Intermediate shaft workpiece clamping manipulator and workpiece frame manipulator switching mechanism and switching method

Abstract

The invention relates to the technical field of clamping mechanism switching, and discloses an intermediate shaft workpiece clamping manipulator and workpiece frame manipulator switching mechanism which comprises a signal acquisition assembly and a switching assembly. The switching assembly comprises a switching table, an intermediate shaft workpiece clamping manipulator and a workpiece frame manipulator, the intermediate shaft workpiece clamping manipulator and the workpiece frame manipulator each comprise a mounting plate, a pneumatic quick connection female end and a pneumatic quick connection male end fixedly mounted at the tail end of the arm robot are fixedly mounted in the center of each mounting plate, and after the workpiece frame on the uppermost layer does not contain an intermediate shaft, the pneumatic quick connection female ends are connected with the pneumatic quick connection male ends fixedly mounted at the tail end of the arm robot. The tail end of the arm robot is replaced with a workpiece frame mechanical arm, and the workpiece frames on the uppermost layer are all moved away; afterwards, the tail end of the arm robot is replaced with an intermediate shaft workpiece clamping mechanical arm, and the purpose of automatically detecting the intermediate shaft of the next layer after all the intermediate shafts of the upper layer are detected is achieved.

Description

Technical Field

[0001] This invention relates to the field of clamping mechanism switching technology, specifically to a switching mechanism and method for a workpiece clamping robot with an intermediate shaft and a workpiece frame robot. Background Technology

[0002] As a core component of the transmission mechanism of new energy vehicles, the intermediate shaft component has very high precision requirements. In order to ensure that the intermediate shaft of new energy vehicles has good performance, it is usually subjected to machining, chrome plating, polishing and other treatments. However, due to the influence of raw materials, impurities and electroplating, the intermediate shaft may not only produce unqualified products during machining, but may also suffer from scratches, bumps and other defects during transportation, resulting in unqualified products leaving the factory.

[0003] Therefore, each intermediate shaft needs to be inspected before packaging and leaving the factory. Only qualified products are allowed to be delivered. During the series of tests on the intermediate shafts, since they are transported to the testing location in batches, the batch of intermediate shafts is divided into multiple groups. Each group of intermediate shafts is loaded into a part frame, which is generally a cuboid structure. The part frames delivered in batches are neatly stacked to form a multi-layer, multi-column structure. Due to this multi-layer, multi-column arrangement, during the testing process, after the transfer robot has finished testing all the intermediate shafts on the top layer, if it needs to continue clamping and testing intermediate shafts, the empty part frames on the top layer need to be removed. In order to achieve full automation of the testing process, it is necessary to solve how to automatically test the next layer of intermediate shafts after all the intermediate shafts on the previous layer have been tested. Summary of the Invention

[0004] This invention aims to provide a switching mechanism and method for intermediate shaft workpiece clamping robot and workpiece frame robot, specifically addressing the issue of how to automatically perform the inspection of the next layer of intermediate shafts after all the intermediate shafts in the previous layer have been inspected, when using multi-layer stacked workpiece frames for intermediate shafts.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a switching mechanism for intermediate shaft workpiece clamping manipulator and workpiece frame manipulator, including a signal acquisition component for determining whether to switch, and a switching component for determining the placement of the manipulator; the switching component includes a switching table, an intermediate shaft workpiece clamping manipulator, and a workpiece frame manipulator. The upper surface of the switching table is provided with a first support frame for placing the intermediate shaft workpiece clamping manipulator and a second support frame for placing the workpiece frame manipulator. Both the intermediate shaft workpiece clamping manipulator and the workpiece frame manipulator include a mounting plate and grippers symmetrically arranged at both ends of the mounting plate; a pneumatic quick-connect female end is fixedly installed at the center of the mounting plate, and a pneumatic quick-connect male end is fixedly installed at the end of the robot arm. The switching signal acquisition component includes an image scanner for scanning whether the uppermost workpiece frame in the loading area still contains an intermediate shaft. If the uppermost workpiece frame does not contain an intermediate shaft, the end of the robot arm is replaced with the workpiece frame manipulator. After the uppermost workpiece frame is completely removed, the end of the robot arm is replaced with the intermediate shaft workpiece clamping manipulator.

