CN113523495A - Robot with laser locating function - Google Patents
Robot with laser locating function Download PDFInfo
- Publication number
- CN113523495A CN113523495A CN202110823391.7A CN202110823391A CN113523495A CN 113523495 A CN113523495 A CN 113523495A CN 202110823391 A CN202110823391 A CN 202110823391A CN 113523495 A CN113523495 A CN 113523495A
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- Prior art keywords
- robot
- laser
- cover
- clamping block
- sensor
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 12
- 238000010079 rubber tapping Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000011109 contamination Methods 0.000 abstract description 2
- 238000003466 welding Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
- B25J19/022—Optical sensing devices using lasers
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Human Computer Interaction (AREA)
- Optics & Photonics (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention belongs to the technical field of automobile assembly equipment, and particularly relates to a robot with a laser locating function, which comprises a robot and a working part, and is characterized in that: still include the laser and seek the position device, the workplace is connected with the robot, and the position device is sought to the laser sets up on the workplace and with robot signal connection, the position device is sought to the laser, comprises laser displacement sensor, sensor guard box, connecting seat, and the sensor guard box is connected on the connecting seat, and laser displacement sensor, the cylinder of uncapping all set up in the sensor guard box. The robot with the laser positioning function has the advantages of scientific and reasonable structural design, capability of automatically measuring the actual offset position of a workpiece, more accurate positioning, simple structure, small volume, convenience in assembly, lower manufacturing cost, low possibility of contamination, long service life, wide application range and the like, and is a robot with the laser positioning function with higher innovation.
Description
Technical Field
The invention belongs to the technical field of automobile assembly, and particularly relates to a robot with a laser locating function.
Background
The robot is a common automated tool in the automobile final assembly process, whether welding or carrying. However, in the working process of robot welding and robot transportation, the requirement for the position degree of the welding target and the grabbing target is high, and in actual production, the requirement for the position degree by the robot cannot be met. In order to solve the problem, a robot vision system is mostly adopted, and the system has the advantages of large volume, difficult assembly, poor operation stability and high cost. The robot can be used in occasions of arc welding and robot carrying of the robot, can measure the actual offset position of a workpiece, and correspondingly adjusts the working track of the robot according to measurement data; compared with a robot using a vision system and other position identification systems, the robot has the advantages of stable operation, particularly lower manufacturing cost and stronger market competitiveness.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the robot with the laser position finding function, which has the advantages of delicate structure, small volume, convenience in assembly, low manufacturing cost and stable operation.
The technical problem to be solved by the invention is realized by the following technical scheme:
a robot with laser locating function, includes robot, working part, its characterized in that: still include the laser and seek the position device, the workplace is connected with the robot, and the position device is sought to the laser sets up on the workplace and with robot signal connection, the position device is sought to the laser, comprises laser displacement sensor, sensor guard box, connecting seat, and the sensor guard box is connected on the connecting seat, and laser displacement sensor, the cylinder of uncapping all set up in the sensor guard box.
And the connecting seat is composed of an inner clamping block and an outer clamping block, and the inner clamping block and the outer clamping block are relatively and fixedly installed into a whole.
And the inner clamping block and the outer clamping block are respectively provided with a connecting arm accommodating half hole, and the inner clamping block is provided with a connecting plate assembling screw hole, a connecting lug connecting screw hole and a self-tapping screw sleeve.
The sensor protection box comprises a front box body, a rear box body, side box bodies, a bottom cover, a top cover, a cover plate and a cover opening cylinder, wherein the front box body and the rear box body are positioned in the front and the rear, the side box bodies are symmetrically positioned on two sides, the top cover is positioned at the top and connected into a whole, the bottom cover is hinged on the rear box body, the cover plate is arranged on the top cover, the upper part of the cover opening cylinder is fixedly arranged on the top cover, and the bottom end of the cover opening cylinder is close to the bottom cover.
And the two cover opening cylinders are symmetrically and fixedly arranged on the top cover.
