CN210968968U - Vision guide feeding system suitable for automatic automobile roof carrying process - Google Patents
Vision guide feeding system suitable for automatic automobile roof carrying process Download PDFInfo
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- CN210968968U CN210968968U CN201921700300.5U CN201921700300U CN210968968U CN 210968968 U CN210968968 U CN 210968968U CN 201921700300 U CN201921700300 U CN 201921700300U CN 210968968 U CN210968968 U CN 210968968U
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Abstract
Visual guide feeding system suitable for vapour car roof automatic handling process includes: the robot comprises a robot, a gripper heightening disc, a robot gripper, a visual three-dimensional scanner, a scanner connecting mechanism, an industrial control cabinet, a robot control cabinet, a valve island, a vacuum generator, a clamping cylinder and a vacuum sucker. The utility model discloses compare with the conventional art, through the scanning of visual scanner to jumbo size sheet metal component diagonal region, identification accuracy and positioning accuracy have been improved, can improve to 0.5mm to the transport guide precision of jumbo size sheet metal component, the frock design cost of middle secondary location has been saved, because the visual scanner who chooses for use is the six degree of freedom coordinate information who gathers the work piece, and there is great detection range, put the deviation allowed range to the position of work piece and be 70mm, greatly reduced the location requirement of work piece, the material loading guide transport that does not need the smart location material frame can satisfy visual system.
Description
Technical Field
The utility model relates to a white automobile body spare part automatic handling technical field of car, concretely relates to vision guide feeding system suitable for vapour car roof automatic handling process.
Background
In the current automobile manufacturing industry, robots are used in large quantities to complete various operations such as carrying, assembling, detecting, spraying and the like, and with the promotion of industry 4.0, the robots are more intelligent and informationized in use. The robot can finish the carrying and assembling of various complex working conditions by the application of the 2D vision and the 3D vision, based on the vision guide feeding system, the robot can be carried without grabbing and carrying without high-precision positioning of parts, the efficiency is high, various abnormal problems in the carrying process are eliminated, such as the fact that the workpiece cannot be grabbed, the workpiece is damaged, the grabbing is not tight, and the robot is a key technology in the field of automatic carrying of the current automobile parts.
In present automobile parts transport station, the general use is that high accuracy magazine and smart location frock ensure that the positioning accuracy of parts in the magazine keeps unanimous, then the robot accomplishes according to snatching the procedure and snatchs the transport action, all needs very high precision to the preparation of tongs and the preparation of magazine to ensure to snatch at every turn successfully, and is with high costs, poor stability, and the trouble is more, and work efficiency is low.
In order to solve the above problems, we have made a series of improvements.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a vision guide feeding system who is applicable to vapour car roof automatic handling process to overcome the above-mentioned shortcoming and not enough that prior art exists.
The visual guide feeding system suitable for the automatic automobile roof carrying process comprises a robot, a gripper heightening disc, a robot gripper, a visual three-dimensional scanner, a scanner connecting mechanism, an industrial control cabinet, a robot control cabinet, a valve island, a vacuum generator, a clamping cylinder and a vacuum sucker, wherein the robot gripper is connected with the tail end of the robot through the gripper heightening disc, the visual three-dimensional scanner is fixedly connected with two opposite angle positions of the robot gripper through the scanner connecting mechanism, the valve island is connected with the upper part of the robot gripper through a connecting plate, the industrial control cabinet is connected with an external power line, the robot control cabinet is connected with the inside of the industrial control cabinet, the visual three-dimensional scanner is electrically connected with the industrial control cabinet through a power supply cable, the visual three-dimensional scanner is in communication connection with the industrial control cabinet through a communication cable, the industrial control cabinet is in communication connection with the robot control cabinet through P L C, the vacuum generator is connected with the robot gripper, and the clamping cylinder and the vacuum sucker are connected with the robot gripper;
wherein the visual three-dimensional scanner comprises: shell, projecting apparatus, camera, polaroid, protective glass piece, circuit board and screw, the shell passes through the screw and is connected with scanner coupling mechanism, projecting apparatus and camera are connected with the shell inner chamber, protective glass piece is connected with the projecting apparatus and the camera outside, the polaroid is located in the middle of camera and the protective glass piece, the bottom is connected in circuit board and the shell, protective glass piece's material is the ya keli material.