[0006] The principle and advantages of this solution are as follows: The loading area is scanned using an image scanner; it is determined whether the topmost workpiece frame in the loading station contains an intermediate shaft; if none of the topmost workpiece frames contain an intermediate shaft, the empty workpiece frames need to be removed. During this removal process, the robotic arm moves to the switching station, places the currently connected intermediate shaft workpiece gripper on the first support frame, and then connects the workpiece frame gripper to the robotic arm; the workpiece frame gripper moves to the loading area and removes all empty workpiece frames. After all empty workpiece frames are removed, the robotic arm returns the workpiece frame gripper to the switching station and places it on the second support frame; the robotic arm then reconnects the intermediate shaft workpiece gripper. Throughout this process, the robotic arm automatically completes the gripper replacement, improving the automation level of intermediate shaft detection and solving the problem of automatically performing the next layer of intermediate shaft detection after all the previous layer's intermediate shafts have been detected.

[0007] Preferably, the pneumatic quick-connect female end structure includes a connecting base, which is cylindrical, with a mating groove in the middle and multiple mating holes on the upper contact surface. An air pipe connector is connected to the side of the connecting base, and the air pipe connector communicates with the air passage of the mating hole. The connecting base is provided with a pneumatic locking ring, which retracts inward after gas is introduced into the mating hole. An electrical connection slot is also provided on the outer side of the connecting base.

[0008] Preferably, the pneumatic quick-connect male end structure includes a docking shaft that mates with the docking groove of the pneumatic quick-connect female end, and a shoulder that fits against the contact surface on the connecting base. The shoulder is provided with an air passage connector for inserting into the docking hole. The docking shaft is provided with a slot for matching the pneumatic locking ring. One side of the shoulder is provided with an electrical connection pin for electrical connection with the electrical connection slot.

[0009] During the change of the robotic arm, the male and female pneumatic quick-connect couplings are connected. The pneumatic connector on the male coupling mates with the mating hole on the female coupling, causing the locking ring in the female coupling to retract inward and lock the mating shaft of the male coupling. The solenoid valve controlling the pneumatic circuit is electrically connected via an electrical connection pin and an electrical connection slot. To quickly disconnect the male and female pneumatic quick-connect couplings, simply disconnect the pneumatic circuit using the solenoid valve.

[0010] Preferably, the intermediate shaft workpiece clamping robot includes a cylinder that drives the gripper to open and close, the mounting plate is provided with a strip-shaped mounting hole in the length direction, the cylinder is bolted to the strip-shaped mounting hole, and the gripper is parallel to the mounting plate.

[0011] Preferably, the workpiece frame manipulator has two parallel sliding rails mounted on the mounting plate along its length. A movable plate is mounted at each end of each sliding rail, and the movable plates are kept perpendicular to the mounting plate on a horizontal plane. A claw is connected to each end of each movable plate, and the movable plates at the ends of the sliding rails are driven by cylinders. When the workpiece frame needs to be gripped, the robot arm connects to the workpiece frame manipulator, and the cylinders retract, causing the claws on both sides of the movable plates to move closer together, thus grasping the workpiece frame. Extending the cylinders releases the workpiece frame.

[0012] Preferably, both the first and second support frames are equipped with proximity sensors. These sensors are used to identify whether a workpiece clamping robot is placed on the first support frame, and whether a workpiece frame robot is placed on the second support frame. The proximity sensors determine the presence of corresponding robots on both support frames, thus preventing accidental operation.