The invention has the advantages and beneficial effects that:
1. the robot with the laser locating function is provided with the laser locating device, the laser locating device can measure the actual offset position of a workpiece, the working track of the robot is correspondingly adjusted according to the measured data, and the positioning is more accurate.
2. The laser position-finding device of the robot with the laser position-finding function has the advantages of simple structure, small volume, convenience in assembly and low manufacturing cost.
3. The robot with the laser locating function is provided with the sensor protection box and the cover opening cylinder, can effectively protect the laser sensor, is not easy to stain and has long service life.
4. The robot with the laser locating function is provided with the connecting seat, is convenient to connect with various application parts, can be applied to various working occasions, and has a wide application range.
5. The robot with the laser positioning function has the advantages of scientific and reasonable structural design, capability of automatically measuring the actual offset position of a workpiece, more accurate positioning, simple structure, small volume, convenience in assembly, lower manufacturing cost, low possibility of contamination, long service life, wide application range and the like, and is a robot with the laser positioning function with higher innovation.
Drawings
FIG. 1 is a schematic structural diagram of a robot with a laser locating function;
FIG. 2 is a schematic structural diagram (three-dimensional view) of a laser position-finding device;
FIG. 3 is a schematic structural diagram (top view) of a laser position finder;
FIG. 4 is an AA-oriented view of FIG. 3;
FIG. 5 is a view in the direction of BB of FIG. 3;
FIG. 6 is a view in the direction of CC of FIG. 3;
FIG. 7 is a schematic view of a connecting seat structure;
FIG. 8 is a schematic view of a sensor protection box;
FIG. 9 is a schematic diagram of a connection lug structure;
fig. 10 is a top view of fig. 9.
Reference is made to the accompanying drawings in which:
1-robot, 2-working part, 3-laser locating device, 4-laser displacement sensor, 5-sensor protection box, 6-connecting base, 7-cover plate, 8-uncapping cylinder, 9-top cover, 10-connecting lug plate, 11-connecting plate, 12-inner clamping block, 13-connecting arm accommodating half hole, 14-bush, 15-outer clamping block, 16-lug plate connecting screw rod, 17-connecting plate connecting screw rod, 18-bottom cover, 19-front box body, 20-rear box body, 21-spring hinge, 22-self-tapping screw sleeve, 23-self-tapping screw, 24-connecting plate assembling screw hole, 25-side box body, 26-connecting lug connecting screw hole and 27-sealing gasket.
Detailed Description
The present invention is further illustrated by the following specific examples, which are intended to be illustrative, not limiting and are not intended to limit the scope of the invention.
A robot with laser locating function comprises a robot 1 and a working component 2, and is characterized in that: the robot positioning device is characterized by further comprising a laser positioning device 3, wherein the working part is connected with the robot, and the laser positioning device is arranged on the working part and is in signal connection with the robot.
Laser positioning device comprises laser displacement sensor 4, sensor guard box 5, connecting seat 6, and the sensor guard box is connected on the connecting seat through connecting plate, connecting plate connecting screw 17, connecting plate connecting screw, connection otic placode, otic placode connecting screw 16, connection otic placode connecting screw, and laser displacement sensor, the cylinder of uncapping all set up in the sensor guard box.
The connecting seat is composed of an inner clamping block 12 and an outer clamping block 15, wherein the inner clamping block and the outer clamping block are relatively and fixedly integrated through a self-tapping screw 23 and a self-tapping screw sleeve.
The inner clamping block and the outer clamping block are provided with connecting arm accommodating half holes 13, connecting plate assembling screw holes 24, connecting lug connecting screw holes 26 and self-tapping screw sleeves 22.
The connecting arm receives a half bore in which a bushing 14 is disposed. The bush is the red copper finished piece, sets up the bush and can make the connecting seat connect more firmly and fix on the working part and avoid haring the working part.