Further, the robot gripper includes: the substrate is EGT 017.1.
Furthermore, the model of the robot is KUKA, ABB and FANUC mainstream carrying heavy-load six-axis robot, and the load of the robot is 210 KG.
Further, the scanner attachment mechanism includes: scanner connecting block, pipe connecting piece and eight corner union coupling spare, the pipe passes through screw and scanner connecting block fastening connection, the pipe passes through the screw and is connected with the pipe connecting piece, the pipe passes through the screw and is connected with eight corner union coupling spare.
Further, the housing includes: the novel anti-theft door comprises a shell, a front cover plate, a rear cover plate, a thickened plate, a first mounting threaded hole, a second mounting threaded hole, a positioning clamping groove and end cover fixing holes, wherein the front cover plate is fixedly connected with the front end of the shell through the positioning clamping groove, the rear cover plate is fixedly connected with the rear end of the shell through the positioning clamping groove, the thickened plate is connected with the upper end and the lower end of the shell, the first mounting threaded hole is formed in the thickened plate at the top of the shell, the second mounting threaded hole is formed in the thickened plate at the bottom of the shell, and the end cover fixing holes are formed.
Further, the scanner connection block includes: the scanner connecting block comprises a first through hole, a second through hole, a first fastening hole, a second fastening hole, a first threaded hole, a first fastening screw hole and a mounting surface, wherein the first through hole is formed in the front surface and the rear surface of the scanner connecting block, the second through hole is formed in two side surfaces of the scanner connecting block, the bottom of the scanner connecting block is arranged on the mounting surface, the first fastening hole is formed in the mounting surface, the second fastening hole is formed in four corners of the top of the scanner connecting block, the first threaded hole is formed in one side of the first through hole and the second through hole, and the first fastening screw hole is formed in the center of the top of the scanner connecting block.
Further, the pipe connector includes: the connecting structure comprises a third through hole, a fourth through hole, a third fastening hole, a second threaded hole, a second tacking screw hole and a third tacking screw hole, wherein the third through hole is formed in the upper surface and the lower surface of the round pipe connecting piece, the fourth through hole is formed in the two side surfaces of the round pipe connecting piece, the third fastening hole is formed in the front end of the top of the round pipe connecting piece, the second threaded hole is formed in the rear end of the two side surfaces of the round pipe connecting piece, the second tacking screw hole is formed in the two side surfaces of the round pipe connecting piece, and the third tacking screw hole is formed in the upper surface and the lower.
The utility model has the advantages that:
the utility model discloses compare with the conventional art, through with the vision scanner, vision software and robot and P L C are integrated together and use, through the scanning to jumbo size sheet metal component diagonal region of vision scanner, recognition accuracy and positioning accuracy have been improved, can improve to 0.5mm to the transport guide precision of jumbo size sheet metal component, the frock design cost of middle secondary positioning has been saved, because the vision scanner who chooses for use is the six degree of freedom coordinate information of gathering the work piece, and there is great detection range, it is 70mm to put the deviation allowed range to the position of work piece, greatly reduced the location requirement of work piece, the material loading guide transport that does not need the smart location material frame can satisfy visual system.
Description of the drawings:
fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of a part of the structure of the present invention.
Fig. 3 is a connection relationship diagram of the visual three-dimensional scanner and the scanner connection mechanism.
Fig. 4 is a schematic structural view of the scanner connection mechanism.
Fig. 5 is a schematic diagram of a visual three-dimensional scanner.
Fig. 6 is a schematic structural view of the housing.
Fig. 7 is a schematic structural diagram of a scanner connection block.
Fig. 8 is a schematic structural view of a round pipe connector.
Reference numerals:
the robot 100, the gripper raising tray 200, the robot gripper 300, the substrate 310, and the visual three-dimensional scanner 400.
The shell 410, the shell 411, the front cover plate 412, the rear cover plate 413, the thickened plate 414, the first mounting threaded hole 415, the second mounting threaded hole 416, the positioning clamping groove 417 and the end cover fixing hole 418.
