Automatic tool docking system based on laser sensor positioning

Abstract

The utility model belongs to the field of investment casting equipment, and relates to an automatic tooling docking system based on laser sensor positioning, which comprises an automatic guided vehicle (AGV), a loading and unloading station and a manipulator, the loading and unloading station is arranged in a junction area of the AGV and the manipulator, the loading and unloading station comprises a rack, a connecting beam and a square-shaped moving frame, the connecting beam is arranged on the rack, and the moving frame is arranged on the connecting beam. The connecting beam is sleeved with the square-shaped moving frame in a sliding mode, the connecting beam is provided with two parallel linear guide rails, the linear guide rails are in sliding fit with the lower ends of the corresponding sliding blocks respectively, the upper ends of the sliding blocks are connected with the inner top wall of the square-shaped moving frame, an air cylinder mounting base is mounted on the lower surface of the connecting beam, and the air cylinder mounting base and the linear guide rails are arranged in the same direction. The rodless air cylinder comprises an air cylinder body fixed to the air cylinder installation base and a sliding body capable of sliding on the air cylinder body, the sliding body of the rodless air cylinder is connected with the inner bottom wall of the square-shaped movable frame, the bottom of the square-shaped movable frame is connected with a hanging frame, and a laser distance measuring device used for measuring the position of the hanging frame is arranged on the machine frame. And the laser ranging device is in wireless communication connection with the manipulator.

Description

Technical Field

[0001] The utility model belongs to the field of investment casting equipment, and in particular relates to an automatic tooling docking system based on laser sensor positioning. Background Art

[0002] Casting is a basic industry of the equipment manufacturing industry. The foundry industry is moving from traditional casting to intelligent casting. Logistics issues have always been a key issue affecting workshop production efficiency and workshop workers' operations in the traditional foundry industry.

[0003] Shell preparation is an important part of investment casting. The shell making process of investment casting includes three steps: coating, sanding, and drying. In the traditional shell making process, the automation of single processes such as coating and sanding can be realized, but the transportation and tooling loading and unloading from the previous process of shell making to coating and sanding still rely on manual labor. At present, before the robot takes the workpiece for coating and sanding operations, the workpiece is manually hung in a temporary storage area, and the robot then grabs the workpiece for coating, sanding and other shell making operations. There are several problems with manual loading and unloading of workpieces: first, it increases the workload and work intensity; second, the efficiency and accuracy of manual hanging cannot be guaranteed, and manual transportation causes the connection between the upper and lower processes to be not tight enough, affecting the efficiency of the production line; third, the dust is large when pouring sand, which will cause harm to the body; fourth, the close distance between manual operation and the robot also poses a safety hazard. And with the increasing number of large-sized shells, the above problems are becoming increasingly prominent. Utility Model Content

[0004] Purpose of the utility model: In view of the current situation in which the transfer and loading and unloading of workpieces between some processes in the shell making process still rely mainly on manual labor, the utility model proposes an automatic tooling docking system based on laser sensor positioning, which realizes the automatic transfer and loading and unloading of workpieces from the previous process of shell making to before coating and sand gluing. It reduces the manpower for docking, reduces the difficulty of docking, and improves the efficiency and accuracy of docking. It effectively promotes the digital transformation and intelligent upgrading of the shell making industry.

[0005] In view of the above objectives, the present invention adopts the following technical solutions to achieve the above objectives.

[0006] The tooling automatic docking system based on laser sensor positioning includes an automatic guided vehicle AGV, a loading and unloading station and a manipulator. The loading and unloading station is arranged at the junction area between the automatic guided vehicle AGV and the manipulator. The loading and unloading station includes a frame 1, a connecting beam 2 and a U-shaped moving frame 3. The connecting beam 2 is arranged on the frame 1. The U-shaped moving frame 3 can be slidably mounted on the connecting beam 2. Two parallel linear guide rails 4 are arranged on the upper surface of the connecting beam 2. The linear guide rails 4 are respectively slidably matched with the lower ends of the corresponding sliders 5. The upper ends of the sliders 5 are respectively matched with the U-shaped moving frames 3. The inner top wall of the U-shaped movable frame 3 is connected, and a cylinder mounting seat 7 is installed on the lower surface of the connecting beam 2. The cylinder mounting seat 7 is arranged in the same direction as the linear guide rail 4. The rodless cylinder 6 includes a cylinder body fixed on the cylinder mounting seat 7, and a sliding body that can slide on the cylinder body. The sliding body of the rodless cylinder 6 is connected to the inner bottom wall of the U-shaped movable frame 3. A hanging bracket 8 is connected to the bottom of the U-shaped movable frame 3. A laser distance measuring device for measuring the position of the hanging bracket 8 is arranged on the frame 1, and the laser distance measuring device is connected to the manipulator for wireless communication.

