of illustration and understanding only of the summary of the invention and is not to be construed as an admission that the applicant is explicitly or implicitly admitted to be prior art to the date of filing this application as first filed with this invention.
The slide plate line of a general assembly workshop of a domestic large-scale automobile production line is mainly used for production lines such as an interior trim first line, an interior trim second line and the like, the positioning accuracy and the consistency of a slide plate pivot are generally required to be high, and an automobile body is conveyed to a slide plate conveying line through switching equipment to assemble an interior trim; at present, in the mixed production of most of domestic workshops, under the condition that the distance between the positioning holes of the vehicle body is consistent, the height requirements of the sliding plate pivot points are different due to different heights of the skirt edge of the vehicle body, and the current mainstream technical field is that the pivot points of the sliding plate conveying lines are unique and cannot be adjusted or are manually adjusted.
The sliding plate conveying line pivot in the prior art has certain limitations, and firstly, for the non-adjustable pivot, vehicle bodies with different platforms and vehicle bodies with different heights cannot be compatible; to the slide transfer chain of needs adjustment fulcrum, the manual work is adjusted, and there is the precision inconsistent in the manual adjustment, and slide fulcrum uniformity subalternation problem can bring and change the condition of hanging and assembly inefficacy, increases production line personnel load simultaneously to there is certain potential safety hazard.
Disclosure of Invention
The embodiment of the invention aims to provide a sliding plate fulcrum automatic adjusting robot system and a method.
A sliding plate fulcrum automatic adjustment robot system comprises a robot system, a robot positioning pin clamping jaw, a vision system and an electric control system, wherein the positioning pin clamping jaw is fixed on an end holding part of the robot system and used for adjusting the height of a positioning pin; the vision system is fixed on the positioning pin clamping jaw and used for transmitting and analyzing the positioning pin position data; and the electric control system is in data connection with the robot system and is used for controlling the robot system.
Further, the robot system is a 6-axis robot system.
Further, the vision system comprises a sensor and an image analysis system, and is used for confirming the installation position of the sliding plate fulcrum.
Furthermore, the electric control system comprises an electric cabinet, a vehicle body identification switch and an operating system.
A use method of a sliding plate fulcrum automatic adjusting robot system comprises the following steps:
the sliding plate conveying line stops when the sliding plate moves to a specified position, the stopping precision is +/-20 mm, and the electric control system transmits signals; the vision system works to confirm the height of the current positioning pin; the robot clamping jaw moves to a designated position, and a vision system confirms the specific position of the current positioning pin; moving the robot clamping jaw to a specified position, and sequentially adjusting all the positioning pins to specified heights; and the vision system checks the height and the position of the positioning pin and returns the information to the sliding plate conveying line system after confirmation.
The embodiment of the invention has the following beneficial effects:
the height of the positioning pin of the sliding plate is automatically adjusted by system control according to the input requirements of different vehicle types. The robot moves to wait for the region and shoots the slide, adjusts the locating pin after the accurate positioning. In the transfer process, the system can reduce personnel and accord with, reduces the injury to the automobile body less, improves the adjustment accuracy of locating pin.
Drawings
Fig. 1 is a schematic working diagram of a sliding plate fulcrum automatic adjusting robot system of the invention.
Detailed Description
The present application is further described below with reference to examples.
In the following description, different "one embodiment" or "an embodiment" may not necessarily refer to the same embodiment, in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art. Various embodiments may be replaced or combined, and other embodiments may be obtained according to the embodiments without creative efforts for those skilled in the art.
With reference to fig. 1, a sliding plate fulcrum automatic adjustment robot system includes a robot system 1, a robot positioning pin clamping jaw 201, a vision system 202 and an electric control system 3, wherein the positioning pin clamping jaw 201 is fixed at an end holding part of the robot system 1 and used for adjusting the height of a positioning pin; the vision system 202 is fixed on the positioning pin clamping jaw 201 and used for transmitting and analyzing the position data of the positioning pin 5; the electric control system 3 is in data connection with the robot system 1 and is used for controlling the robot system 1.
Further, the robot system 1 is a 6-axis robot system.