The scanner connecting mechanism 500, the scanner connecting block 510, the first through hole 511, the second through hole 512, the first fastening hole 513, the second fastening hole 514, the first threaded hole 515, the first fastening screw hole 516, and the mounting surface 517.
A round tube 520, a round tube connector 530, a third through hole 531, a fourth through hole 532, a third fastening hole 533, a second threaded hole 534, a second staple hole 535, a third staple hole 536, and an octagonal tube connector 540.
Detailed Description
The present invention will be further described with reference to the following examples. It should be understood that the following examples are illustrative only and are not intended to limit the scope of the present invention.
Fig. 1 is a schematic structural diagram of the present invention. Fig. 2 is a schematic view of a part of the structure of the present invention. Fig. 3 is a connection relationship diagram of the visual three-dimensional scanner and the scanner connection mechanism. Fig. 4 is a schematic structural view of the scanner connection mechanism. Fig. 5 is a schematic diagram of a visual three-dimensional scanner. Fig. 6 is a schematic structural view of the housing. Fig. 7 is a schematic structural diagram of a scanner connection block. Fig. 8 is a schematic structural view of a round pipe connector.
Example 1
As shown in fig. 1 and 2, the visual guidance feeding system suitable for the automatic automobile roof handling process comprises a robot 100, a gripper heightening disc 200, a robot gripper 300, a visual three-dimensional scanner 400, a scanner connecting mechanism 500, a industrial control cabinet 600, a robot control cabinet 700, a valve island 800, a vacuum generator 900, a clamping cylinder 1000 and a vacuum chuck 1100, wherein the robot gripper 300 is connected with the tail end of the robot 100 through the gripper heightening disc 200, the visual three-dimensional scanner 400 is fixedly connected with two opposite corners of the robot gripper 300 through the scanner connecting mechanism 500, the valve island 800 is connected with the upper part of the robot gripper 300 through a connecting plate, the industrial control cabinet 600 is connected with an external main power supply, the robot control cabinet 700 is connected with the inside of the industrial control cabinet 600, the visual three-dimensional scanner 400 is electrically connected with the industrial control cabinet 600 through an electrified cable, the visual three-dimensional scanner 400 is connected with the industrial control cabinet 600 through a communication cable, the industrial control cabinet 600 is connected with the robot control cabinet 700 through a P L C, the vacuum generator 900 is connected with the robot gripper 300, and the clamping cylinder is connected with the vacuum chuck 300;
as shown in fig. 3-8, the visual three-dimensional scanner 400 includes: the projector comprises a shell 410, a projector 420, a camera 430, a polarizer 440, a protective lens 450, a circuit board 460 and screws 470, wherein the shell 410 is connected with a scanner connecting mechanism 500 through the screws 470, the projector 420 and the camera 430 are connected with an inner cavity of the shell 410, the protective lens 450 is connected with the outer sides of the projector 420 and the camera 430, the polarizer 440 is arranged between the camera 430 and the protective lens 450, the circuit board 460 is connected with the inner bottom of the shell 410, and the protective lens 450 is made of acrylic materials.
The robot gripper 300 includes: base plate 310, base plate 310 is type EGT 017.1.
The model of the robot 100 is KUKA, ABB and FANUC mainstream carrying heavy-load six-axis robot, and the load of the robot 100 is 210 KG.
The scanner attachment mechanism 500 includes: scanner connecting block 510, pipe 520, pipe connecting piece 530 and octagon union coupling spare 540, pipe 520 passes through screw and scanner connecting block 510 fastening connection, and pipe 520 passes through the screw to be connected with pipe connecting piece 530, and pipe 520 passes through the screw to be connected with octagon union coupling spare 540.
The housing 410 includes: the front cover plate 412 is fixedly connected with the front end of the shell 411 through the positioning clamping groove 417, the rear cover plate 413 is fixedly connected with the rear end of the shell 411 through the positioning clamping groove 417, the thickened plate 414 is connected with the upper end and the lower end of the shell 411, the first mounting threaded hole 415 is arranged on the thickened plate 414 at the top of the shell 411, the second mounting threaded hole 416 is arranged on the thickened plate 414 at the bottom of the shell 411, and the end cover fixing holes 418 are arranged at four corners of the top of the shell 411.