[0007] Furthermore, a hanger mounting plate 9 is connected to the bottom of the U-shaped movable frame 3 , and a hanger 8 is connected below the hanger mounting plate 9 .

[0008] Furthermore, the laser ranging device includes a laser ranging sensor 10 and a ranging bracket 11, the ranging bracket 11 is installed in the middle of the frame 1, the laser ranging sensor 10 is mounted on the ranging bracket 11, and the control system in the manipulator is wirelessly connected to the laser ranging sensor 10.

[0009] Furthermore, limit blocks 12 are respectively provided at both ends of the linear guide rail 4 to control the travel of the U-shaped moving frame.

[0010] Furthermore, the sliding body of the rodless cylinder 6 is connected to the inner bottom wall of the U-shaped moving frame 3 through the pushing block 13 .

[0011] Furthermore, the sliding body of the rodless cylinder 6 and the pushing block 13 are clearance-matched to form a clearance connection structure.

[0012] Furthermore, a safety grating 14 is provided at the lower part of the frame 1, and the safety grating 14 is wirelessly connected to the control system in the manipulator.

[0013] Furthermore, the automated guided vehicle AGV includes an automated guided vehicle body 15 and a fork 16 disposed on the automated guided vehicle body 15 .

[0014] Furthermore, the robot is provided with a robot clamp 17 for grasping the workpiece.

[0015] Beneficial effects of the utility model:

[0016] The utility model provides an automatic tooling docking system consisting of an automatic guided vehicle AGV, a loading and unloading station and a manipulator, which can realize the rapid and accurate docking of tooling from the previous process of shell making to the transportation and loading and unloading before coating and sand gluing, reduce manpower input, greatly improve the docking accuracy between the manipulator and the rack, ensure the close connection between the upper and lower processes, and effectively improve production efficiency. The introduction of the loading and unloading station can ensure that there is a certain safety distance between the operator, the automatic guided vehicle AGV and the manipulator, ensuring the safety of personnel. This automatic docking system is particularly suitable for the docking of large-sized workpieces between various processes. The automatic tooling docking system of the utility model has the advantages of all-weather operation, rapid positioning, high-precision detection, and automatic docking. It has the following specific advantages:

[0017] (1) With the increasing number of large-sized workpieces, the problems of difficult manual loading and unloading of workpieces, low manual docking efficiency, and low operating precision are becoming increasingly prominent. This docking system can realize the automated transportation and loading and unloading from the previous process of shell making to the coating and sand bonding. It reduces the docking manpower, reduces the docking difficulty, and improves the docking efficiency and docking precision.

[0018] (2) At present, the connection between the upper and lower processes in the shell making process is not tight enough. From the upper process of shell making to the transfer and loading and unloading of tooling before coating and sand gluing, manual labor is still required. By introducing the automatic guided vehicle (AGV), the automatic transfer and loading and unloading of workpieces can be realized.

[0019] (3) In order to solve the problem of low transportation accuracy of the transfer device between two points at a short distance, a transfer device, the loading and unloading station, is designed. The loading and unloading station is the handover area between the automatic guided vehicle AGV and the robot. The loading and unloading station can realize the linear reciprocating motion of the workpiece along the X direction, and can also cooperate with the automatic guided vehicle AGV and the robot to realize the automatic loading and unloading of the workpiece. The transfer device replaces the direct cooperation between manual and robot to minimize safety hazards. The entire alignment and placement process relies on the automatic adjustment between the AGV and the robot, with high docking accuracy, which effectively prevents the robot from misgrabbing or collision.

[0020] (4) The utility model provides a tooling automatic docking system based on laser sensor positioning. Fully automated operation is achieved through the cooperation of AGV, loading and unloading stations, and manipulators. The high degree of automation can greatly reduce the labor intensity of workers and the number of operators, and is also conducive to modern management. By improving the loading and unloading stations, the tooling hanging and transmission accuracy is improved, ensuring the normal and orderly shell making process, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is the overall system diagram of the utility model, showing the positional relationship of the three when the AGV is hung, and the mobile frame is located close to the AGV side;

[0022] Figure 2This is the general diagram of the system of the utility model, which shows the positional relationship of the three when the manipulator clamp grabs the workpiece, and the mobile frame is located on one side of the manipulator clamp;

[0023] Figure 3 It is a side view of the loading and unloading station of the utility model;

[0024] Figure 4 This is the front view of the loading and unloading station of the utility model;

[0025] Figure 5 It is a top view of the loading and unloading station of the utility model;

[0026] Figure 6 It is a partial enlarged view of the mobile frame 3 of the loading and unloading station of the utility model;