Further, the vision system comprises a sensor and an image analysis system, and is used for confirming the installation position of the fulcrum of the sliding plate 4.
Furthermore, the electric control system comprises an electric cabinet, a vehicle body identification switch and an operating system.
A use method of a sliding plate fulcrum automatic adjusting robot system comprises the following steps:
the sliding plate conveying line stops when the sliding plate moves to a specified position, the stopping precision is +/-20 mm, and the electric control system transmits signals; the vision system works to confirm the height of the current positioning pin; the robot clamping jaw moves to a designated position, and a vision system confirms the specific position of the current positioning pin; moving the robot clamping jaw to a specified position, and sequentially adjusting all the positioning pins to specified heights; and the vision system checks the height and the position of the positioning pin and returns the information to the sliding plate conveying line system after confirmation.
The embodiment of the invention has the following beneficial effects:
the height of the positioning pin of the sliding plate is automatically adjusted by system control according to the input requirements of different vehicle types. The robot moves to wait for the region and shoots the slide, adjusts the locating pin after the accurate positioning. In the transfer process, the system can reduce personnel and accord with, reduces the injury to the automobile body less, improves the adjustment accuracy of locating pin.
Description of control:
the sliding plate conveying line and the sliding plate move to the designated position to stop, the stopping precision is +/-20 mm, the sliding plate line electric control system transmits signals to the system, and the system starts to work.
The system moves the 6-axis manipulator system to a specified position for photographing.
The vision system shoots and accurately positions the position of the positioning pin of the sliding plate.
The system is electrically interlocked with the sliding plate conveying line.
A sliding plate fulcrum automatic adjustment robot system comprises a 6-axis robot system 1, a robot positioning pin clamping jaw 201, a vision system 202, an electric control system 3 and the like.
The 6-axis robot system comprises 2 sets of 6-axis articulated robots and an electric control system thereof. The 6-axis articulated robot has compact body and strong load capacity, supports various process layouts, and can flexibly select installation modes such as landing, wall hanging, support, inclined placement, inverted placement and the like. The 6-axis robot system can realize x, y and z movement and 6-degree-of-freedom movement of rotation, and the repeated positioning precision is +/-2 mm.
The robot positioning pin clamping jaw comprises a main body frame structure and a rotary tightening mechanism. The rotary tightening mechanism is characterized in that the servo motor drives the tightening sleeve to rotate through the transmission mechanism. The servo motor drives the tightening sleeve to rotate through the transmission mechanism. The mechanism is matched with a pin mechanical structure on the sliding plate, the height of the pin can be changed through a rotating mode, and the height of the pin is controlled by controlling the revolution of the servo motor. A distance sensor is arranged in the rotary tightening sleeve, and the auxiliary tightening mechanism judges whether the height of the pin is accurate or not.
A vision system, said end-holder containing sensors, impact analysis systems, etc. The vision range of the sensor is 500 ten thousand pixels, multispectral light is emitted, and the error of a slide plate of an incoming piece can meet the error of +/-20 mm. After the positioning points are positioned, the position of the sliding plate pivot is confirmed through an image analysis system.
The electric control system comprises an electric cabinet, a vehicle body identification switch, a wire harness, an operating system and the like. The position of the sliding plate is identified (roughly positioned) through a preset position, the positioning hole is photographed, the picture is identified and calculated, the actual position of the positioning pin is accurately positioned (highly accurately positioned), and the 6-axis robot is moved to adjust the positioning pin through an operating system.
The system of the invention has the following advantages:
the other electrical controls are conventional controls.
The installation is various, the process requirement is met, the installation is simple, convenient and quick, and the maintenance is simple;
the vehicle body can be automatically identified and the sliding plate pivot can be adjusted according to vehicle types;
the positioning precision is high, and the error can be controlled within +/-2 mm;
the personnel load of the production line is reduced, and the personal safety is protected.
It should be noted that the above embodiments can be freely combined as necessary. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A sliding plate fulcrum automatic adjustment robot system is characterized by comprising a robot system, a robot positioning pin clamping jaw, a vision system and an electric control system, wherein the positioning pin clamping jaw is fixed on an end holding part of the robot system and used for adjusting the height of a positioning pin; the vision system is fixed on the positioning pin clamping jaw and used for transmitting and analyzing the positioning pin position data; and the electric control system is in data connection with the robot system and is used for controlling the robot system.