The scanner connection block 510 includes: the first through hole 511, the second through hole 512, the first fastening hole 513, the second fastening hole 514, the first screwed hole 515, the first tacking screw hole 516 and the mounting surface 517, the first through hole 511 is arranged on the front and back surfaces of the scanner connecting block 510, the second through hole 512 is arranged on two side surfaces of the scanner connecting block 510, the mounting surface 517 is arranged at the bottom of the scanner connecting block 510, the first fastening hole 513 is arranged on the mounting surface 517, the second fastening hole 514 is arranged on four corners of the top of the scanner connecting block 510, the first screwed hole 515 is arranged on one side of the first through hole 511 and the second through hole 512, and the first tacking screw hole 516 is arranged at the center of the top of the scanner connecting block 510.
The pipe connector 530 includes: the third through hole 531 is formed in the upper and lower surfaces of the circular tube connecting member 530, the fourth through hole 532 is formed in the two side surfaces of the circular tube connecting member 530, the third fastening hole 533 is formed in the front end of the top of the circular tube connecting member 530, the second threaded hole 534 is formed in the rear end of the two side surfaces of the circular tube connecting member 530, the second fastening hole 535 is formed in the two side surfaces of the circular tube connecting member 530, and the third fastening hole 536 is formed in the upper and lower surfaces of the circular tube connecting member 530.
The utility model discloses compare with traditional bootstrap system, at first the intelligent problem has been solved, in short it is exactly that increase more information sensing equipment and analysis and processing equipment and improve holistic motion accuracy, more specifically then through with the vision scanner, vision software and robot and P L C are integrated together and use, through the scanning to jumbo size sheet metal component diagonal region of vision scanner, recognition accuracy and positioning accuracy have been improved, the transport guide accuracy to jumbo size sheet metal component can improve to 0.5mm, the frock design cost of middle secondary location has been saved, because the vision scanner who chooses for use is the six degree of freedom coordinate information of gathering the work piece, and there is great detection range, it is 70mm to put the deviation allowed range of work piece, greatly reduced the location requirement of work piece, the material loading guide transport that need not the accurate positioning material frame can satisfy vision system.
The working principle of the present invention is that the robot 100 moves to a designated origin position, then coordinate information at this time is sent to the vision software system through the P L C630, the vision software judges the coordinate information of the current position of the robot 100 and sends the coordinate information of the scanning position to the robot 100 through the P L C630, the robot 100 receives the coordinate information and moves to the scanning position, then the current position coordinate is sent to the vision software system, the vision software system triggers the 2 vision three-dimensional scanner 400 to scan the characteristic scanning area of the car roof according to the robot coordinate information, then the vision system software receives and processes the coordinate information of the characteristic scanning area, the coordinate position and posture of the workpiece under the robot 100 coordinate system are calculated through software, including plane coordinates x, y, z and angular coordinates a, b, C, the coordinate value is converted into the coordinate value of the target position of the robot 100 through the coordinate conversion module of the vision software, then the coordinate value is sent to the robot 100, after the robot 100 receives the target coordinate value, the robot 100 moves to the target position and sends a signal to the P26C 630, the vacuum degree detection module converts the coordinate value of the robot 100 into the coordinate value of the robot 100, and returns the vacuum degree of the vacuum detection signal to the vacuum coordinate detection system to the vacuum detection system to identify whether the vacuum detection robot 100, the vacuum detection system, the vacuum detection coordinate detection system, the vacuum detection system indicates that the vacuum detection robot 100 is found that the vacuum detection robot 100, the vacuum coordinate detection robot 100 is found that the vacuum coordinate detection is found in the vacuum coordinate system, the vacuum coordinate detection system, the vacuum coordinate detection coordinate system 36800, the vacuum detection coordinate system, the vacuum detection system is found that the vacuum detection of the vacuum coordinate system, the vacuum coordinate system is found that the vacuum coordinate system, the vacuum detection robot 100 is found that the vacuum detection robot.
On the other hand, the three-dimensional scanner on the market at present can not realize the effect and the function that we expected, therefore in order to satisfy the aforesaid realization, we redesign vision three-dimensional scanner 400 and scanner coupling mechanism 500, in order to satisfy the utility model discloses a special need.