[0027] Explanation of the numbers: 1. Frame; 2. Connecting beam; 3. Moving frame; 4. Linear guide; 5. Slider; 6. Rodless cylinder; 7. Cylinder mounting seat; 8. Hanger; 9. Hanger mounting plate; 10. Laser ranging sensor; 11. Distance measuring bracket; 12. Limit block; 13. Push block; 14. Safety grating; 15. Automatic guided vehicle body; 16. Fork; 17. Robot clamp. DETAILED DESCRIPTION

[0028] The utility model is further introduced below in conjunction with the accompanying drawings:

[0029] The tooling automatic docking system based on laser sensor positioning includes an automatic guided vehicle AGV, a loading and unloading station and a manipulator. The loading and unloading station is arranged at the junction area between the automatic guided vehicle AGV and the manipulator. The loading and unloading station includes a frame 1, a connecting beam 2 and a U-shaped moving frame 3. The frame 1 is fixed, the connecting beam 2 is arranged on the frame 1, and the U-shaped moving frame 3 can be slidably mounted on the connecting beam 2. Two parallel linear guide rails 4 are arranged on the upper surface of the connecting beam 2. The two mutually parallel linear guide rails 4 are arranged along Figure 5 The middle frame 1 extends in the X direction, and the linear guide rails 4 are respectively slidably matched with the corresponding lower ends of the sliders 5. The upper ends of the sliders 5 are connected to the internal top wall of the U-shaped moving frame 3. A cylinder mounting seat 7 is installed on the lower surface of the connecting beam 2. The cylinder mounting seat 7 is arranged in the same direction as the linear guide rail 4. The rodless cylinder 6 includes a cylinder body fixed on the cylinder mounting seat and a sliding body that can slide on the cylinder body. The sliding body of the rodless cylinder 6 is connected to the internal bottom wall of the U-shaped moving frame 3; the slider 5, the connecting beam 2, the rodless cylinder 6, etc. pass through the U-shaped moving frame 3, and the bottom of the U-shaped moving frame 3 is connected to a hanging bracket 8. A laser distance measuring device for measuring the position of the hanging bracket 8 is provided on the frame 1, and the laser distance measuring device is wirelessly connected to the manipulator.

[0030] In the utility model, a hanger mounting plate 9 is connected to the bottom of the U-shaped movable frame 3, and a hanger 8 is connected below the hanger mounting plate 9. The hanger 8 is installed more reliably and firmly through the hanger mounting plate 8, so that the slider 5 slides on the linear guide rail 4 to drive the hanger 8 to move, and then the hanger 8 drives the workpiece to move.

[0031] In the utility model, the laser ranging device includes a laser ranging sensor 10 and a ranging bracket 11, the ranging bracket 11 is installed in the middle of the frame 1, the laser ranging sensor 10 is installed on the ranging bracket 11, and the control system in the manipulator is wirelessly connected to the laser ranging sensor 10.

[0032] In the utility model, limit blocks 12 are respectively arranged at both ends of the linear guide rail 4 to control the travel of the square-shaped moving frame and provide limit and buffer protection for the workpiece.

[0033] In the utility model, the sliding body of the rodless cylinder 6 is connected to the inner bottom wall of the U-shaped moving frame 3 through a pushing block 13. A connecting hole is provided at the top of the pushing block 13. The bottom of the sliding body of the rodless cylinder 6 is inserted into the connecting hole at the top of the pushing block 13, and cooperates with the small gap between the connecting holes at the top of the pushing block 13, so that the sliding body pushing block 13 of the rodless cylinder 6 is a gap connection structure.

[0034] Because the rodless cylinder 6 is sensitive to torque, it is easy to be damaged and leak when subjected to torque. The movement direction of the rodless cylinder 6 needs to be consistent with the direction of the linear guide 4. Therefore, in order to eliminate the yaw and pitch deviation, a gap connection structure is used where the cylinder 6 is connected to the moving frame 3. The installation deviation is compensated by the gap between the push block 13 and the sliding body of the rodless cylinder 6.

[0035] In the present invention, a safety grating 14 is provided at the lower part of the frame 1, and the safety grating 14 is wirelessly connected to the control system in the manipulator.

[0036] In the present invention, the automatic guided vehicle AGV comprises an automatic guided vehicle body 15 and a fork 16 arranged on the automatic guided vehicle body 15 .

[0037] In the present utility model, a manipulator clamp 17 for grabbing a workpiece is provided on the manipulator.

[0038] The working principle of an automatic tooling docking system in the utility model is as follows: the fork 16 of the automatic guided vehicle AGV is loaded with workpieces transported from other processes, and the workpieces need to be placed on the rack 8 of the loading and unloading station. The manipulator clamp 17 has extremely high requirements on the placement and positioning size of the workpiece when grabbing, otherwise the manipulator will collide with the workpiece. The AGV first uses ordinary laser navigation to move to the docking range, and the system allows the fork 16 to place the workpiece within this range. The body 15 of the automatic guided vehicle is raised and lowered to the specified height, and the fork 16 puts the workpiece down on the rack 8 of the loading and unloading station.