2. The skateboard fulcrum automatic adjustment robot system of claim 1, wherein the robot system is a 6-axis robot system.
3. The skateboard fulcrum automatic adjustment robot system of claim 1, wherein the vision system includes a sensor and an image analysis system for confirming the skateboard fulcrum mounting position.
4. The sliding plate fulcrum automatic adjusting robot system according to claim 1, wherein the electric control system comprises an electric cabinet, a vehicle body identification switch and an operating system.
5. A use method of a sliding plate fulcrum automatic adjusting robot system is characterized by comprising the following steps:
the sliding plate conveying line stops when the sliding plate moves to a specified position, the stopping precision is +/-20 mm, and the electric control system transmits signals; the vision system works to confirm the height of the current positioning pin; the robot clamping jaw moves to a designated position, and a vision system confirms the specific position of the current positioning pin; moving the robot clamping jaw to a specified position, and sequentially adjusting all the positioning pins to specified heights; and the vision system checks the height and the position of the positioning pin and returns the information to the sliding plate conveying line system after confirmation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011265704.3A CN112605972A (en) | 2020-11-13 | 2020-11-13 | Automatic sliding plate fulcrum adjusting robot system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011265704.3A CN112605972A (en) | 2020-11-13 | 2020-11-13 | Automatic sliding plate fulcrum adjusting robot system and method |
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| CN112605972A true CN112605972A (en) | 2021-04-06 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101434273A (en) * | 2008-12-11 | 2009-05-20 | 奇瑞汽车股份有限公司 | Universal sling for automobile multi-product production |
| JP2011088697A (en) * | 2009-10-21 | 2011-05-06 | Daifuku Co Ltd | Work lifting support device |
| CN106184465A (en) * | 2015-05-07 | 2016-12-07 | 上海通用汽车有限公司 | A kind of transport vehicle for carrier body in white |
| CN110461536A (en) * | 2017-03-22 | 2019-11-15 | 柯马有限责任公司 | The reconfigurable vehicle of modularization with common support pallet and the modular board engaged with the support pallet assembles pallet |
| CN110545952A (en) * | 2017-04-25 | 2019-12-06 | 川崎重工业株式会社 | Robot system and work line provided with same |
| CN111195911A (en) * | 2019-12-30 | 2020-05-26 | 江西江铃集团新能源汽车有限公司 | Pin changing system, pin changing method and vehicle production system |
-
2020
- 2020-11-13 CN CN202011265704.3A patent/CN112605972A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101434273A (en) * | 2008-12-11 | 2009-05-20 | 奇瑞汽车股份有限公司 | Universal sling for automobile multi-product production |
| JP2011088697A (en) * | 2009-10-21 | 2011-05-06 | Daifuku Co Ltd | Work lifting support device |
| CN106184465A (en) * | 2015-05-07 | 2016-12-07 | 上海通用汽车有限公司 | A kind of transport vehicle for carrier body in white |
| CN110461536A (en) * | 2017-03-22 | 2019-11-15 | 柯马有限责任公司 | The reconfigurable vehicle of modularization with common support pallet and the modular board engaged with the support pallet assembles pallet |
| CN110545952A (en) * | 2017-04-25 | 2019-12-06 | 川崎重工业株式会社 | Robot system and work line provided with same |
| CN111195911A (en) * | 2019-12-30 | 2020-05-26 | 江西江铃集团新能源汽车有限公司 | Pin changing system, pin changing method and vehicle production system |
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| CB02 | Change of applicant information |
Address after: No. 1958, Chuangye street, Changchun automobile economic and Technological Development Zone, Changchun City, Jilin Province, 130011 Applicant after: The Ninth Design and Research Institute of Machinery Industry Co.,Ltd. Address before: No. 1958, Chuangye street, Changchun automobile economic and Technological Development Zone, Changchun City, Jilin Province, 130011 Applicant before: Machinery Industry Ninth Design and Research Institute Co.,Ltd. |
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Application publication date: 20210406 |
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