A method and system for compensating the positioning accuracy of the pallet hook of an APC accumulation chain

Abstract

The invention provides a hook positioning precision compensation method and a compensation system of APC product put chains trays. The compensation method shows a set of robot tracks for each set of tray assemblies under the APC product put chains, which enables the tray assemblies and the robot grabbing tracks to be in one-to-one correspondence, by identifying different tray assemblies, grabbingtracks corresponding to the tray assemblies are called, so that the positioning precision of the tray hooks of the APC product put chains is compensated, and accurate grabbing is achieved; in the compensation system, a tray sensing block unit composed of sensing blocks with different arrangement shapes is installed on each APC product put chains tray, and a detection switch unit is matched to identify each group of trays, a industrial robot receives and identifies the tray information corresponding to the current tray sensing block unit, and then a grabbing track instruction corresponding to the tray information is sent out to grab workpiece. According to the hook positioning precision compensation method and a compensation system of APC product put chains trays, the relative position between a robot gripper and the tray can be quickly and simply adjusted, so that the grabbing success rate of the robot is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of auto parts manufacturing, and relates to a conveying process in the processing of parts, in particular to a positioning accuracy compensation method and a compensation system for an APC accumulation chain pallet hook. Background technique [0002] In the automatic production line of robot welding, APC accumulation chain has been widely used in the transportation of auto parts. The specific conveying form is: multiple pallets are carried on the chain of the APC accumulation chain, and a hook is installed on each pallet, and the parts to be conveyed are hung on the hook. take away. [0003] In the existing parts conveying process, when the robot cooperates with the APC accumulation chain pallet to grab parts, the robot’s grasping process adopts a set of fixed grasping trajectories, and repeatedly adjusts the robot’s grasping trajectory and the APC accumulation chain pallet. The relative position between t...

AI Technical Summary

Problems solved by technology

[0004] However, there are two problems in the grasping process under the single grasping trajectory of the traditional robot: one is that the positioning accuracy of multiple pallets under the APC accumulation chain is difficult to ensure consistency, which makes the debugging time too long and cannot be guaranteed Every part of the robot can be grasped in place, and the success rate of grasping is 95%. Second, when the pallet is worn and replaced during use, there is no benchmark, and the pallet hook needs to be adjusted repeatedly, which is difficult to adjust.

[0005] For the defects in the positioning accuracy of pallet hooks, the method of compensating through the visual system is usually adopted. However, this compensation method has high requirements on the light source, complicated installation, and high cost, which greatly limits the popularization and application of this method.

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