The sensor protection box comprises a front box body 19, a rear box body 20, side box bodies 25, a bottom cover 18, a top cover 9, a cover plate 7 and a cover opening cylinder 8, wherein the number of the side box bodies is two, the front box body and the rear box body are positioned in the front and the rear direction, the side box bodies are symmetrically positioned on two sides, the top cover is positioned on the top and connected into a whole, the bottom cover is hinged to the upper bottom surface of the rear box body through a spring hinge 21, the cover plate is arranged on the top cover, the number of the cover opening cylinders is two, the two cover opening cylinders are symmetrically and fixedly arranged on the top cover, the upper part of the cover opening cylinder is fixedly arranged on the top cover, and the bottom end of the cover opening cylinder is close to the bottom cover. Two uncovering cylinders are arranged, and when the cover is opened, the action is stable and reliable.
The bottoms of the front box body, the rear box body and the side box body are provided with sealing gaskets 27, the top cover is provided with a connecting plate 11, and the side box body is provided with a connecting lug plate 10. The sealing gasket can lead the sensor protection box to be tightly sealed, and effectively prevent and avoid dust and moisture from eroding the sensor in the box body.
The connecting ear plate is of a double-bending type, namely, the connecting ear plate is bent inwards and outwards in the transverse direction and is bent upwards and downwards in the longitudinal direction. The sensor protection box is convenient for to bend inside and outside and is connected fixedly with the connecting seat, bends from top to bottom and can strengthen the engaging lug board bearing capacity, reinforcing stability.
The working principle of the invention is as follows:
when the robot with the laser locating function is used for welding or carrying operation, firstly, a corresponding working part welding gun or a corresponding mechanical arm is assembled on the robot; and recording initial data, including robot initial point position data, workpiece preset position data, workpiece characteristic data and working track data.
And a robot position searching step:
1. the bottom cover is opened. The robot is arranged at the initial point position, when the robot needs to seek, the robot sends an uncovering instruction, the uncovering cylinder is controlled by the pneumatic electromagnetic directional valve to open the bottom cover, and the normal light projection work of the laser displacement sensor is guaranteed.
2. And scanning and seeking. The robot seeks the position along the scanning direction, when the laser displacement sensor scans the edge of the workpiece, the laser displacement sensor sends the signal of the scanned workpiece to the robot, the robot records the current position information immediately after obtaining the information, and the original path returns to the initial point.
3. And closing the protection box, calculating deviation and adjusting the track. When the scanning is finished, the robot sends a bottom cover closing instruction, the uncovering cylinder is controlled to return by the pneumatic electromagnetic directional valve, the bottom cover is automatically closed under the action of the spring hinge, and the laser lens of the sensor is prevented from being polluted and damaged when the robot works; and the robot controller compares the currently recorded position data with the workpiece preset position data to calculate to obtain a deviation, and recalculates and adjusts the working track of the robot according to the deviation.
4. And (6) operating. And carrying out welding or conveying operation according to the new working track.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (5)
1. A robot with laser locating function, includes robot, working part, its characterized in that: still include the laser and seek the position device, the workplace is connected with the robot, and the position device is sought to the laser sets up on the workplace and with robot signal connection, the position device is sought to the laser, comprises laser displacement sensor, sensor guard box, connecting seat, and the sensor guard box is connected on the connecting seat, and laser displacement sensor, the cylinder of uncapping all set up in the sensor guard box.
2. The robot with the laser locating function according to claim 1, wherein: the connecting seat is composed of an inner clamping block and an outer clamping block, and the inner clamping block and the outer clamping block are relatively and fixedly installed into a whole.
3. The robot with laser positioning function according to claim 2, wherein: the inner clamping block and the outer clamping block are respectively provided with a connecting arm for accommodating a half hole, and the inner clamping block is provided with a connecting plate assembling screw hole, a connecting lug connecting screw hole and a self-tapping screw sleeve.