[0013] To ensure that the intermediate shaft workpiece clamping robot and the workpiece frame robot can be switched correctly, this application also provides a method for switching between the intermediate shaft workpiece clamping robot and the workpiece frame robot, including the following steps: Step 1: Before the robotic arm moves to the loading area, use an image scanner to scan the loading area; determine whether all workpiece frames on the top layer contain an intermediate axis. Step 2: The image scanner collects the spatial coordinates of each workpiece frame. The image scanner communicates with the robotic arm and uses the spatial coordinates to calculate the movement path of the robotic arm holding the workpiece frame. Step 3: If none of the topmost workpiece frames contain an intermediate shaft, check whether the first support frame is empty and whether a workpiece frame robot is placed on the second support frame. Step 4: If the first support frame is empty and the workpiece frame robot is placed on the second support frame, the robot arm moves to the switching table and places the intermediate shaft workpiece clamping robot currently connected to the robot arm on the first support frame. Step 5: The robotic arm moves back above the second support frame and attaches the workpiece frame manipulator to the robotic arm. Step 6: Based on the movement path of the workpiece frame gripper calculated in Step 2, the workpiece frame robot moves to the loading area and removes all empty workpiece frames. Step 7: After all the empty workpiece frames on the top layer of the loading area are removed, the robotic arm drives the workpiece frame manipulator back to the switching table and places the workpiece frame manipulator on the second support frame. Step 8: The robotic arm reconnects to the intermediate axis workpiece clamping manipulator; Step 9: The image scanner collects the coordinate position of the intermediate axis in the uppermost workpiece frame in the loading area and recalculates the movement path of the arm robot gripping the intermediate axis. Step 10: After the workpiece frame robot removes all the intermediate shafts on the top layer, repeat step 9 to switch between the intermediate shaft workpiece clamping robot and the workpiece frame robot.

[0014] Furthermore, in step one, the vision scanner identifies the outer contour of the intermediate shaft through image recognition, finds the area where the gear is located on the intermediate shaft through feature extraction, calculates the gripping point of the main robot arm based on the identified gear area of ​​the intermediate shaft, and allows the main robot arm to vertically grip the gear position according to the angle at which the intermediate shaft is placed on the workpiece frame. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the switching mechanism between the intermediate shaft workpiece clamping robot and the workpiece frame robot.

[0016] Figure 2 This is a schematic diagram of the intermediate shaft workpiece clamping robot and the workpiece frame robot.

[0017] Figure 3 This is a schematic diagram showing the connection between the robotic arm and the robotic hand.

[0018] Figure 4 This is a flowchart illustrating the switching method between an inter-axis workpiece clamping robot and a workpiece frame robot.

[0019] The reference numerals in the accompanying drawings include: 1. Arm robot; 2. Intermediate axis workpiece clamping manipulator; 3. Workpiece frame; 4. Image scanner; 5. Switching table; 6. Workpiece frame manipulator; 7. Pneumatic quick-connect male terminal; 8. Pneumatic quick-connect female terminal. Detailed Implementation

[0020] The following detailed description illustrates the specific implementation method: The basic implementation examples are as follows: Figure 1As shown: The switching mechanism between the intermediate shaft workpiece clamping robot and the workpiece frame robot includes a signal acquisition component for determining whether to switch, and a switching component for determining the placement of the robot; the switching component includes a switching table 5, an intermediate shaft workpiece clamping robot 2, and a workpiece frame robot 6.

[0021] The upper surface of the switching table 5 is provided with a first support frame for placing the intermediate shaft workpiece clamping robot 2 and a second support frame for placing the workpiece frame robot 6. Both the first support frame and the second support frame are provided with proximity sensors. The proximity sensors are used to identify whether the intermediate shaft workpiece clamping robot 2 is placed on the first support frame and whether the workpiece frame robot 6 is placed on the second support frame.

[0022] Both the intermediate shaft workpiece clamping robot 2 and the workpiece frame robot 6 include a mounting plate and grippers symmetrically arranged at both ends of the mounting plate. The intermediate shaft workpiece clamping robot includes a cylinder that drives the grippers to open and close. The mounting plate has a strip-shaped mounting hole along its length. The cylinder is bolted to the strip-shaped mounting hole. The grippers are parallel to the mounting plate.