[0039] After the workpiece is hung on the rack 8 of the loading and unloading station, the air source is started to drive the rodless cylinder 6. The sliding body of the rodless cylinder 6 slides along the X direction on the cylinder body of the rodless cylinder 6. The push block 13 drives the mobile frame 3 to move from the side close to the fork 16 to the side close to the manipulator clamp 17. The mobile frame 3 drives the slider 5 to slide on the linear guide 4, which plays a role in motion guidance. The movement of the mobile frame 3 drives the rack mounting plate 9 together. The rack mounting plate 9 drives the rack 8 as a whole to move in the X direction and drives the rack 8 and the workpiece to move together. The limit blocks 12 on both sides of the linear guide 4 control the motion stroke. In addition, the loading and unloading station is provided with a safety grating 14, which is installed at the lower part of the frame and is associated with the manipulator. The manipulator can only start or continue to operate when the personnel leave the loading and unloading area to prevent personal injury caused by misoperation of the equipment and accidents.

[0040] The specific automatic docking control algorithm for the manipulator fixture 17 to grab the workpiece is as follows: after the workpiece moves close to the manipulator end, the laser sensor 10 measures the position of the workpiece on the rack 8, and the control system in the manipulator reads the value collected by the laser sensor 10. According to the detection distance of the laser sensor 10 and the data, the relative coordinates of the workpiece can be calculated. Deviation control is performed based on the feedback coordinate position to control the manipulator fixture 17 to accurately pick up the workpiece. The risk of collision between the manipulator fixture 17 and the rack 8 and the workpiece is reduced, and the safety of docking between the manipulator fixture 17 and the rack 8 is improved. And every time the manipulator fixture 17 picks up an item, there is an opportunity to clear the error.

[0041] It is easy for those skilled in the art to understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Automatic tooling docking system based on laser sensor positioning, Features: It includes an automatic guided vehicle AGV, a loading and unloading station and a manipulator. The loading and unloading station is arranged in the junction area between the automatic guided vehicle AGV and the manipulator. The loading and unloading station includes a frame, a connecting beam and a U-shaped moving frame. The connecting beam is arranged on the frame. The U-shaped moving frame can be slidably mounted on the connecting beam. Two parallel linear guides are arranged on the upper surface of the connecting beam. The linear guides are respectively slidably matched with the lower ends of the corresponding sliders. The upper ends of the sliders are connected to the internal top wall of the U-shaped moving frame. A cylinder mounting seat is installed on the lower surface of the connecting beam. The cylinder mounting seat and the linear guide are arranged in the same direction. The rodless cylinder includes a cylinder body fixed on the cylinder mounting seat and a sliding body that can slide on the cylinder body. The sliding body of the rodless cylinder is connected to the internal bottom wall of the U-shaped moving frame; a hanging rack is connected to the bottom of the U-shaped moving frame, and a laser distance measuring device for measuring the position of the hanging rack is arranged on the frame. The laser distance measuring device is wirelessly communicated with the manipulator.

2. According to claim 1, the tooling automatic docking system based on laser sensor positioning, Features: The bottom of the square-shaped mobile frame is connected with a hanging rack installation plate, and the lower part of the hanging rack installation plate is connected with a hanging rack.

3. According to claim 1, the tooling automatic docking system based on laser sensor positioning, Features: The laser distance measuring device includes a laser distance measuring sensor and a distance measuring bracket. The distance measuring bracket is installed in the middle of the frame, the laser distance measuring sensor is installed on the distance measuring bracket, and the control system in the manipulator is connected with the laser distance measuring sensor by wireless communication.

4. According to claim 1, the tooling automatic docking system based on laser sensor positioning, Features: Limit blocks are respectively arranged at both ends of the linear guide rail to control the travel of the U-shaped moving frame.

5. According to claim 1, the tooling automatic docking system based on laser sensor positioning, Features: The sliding body of the rodless cylinder is connected with the inner bottom wall of the square-shaped moving frame through a pushing block.

6. The tooling automatic docking system based on laser sensor positioning according to claim 5, Features: The sliding body of the rodless cylinder and the pushing block are clearance-matched to form a clearance connection structure.

7. The tooling automatic docking system based on laser sensor positioning according to claim 1, Features: A safety grating is arranged at the lower part of the frame, and the safety grating is wirelessly connected with the control system in the manipulator.

8. The tooling automatic docking system based on laser sensor positioning according to claim 1, Features: The automated guided vehicle AGV comprises an automated guided vehicle body and a fork mounted on the automated guided vehicle body.

9. The tooling automatic docking system based on laser sensor positioning according to claim 1, Features: The robot is provided with a robot clamp for grabbing the workpiece.

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