The visual three-dimensional scanner 400 is connected on the scanner connecting block 510, one end of a round pipe 520 is inserted into a through hole of the scanner connecting block 510, the end surface is exposed with a distance of about 10mm, the other end of the round pipe 520 is inserted into a through hole of a round pipe connecting piece 530, one end of a second round pipe 520 is inserted into another through hole of the round pipe connecting piece 530, the other end of the second round pipe 520 is inserted into a groove of an octagonal pipe connecting piece 540, the camera 430 and the projector 420 are fixed in an inner cavity of the shell 410 at a certain angle, the protective lens 450 is arranged at the outer ends of the camera 430 and the projector 420, the front cover plate 412 and the rear cover plate 413 of the shell 410 can be fixed through a positioning clamping groove 417, the octagonal pipe connecting piece 540 is connected on an octagonal pipe grip, the scanner connecting block 510 is rotated or the position of the scanner connecting block 510 in the axial, or adjusting the direction of the circular tube connector 530 on the second circular tube 520, i.e. moving along the axis or rotating, can adjust the view direction of the scanner; the first threaded hole 515 and the first tacking screw hole 516 of the housing 410 of the visual three-dimensional scanner 400 are positioned at mutually symmetrical spatial positions, and the plane where the threaded holes are positioned is the thickened plate 414, so that the visual three-dimensional scanner 400 and the scanner connecting block 510 can be conveniently and randomly installed in two planes, the weight of the visual three-dimensional scanner 400 is 1.5kg, and the visual three-dimensional scanner 400 can be locked by fastening 4M 5 screws, so that the visual three-dimensional scanner 400 can also keep stability in the high-speed operation of the robot gripper. The utility model discloses an install the thickening plate additional in the shell of scanner about the lower extreme to install first screw hole 515 and first tacking screw hole 516 on the thickening plate, first screw hole 515 and first tacking screw hole 516 position symmetry each other, make things convenient for scanner and installation piece arbitrary installation in two planes, make things convenient for adjusting position and visual angle, and adopt the screw to reach the effect of locking scanner, make the scanner also can the stability in the high-speed operation of robot tongs.
The above description has been made of the embodiments of the present invention, but the present invention is not limited thereto, and various changes may be made without departing from the spirit of the present invention.
Claims (7)
1. The vision guide feeding system is suitable for the automatic automobile roof carrying process and is characterized by comprising a robot (100), a gripper heightening disc (200), a robot gripper (300), a vision three-dimensional scanner (400), a scanner connecting mechanism (500), a industrial control cabinet (600), a robot control cabinet (700), a valve island (800), a vacuum generator (900), a clamping cylinder (1000) and a vacuum sucker (1100), wherein the robot gripper (300) is connected with the tail end of the robot (100) through the gripper heightening disc (200), the vision three-dimensional scanner (400) is fixedly connected with two opposite angle positions of the robot gripper (300) through the scanner connecting mechanism (500), the valve island (800) is connected with the upper part of the robot gripper (300) through a connecting plate, the industrial control cabinet (600) is connected with an external power supply line, the robot control cabinet (700) is connected with the interior of the industrial control cabinet (600), the vision three-dimensional scanner (400) is electrically connected with the industrial control cabinet (600) through a power supply cable, the vision scanner (400) is connected with the industrial control cabinet (600) through a cable, and the vacuum sucker (1100) is connected with the robot gripper (300) through a communication cable (L), and the vacuum sucker (900);
wherein the visual three-dimensional scanner (400) comprises: shell (410), projecting apparatus (420), camera (430), polaroid (440), protective glass piece (450), circuit board (460) and screw (470), shell (410) is connected with scanner coupling mechanism (500) through screw (470), projecting apparatus (420) and camera (430) and shell (410) inner chamber are connected, protective glass piece (450) and projecting apparatus (420) and camera (430) outside are connected, camera (430) and protective glass piece (450) centre are located to polaroid (440), circuit board (460) and shell (410) bottom are connected, the material of protective glass piece (450) is acrylic material.
