CN114248251A

CN114248251A - Automatic glass mounting robot

Info

Publication number: CN114248251A
Application number: CN202111418016.0A
Authority: CN
Inventors: 李光辉; 王康元; 王海怒; 于滨; 姚平
Original assignee: Shanghai Gravel Beam Intelligent Technology Co ltd
Current assignee: Shanghai Gravel Beam Intelligent Technology Co ltd
Priority date: 2021-11-26
Filing date: 2021-11-26
Publication date: 2022-03-29

Abstract

The invention discloses an automatic glass mounting robot, comprising: the device comprises a control module, an omnidirectional trolley, a glass storage tool and an execution module; the control module is electrically connected with the omnidirectional trolley and the execution module and is used for controlling the omnidirectional trolley and the execution module; the glass storage tool is arranged on the omnidirectional trolley and used for storing glass to be installed; the execution module is arranged on the omnidirectional trolley and is electrically connected with the control module for installing glass. The invention overcomes the defects of low assembly operation efficiency, high labor cost and low assembly precision in the prior art, greatly improves the assembly quality of the window glass of the high-speed rail and has the characteristic of strong operation flexibility.

Description

Automatic glass mounting robot

Technical Field

The invention relates to the technical field of automatic glass mounting equipment, in particular to a robot for automatically mounting glass.

Background

In the prior art, the installation operation of the window glass of a high-speed rail is mostly completed by matching of manpower and power-assisted equipment, the defects of high labor cost and low operation efficiency exist, the installation surface of the window glass is wide, and the defect of low assembly precision exists when the installation position is judged by human eyes.

Disclosure of Invention

According to an embodiment of the present invention, there is provided an automatic glass mounting robot including: the device comprises a control module, an omnidirectional trolley, a glass storage tool and an execution module;

the control module is electrically connected with the omnidirectional trolley and the execution module and is used for controlling the omnidirectional trolley and the execution module;

the glass storage tool is arranged on the omnidirectional trolley and used for storing glass to be installed;

the execution module is arranged on the omnidirectional trolley and is electrically connected with the control module for installing glass.

Furthermore, the wheels of the omnidirectional trolley are Mecanum wheels.

Further, the execution module includes: executing a mechanical arm and an executing tool;

one end of the execution mechanical arm is arranged at the top of the omnidirectional trolley;

the execution tool is arranged at the other end of the execution mechanical arm and is electrically connected with the control module.

Further, the execution mechanical arm is a six-axis mechanical arm.

Further, the executing tool comprises: the device comprises a supporting frame, a plurality of sensors and a plurality of suckers;

the top of the supporting frame is fixedly connected with the other end of the execution mechanical arm;

the suckers are uniformly distributed at the bottom of the supporting frame and used for grabbing the glass;

the plurality of sensors are respectively arranged on the side walls of the periphery of the supporting frame.

Further, the sensor is a 3D vision sensor.

Further, the frock is deposited to glass contains: the device comprises a bearing bottom plate, a storage bracket and a plurality of pairs of positioning grooves;

the bearing bottom plate is arranged at the top of the omnidirectional trolley;

the pair of storage brackets are symmetrically arranged at the top of the bearing bottom plate;

each pair of positioning grooves are respectively arranged on the pair of storage supports, and the positions of each pair of positioning grooves are matched and used for positioning the glass.

Further, the control module includes: a processor and a controller;

the controller is arranged in the omnidirectional trolley, and the processor is electrically connected with the omnidirectional trolley and the execution module;

the processor is electrically connected with the controller and used for processing data.

According to the automatic glass mounting robot provided by the embodiment of the invention, the defects of low assembly operation efficiency, high labor cost and low assembly precision in the prior art are overcome, the assembly quality of the glass of the high-speed rail vehicle is greatly improved, and the automatic glass mounting robot has the characteristic of strong operation flexibility.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology.

Drawings

FIG. 1 is a perspective view of an automatic glazing robot according to an embodiment of the invention;

FIG. 2 is a perspective view of an execution tool according to an embodiment of the present invention;

fig. 3 is a perspective view of a glass storage tool according to an embodiment of the invention.

Detailed Description

The present invention will be further explained by describing preferred embodiments of the present invention in detail with reference to the accompanying drawings.

First, an automatic glass installing robot according to an embodiment of the present invention will be described with reference to fig. 1 to 3, which is used for installing glass 4 for a high-speed rail and has a wide application range.

As shown in fig. 1, an automatic glass-installing robot according to an embodiment of the present invention includes: the device comprises a control module, an omnidirectional trolley 1, a glass storage tool 2 and an execution module.

Specifically, as shown in fig. 1, the execution module is disposed on the omnidirectional trolley 1, and the execution module is electrically connected with the control module and used for installing the glass 4.

Further, as shown in fig. 1, the wheels of the omnidirectional trolley 1 are mecanum wheels, so that the operation flexibility of the embodiment is improved.

Further, as shown in fig. 1, the execution module includes: an execution mechanical arm 31 and an execution tool 32; one end of the execution mechanical arm 31 is arranged at the top of the omnidirectional trolley 1 and is used for controlling the execution tool 32; the execution tool 32 is arranged at the other end of the execution mechanical arm 31, the execution tool 32 is electrically connected with the control module, and the execution tool is used for grabbing the glass 4 to perform window installation operation, so that the defects of low efficiency and high labor cost of high-speed rail window assembly operation are overcome.