[0023] Two parallel sliding rails are mounted along the length of the mounting plate on the workpiece frame robot 6. A movable plate is mounted at each end of each sliding rail, and the movable plates are kept perpendicular to the mounting plate on a horizontal plane. A claw is connected to each end of each movable plate. The movable plates at the ends of the sliding rails are driven by cylinders. When the workpiece frame needs to be gripped, the robot arm 1 connects to the workpiece frame robot 6. The cylinder retracts, causing the claws on both sides of the movable plates to move closer together, thus gripping the workpiece frame 3. Extending the cylinder releases the workpiece frame.

[0024] A pneumatic quick-connect female end 8 is fixedly installed at the center of the mounting plate, and a pneumatic quick-connect male end 7 is fixedly installed at the end of the arm robot 1. The pneumatic quick-connect female end 8 includes a connecting base, which is cylindrical. A docking groove is provided in the middle of the connecting base, and multiple docking holes are provided on the upper contact surface of the connecting base. An air pipe connector is connected to the side of the connecting base, and the air pipe connector is connected to the air passage of the docking hole. The connecting base is provided with a pneumatic locking ring. After gas is introduced into the docking hole, the pneumatic locking ring retracts inward. An electrical connection slot is also provided on the outer side of the connecting base.

[0025] The pneumatic quick-connect male terminal 7 includes a mating shaft that mates with the mating groove of the pneumatic quick-connect female terminal 8, and a shoulder that fits against the contact surface on the connecting base. The shoulder is provided with an air passage connector for inserting into the mating hole. The mating shaft is provided with a slot for matching the pneumatic locking ring. One side of the shoulder is provided with an electrical connection pin for electrical connection to the electrical connection slot.

[0026] During the change of the robotic arm 1, the male pneumatic quick-connect connector 7 connects to the female pneumatic quick-connect connector 8. The pneumatic connector on the male connector mates with the mating hole on the female connector, causing the locking ring in the female connector to retract inward and lock the mating shaft of the male connector. The solenoid valve controlling the pneumatic circuit is electrically connected via an electrical connection pin and an electrical connection slot. If it is necessary to quickly disconnect the male and female pneumatic quick-connect connectors, simply disconnect the pneumatic circuit using the solenoid valve.

[0027] The signal acquisition components are switched, including the image scanner 4, which is used to scan whether the uppermost workpiece frame 3 in the loading area still contains an intermediate shaft. If the uppermost workpiece frame 3 does not contain an intermediate shaft, the end of the arm robot 1 is replaced with the workpiece frame manipulator 6. After the uppermost workpiece frame 3 is completely removed, the end of the arm robot 1 is replaced with the intermediate shaft workpiece clamping manipulator 2.

[0028] The loading area is scanned using an image scanner; it is determined whether the topmost workpiece frame in the loading station contains an intermediate shaft. If none of the topmost workpiece frames contain an intermediate shaft, the empty workpiece frames need to be removed. During the removal process, the robotic arm 1 moves to the switching table 5, places the intermediate shaft workpiece clamping robot 2 currently connected to the robotic arm 1 on the first support frame, and then connects the workpiece frame robot 6 to the robotic arm 1. The workpiece frame robot 6 moves to the loading area and removes all empty workpiece frames 3. After all empty workpiece frames 3 are removed, the robotic arm 1 moves the workpiece frame robot 6 back to the switching table 5 and places the workpiece frame robot 6 on the second support frame. The robotic arm 1 then reconnects the intermediate shaft workpiece clamping robot 2. Throughout the entire process, the robotic arm 1 automatically completes the robot replacement, improving the automation level of intermediate shaft detection and enabling automatic detection of the next layer of intermediate shafts after the previous layer has been detected, without manual intervention.

[0029] Example 2: To ensure that the intermediate shaft workpiece clamping robot and the workpiece frame robot can be switched correctly, this embodiment provides a method for switching between the intermediate shaft workpiece clamping robot and the workpiece frame robot, including the following steps: Step S1: Before the robotic arm moves to the loading area, the loading area is scanned using an image scanner to determine whether the topmost workpiece frames contain an intermediate shaft.