2. The vision-guided feeding system suitable for the automatic automobile roof handling process according to claim 1, characterized in that: the robot gripper (300) comprises: a substrate (310), the substrate (310) having a model number EGT 017.1.
3. The vision-guided feeding system suitable for the automatic automobile roof handling process according to claim 1, characterized in that: the robot (100) is a heavy-load six-axis robot with the models of KUKA, ABB and FANUC, and the load of the robot (100) is 210 KG.
4. The vision-guided feeding system suitable for the automatic automobile roof handling process according to claim 1, characterized in that: the scanner attachment mechanism (500) includes: scanner connecting block (510), pipe (520), pipe connecting piece (530) and eight corner tube connecting piece (540), pipe (520) are through screw and scanner connecting block (510) fastening connection, pipe (520) are connected through screw and pipe connecting piece (530), pipe (520) are connected through screw and eight corner tube connecting piece (540).
5. The vision-guided feeding system suitable for the automatic automobile roof handling process according to claim 1, characterized in that: the housing (410) includes: the novel anti-theft door comprises a shell (411), a front cover plate (412), a rear cover plate (413), thickened plates (414), a first mounting threaded hole (415), a second mounting threaded hole (416), a positioning clamping groove (417) and an end cover fixing hole (418), wherein the front cover plate (412) is fixedly connected with the front end of the shell (411) through the positioning clamping groove (417), the rear cover plate (413) is fixedly connected with the rear end of the shell (411) through the positioning clamping groove (417), the upper end and the lower end of each thickened plate (414) are connected with the shell (411), the first mounting threaded hole (415) is formed in the thickened plate (414) at the top of the shell (411), the second mounting threaded hole (416) is formed in the thickened plate (414) at the bottom of the shell (411), and the end cover fixing holes (418) are formed in four corners of the top of the.
6. The vision-guided feeding system suitable for the automatic automobile roof handling process according to claim 4, characterized in that: the scanner connection block (510) includes: the novel scanner connecting block comprises a first through hole (511), a second through hole (512), a first fastening hole (513), a second fastening hole (514), a first threaded hole (515), a first fastening screw hole (516) and a mounting surface (517), wherein the first through hole (511) is formed in the front surface and the rear surface of the scanner connecting block (510), the second through hole (512) is formed in two side surfaces of the scanner connecting block (510), the mounting surface (517) is formed in the bottom of the scanner connecting block (510), the first fastening hole (513) is formed in the mounting surface (517), the second fastening hole (514) is formed in four corners of the top of the scanner connecting block (510), the first threaded hole (515) is formed in one side of the first through hole (511) and the second through hole (512), and the first fastening screw hole (516) is formed in the center of the top of the scanner connecting block (510).
7. The vision-guided feeding system suitable for the automatic automobile roof handling process according to claim 4, characterized in that: the round tube connector (530) includes: the connecting structure comprises a third through hole (531), a fourth through hole (532), a third fastening hole (533), a second threaded hole (534), a second tacking screw hole (535) and a third tacking screw hole (536), wherein the third through hole (531) is formed in the upper surface and the lower surface of the circular tube connecting piece (530), the fourth through hole (532) is formed in two side surfaces of the circular tube connecting piece (530), the third fastening hole (533) is formed in the front end of the top of the circular tube connecting piece (530), the second threaded hole (534) is formed in the rear ends of the two side surfaces of the circular tube connecting piece (530), the second tacking screw hole (535) is formed in the two side surfaces of the circular tube connecting piece (530), and the third tacking screw hole (536) is formed in the upper surface and the lower surface of the circular tube connecting piece (530.
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| CN201921700300.5U CN210968968U (en) | 2019-10-12 | 2019-10-12 | Vision guide feeding system suitable for automatic automobile roof carrying process |
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| CN201921700300.5U CN210968968U (en) | 2019-10-12 | 2019-10-12 | Vision guide feeding system suitable for automatic automobile roof carrying process |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479640A (en) * | 2021-06-16 | 2021-10-08 | 苏州博杰智能科技有限公司 | Sucker clamp control system and control method based on visual detection technology |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479640A (en) * | 2021-06-16 | 2021-10-08 | 苏州博杰智能科技有限公司 | Sucker clamp control system and control method based on visual detection technology |
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