4. The robot with the laser locating function according to claim 1, wherein: the sensor protection box comprises a front box body, a rear box body, side box bodies, a bottom cover, a top cover, a cover plate and a cover opening cylinder, wherein the front box body and the rear box body are positioned in the front and the rear, the side box bodies are symmetrically positioned on two sides, the top cover is positioned at the top and connected into a whole, the bottom cover is hinged on the rear box body, the cover plate is arranged on the top cover, the upper part of the cover opening cylinder is fixedly arranged on the top cover, and the bottom end of the cover opening cylinder is close to the bottom cover.
5. The robot with laser positioning function according to claim 4, wherein: the two cover opening cylinders are symmetrically and fixedly arranged on the top cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110823391.7A CN113523495A (en) | 2021-07-21 | 2021-07-21 | Robot with laser locating function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110823391.7A CN113523495A (en) | 2021-07-21 | 2021-07-21 | Robot with laser locating function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113523495A true CN113523495A (en) | 2021-10-22 |
Family
ID=78129101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110823391.7A Pending CN113523495A (en) | 2021-07-21 | 2021-07-21 | Robot with laser locating function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113523495A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170227644A1 (en) * | 2016-02-08 | 2017-08-10 | Servo-Robot, Inc. | Range finder device for monitoring robot processing tool position |
| CN107457513A (en) * | 2017-04-07 | 2017-12-12 | 四川希思特智能科技有限公司 | A kind of weld seam automatic localization device using two-dimensional laser displacement transducer |
| CN107717227A (en) * | 2017-11-09 | 2018-02-23 | 北京工业大学 | A kind of laser narrow gap welding joint |
| CN209830570U (en) * | 2018-09-18 | 2019-12-24 | 广东省海洋工程装备技术研究所 | Laser locating robot |
| CN210209125U (en) * | 2019-04-24 | 2020-03-31 | 浙江得马智能装备有限公司 | CCD image positioning pneumatic telescopic mechanism |
| CN210254746U (en) * | 2019-05-29 | 2020-04-07 | 创想智控科技(成都)有限公司 | Protection device applied to laser displacement sensor |
| CN210387986U (en) * | 2019-05-29 | 2020-04-24 | 创想智控科技(成都)有限公司 | Installation and protection device for laser displacement sensor |
| US20210001423A1 (en) * | 2019-07-02 | 2021-01-07 | Servo-Robot Inc. | Twin laser camera assembly |
| CN215280308U (en) * | 2021-07-21 | 2021-12-24 | 中汽（天津）汽车装备有限公司 | Robot with laser locating function |
-
2021
- 2021-07-21 CN CN202110823391.7A patent/CN113523495A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170227644A1 (en) * | 2016-02-08 | 2017-08-10 | Servo-Robot, Inc. | Range finder device for monitoring robot processing tool position |
| CN107457513A (en) * | 2017-04-07 | 2017-12-12 | 四川希思特智能科技有限公司 | A kind of weld seam automatic localization device using two-dimensional laser displacement transducer |
| CN107717227A (en) * | 2017-11-09 | 2018-02-23 | 北京工业大学 | A kind of laser narrow gap welding joint |
| CN209830570U (en) * | 2018-09-18 | 2019-12-24 | 广东省海洋工程装备技术研究所 | Laser locating robot |
| CN210209125U (en) * | 2019-04-24 | 2020-03-31 | 浙江得马智能装备有限公司 | CCD image positioning pneumatic telescopic mechanism |
| CN210254746U (en) * | 2019-05-29 | 2020-04-07 | 创想智控科技(成都)有限公司 | Protection device applied to laser displacement sensor |
| CN210387986U (en) * | 2019-05-29 | 2020-04-24 | 创想智控科技(成都)有限公司 | Installation and protection device for laser displacement sensor |
| US20210001423A1 (en) * | 2019-07-02 | 2021-01-07 | Servo-Robot Inc. | Twin laser camera assembly |
| CN215280308U (en) * | 2021-07-21 | 2021-12-24 | 中汽（天津）汽车装备有限公司 | Robot with laser locating function |
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