[0030] Step 2 (S2): The image scanner acquires the spatial coordinates of each workpiece frame. The image scanner communicates with the robotic arm and uses the spatial coordinates to calculate the movement path of the robotic arm holding the workpiece frame.

[0031] Step 3 S3: If none of the topmost workpiece frames contain an intermediate shaft, check whether the first support frame is empty and whether a workpiece frame robot is placed on the second support frame.

[0032] Step 4 S4: If the first support frame is empty and the workpiece frame robot is placed on the second support frame, the robot arm moves to the switching table and places the intermediate axis workpiece clamping robot currently connected to the robot arm on the first support frame.

[0033] In step S5, the robotic arm moves back above the second support frame and attaches the workpiece frame manipulator to the robotic arm.

[0034] Step S6: Based on the movement path of the workpiece frame gripper calculated in Step 2, the workpiece frame robot moves to the loading area and removes all empty workpiece frames.

[0035] Step 7 S7: After all the empty workpiece frames on the top layer of the loading area are removed, the robotic arm drives the workpiece frame manipulator back to the switching table and places the workpiece frame manipulator on the second support frame.

[0036] Step 8 (S8): The robotic arm reconnects to the intermediate axis workpiece clamping manipulator.

[0037] Step S9: The image scanner acquires the coordinate position of the intermediate axis in the uppermost workpiece frame in the loading area and recalculates the movement path of the arm robot gripping the intermediate axis.

[0038] Step 10 (S10): After the workpiece frame robot removes all the intermediate shafts from the top layer, repeat step 10 all the way up to step 9 to switch between the intermediate shaft workpiece clamping robot and the workpiece frame robot.

[0039] In step S1, the vision scanner identifies the outer contour of the intermediate shaft through image recognition, extracts features to find the area where the gear is located on the intermediate shaft, calculates the gripping point of the main robot arm based on the identified gear area of ​​the intermediate shaft, and allows the main robot arm to vertically grip the gear position according to the angle at which the intermediate shaft is placed on the workpiece frame.

[0040] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A switching mechanism for intermediate shaft workpiece clamping robot and workpiece frame robot, characterized in that: The system includes a signal acquisition component for determining whether to switch, and a switching component for determining the placement of the robotic arm. The switching component includes a switching table, an intermediate axis workpiece clamping robotic arm, and a workpiece frame robotic arm. The upper surface of the switching table is provided with a first support frame for placing the intermediate axis workpiece clamping robotic arm and a second support frame for placing the workpiece frame robotic arm. Both the intermediate axis workpiece clamping robotic arm and the workpiece frame robotic arm include a mounting plate and grippers symmetrically arranged at both ends of the mounting plate. A pneumatic quick-connect female end is fixedly installed at the center of the mounting plate, and a pneumatic quick-connect male end is fixedly installed at the end of the robotic arm. The switching signal acquisition component includes an image scanner for scanning whether the uppermost workpiece frame in the loading area still contains an intermediate axis. If the uppermost workpiece frame does not contain an intermediate axis, the end of the robotic arm is replaced with the workpiece frame robotic arm. After the uppermost workpiece frame is completely removed, the end of the robotic arm is replaced with the intermediate axis workpiece clamping robotic arm.

2. The switching mechanism between the intermediate shaft workpiece clamping robot and the workpiece frame robot according to claim 1, characterized in that: The pneumatic quick-connect female end structure includes a connecting base, which is cylindrical in shape. A mating groove is provided in the middle of the connecting base, and multiple mating holes are provided on the upper contact surface of the connecting base. An air pipe connector is connected to the side of the connecting base, and the air pipe connector is connected to the air passage of the mating hole. The connecting base is provided with a pneumatic locking ring. After gas is introduced into the mating hole, the pneumatic locking ring retracts inward. An electrical connection slot is also provided on the outer side of the connecting base.