Further, as shown in fig. 1, the execution robot arm 31 is a six-axis robot arm, which provides the present embodiment with higher operation flexibility.

Further, as shown in fig. 1-2, the executing tool 32 includes: a support frame 321, a plurality of sensors 322 and a plurality of suckers 323; the top of the supporting frame 321 is fixedly connected with the other end of the manipulator 31; the plurality of suction cups 323 are uniformly distributed at the bottom of the support frame 321 and used for grabbing the glass 4; the plurality of sensors 322 are respectively arranged on the peripheral side walls of the supporting frame 321, and when the plurality of suckers 323 adsorb the glass 4 in place, the plurality of sensors 322 are aligned with the edge of the glass 4 and used for sensing the installation position of the car window.

Further, as shown in fig. 2, the sensor 322 is a 3D vision sensor 322, which further improves the assembly accuracy of the present embodiment, and solves the defect of low assembly accuracy of the vehicle window in the prior art.

Specifically, as shown in fig. 1, the glass storage tool 2 is arranged on the omnidirectional trolley 1 and used for storing glass 4 to be installed.

Further, as shown in fig. 1 and 3, the glass storage tool 2 includes: a bearing bottom plate 21, a storage bracket 22 and a plurality of pairs of positioning grooves 221; the bearing bottom plate 21 is arranged at the top of the omnidirectional trolley 1; a pair of storage brackets 22 are symmetrically arranged on the top of the bearing bottom plate 21; each pair of positioning grooves 221 is respectively arranged on the pair of storage supports 22, and the positions of each pair of positioning grooves 221 are matched and used for positioning the glass 4, so that the glass storage tool 2 can sequentially store the number of the glass 4 on one side of a train.

Specifically, as shown in fig. 1, the control module is electrically connected to the omnidirectional trolley 1 and the execution module, and is configured to control the omnidirectional trolley 1 and the execution module.

Further, as shown in fig. 1, the control module includes: a processor (not shown) and a controller (not shown); the controller is arranged in the omnidirectional trolley 1, is electrically connected with the omnidirectional trolley 1, the execution mechanical arm 31 and the sensor 322, is used for controlling the omnidirectional trolley 1, the execution mechanical arm 31 and the sensor 322 to carry out assembly operation, and is also used for processing and transmitting detection data of the sensor 322; the processor is electrically connected with the controller and used for processing the data transmitted by the controller.

When the embodiment operates, the controller controls the omnidirectional trolley 1 to move to the high-speed rail window operation area, controls the execution mechanical arm 31 to drive the execution tool 32 to grab the glass 4, when the sensors 322 are respectively aligned with the edge of the glass 4, the execution tool 32 grabs the glass 4 by using the suction disc 323, the execution mechanical arm 31 controls the execution tool 32 to grab the glass 4 and move to the position of the high-speed rail window, the sensors 322 emit red laser to irradiate the edge of the glass 4, when the execution tool 32 grabs the glass 4 and moves to the installation position of the window, the reflected laser can be collected by a camera arranged in the sensor 322, the coordinate value of X, Y, Z of the window aperture is determined, the collected coordinate data are sent to a processor by the controller for processing, the processor feeds back the result generated by the processing to the controller, and the controller controls the execution mechanical arm 31 and the execution tool 32 to install the glass 4 on the window.

The automatic glass mounting robot according to the embodiment of the invention is described above with reference to fig. 1 to 3, so that the defects of low assembly operation efficiency, high labor cost and low assembly precision in the prior art are overcome, the assembly quality of the high-speed rail window glass 4 is greatly improved, and the automatic glass mounting robot has the characteristic of strong operation flexibility.

It should be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.

Claims

1. An automatic glass mounting robot, comprising: the device comprises a control module, an omnidirectional trolley, a glass storage tool and an execution module;

the execution module is arranged on the omnidirectional trolley and electrically connected with the control module and used for installing the glass.

2. The automated glass mounting robot of claim 1, wherein the wheels of the omnidirectional cart are mecanum wheels.

3. The automatic glass mounting robot of claim 1, wherein the execution module comprises: executing a mechanical arm and an executing tool;

4. The automated glass mounting robot of claim 3, wherein the implement robot is a six-axis robot.

5. The automatic glass mounting robot of claim 3, wherein the performing tool comprises: the device comprises a supporting frame, a plurality of sensors and a plurality of suckers;

6. The automatic glass mounting robot of claim 5, wherein the sensor is a 3D vision sensor.

7. The automatic glass mounting robot of claim 1, wherein the glass storage fixture comprises: the device comprises a bearing bottom plate, a storage bracket and a plurality of pairs of positioning grooves;

the bearing bottom plate is arranged at the top of the omnidirectional trolley;

each pair of positioning grooves is respectively arranged on the pair of storage brackets, and the positions of each pair of positioning grooves are matched for positioning the glass.

8. The automatic glass mounting robot of claim 1, wherein the control module comprises: a processor and a controller;

the controller is arranged inside the omnidirectional trolley, and the processor is electrically connected with the omnidirectional trolley and the execution module;