3. The switching mechanism between the intermediate shaft workpiece clamping robot and the workpiece frame robot according to claim 2, characterized in that: The pneumatic quick-connect male terminal structure includes a docking shaft that mates with the docking groove of the pneumatic quick-connect female terminal, and a shoulder that fits against the contact surface on the connecting base. The shoulder is provided with an air passage connector for inserting into the docking hole. The docking shaft is provided with a slot for matching the pneumatic locking ring. One side of the shoulder is provided with an electrical connection pin for electrical connection to the electrical connection slot.

4. The switching mechanism between the intermediate shaft workpiece clamping robot and the workpiece frame robot according to claim 1, characterized in that: The intermediate shaft workpiece clamping robot includes a cylinder that drives the gripper to open and close. The mounting plate is provided with a strip-shaped mounting hole in the length direction. The cylinder is bolted to the strip-shaped mounting hole. The gripper is parallel to the mounting plate.

5. The switching mechanism between the intermediate shaft workpiece clamping robot and the workpiece frame robot according to claim 4, characterized in that: Two parallel sliding rails are installed along the length of the mounting plate on the workpiece frame robot. A movable plate is installed at each end of the sliding rail. The movable plate is kept perpendicular to the mounting plate on the horizontal plane. A claw is connected to each end of the movable plate. The movable plates at both ends of the sliding rail are driven by cylinders.

6. The switching mechanism between the intermediate shaft workpiece clamping robot and the workpiece frame robot according to claim 5, characterized in that: Both the first support frame and the second support frame are equipped with proximity sensors. The proximity sensors are used to identify whether an intermediate shaft workpiece clamping robot is placed on the first support frame and whether a workpiece frame robot is placed on the second support frame.

7. A method for switching between an intermediate shaft workpiece clamping robot and a workpiece frame robot, based on the switching mechanism for the intermediate shaft workpiece clamping robot and the workpiece frame robot as described in claim 5, characterized in that: Includes the following steps; Step 1: Before the robotic arm moves to the loading area, use an image scanner to scan the loading area; determine whether all workpiece frames on the top layer contain an intermediate axis. Step 2: The image scanner collects the spatial coordinates of each workpiece frame. The image scanner communicates with the robotic arm and uses the spatial coordinates to calculate the movement path of the robotic arm holding the workpiece frame. Step 3: If none of the topmost workpiece frames contain an intermediate shaft, check whether the first support frame is empty and whether a workpiece frame robot is placed on the second support frame. Step 4: If the first support frame is empty and the workpiece frame robot is placed on the second support frame, the robot arm moves to the switching table and places the intermediate shaft workpiece clamping robot currently connected to the robot arm on the first support frame. Step 5: The robotic arm moves back above the second support frame and attaches the workpiece frame manipulator to the robotic arm. Step 6: Based on the movement path of the workpiece frame gripper calculated in Step 2, the workpiece frame robot moves to the loading area and removes all empty workpiece frames. Step 7: After all the empty workpiece frames on the top layer of the loading area are removed, the robotic arm drives the workpiece frame manipulator back to the switching table and places the workpiece frame manipulator on the second support frame. Step 8: The robotic arm reconnects to the intermediate axis workpiece clamping manipulator; Step 9: The image scanner collects the coordinate position of the intermediate axis in the uppermost workpiece frame in the loading area and recalculates the movement path of the arm robot gripping the intermediate axis. Step 10: After the workpiece frame robot removes all the intermediate shafts from the top layer; Repeat steps up to step nine to switch between the intermediate shaft workpiece clamping robot and the workpiece frame robot.

8. The method for switching between the intermediate shaft workpiece clamping robot and the workpiece frame robot according to claim 7, characterized in that: In step one, the vision scanner identifies the outer contour of the intermediate shaft through image recognition, extracts features to find the area where the gear is located on the intermediate shaft, calculates the gripping point of the main robot arm based on the identified gear area of ​​the intermediate shaft, and allows the main robot arm to vertically grip the gear position according to the angle at which the intermediate shaft is placed on the workpiece frame.

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