A robot transfer system

Abstract

The present invention discloses a robot transfer hanging system, including an industrial robot and a hanger vehicle, wherein the hanger vehicle is connected to a hanger platform, wherein the hanger platform includes a bracket, a camera system and a fixture platform, wherein the fixture platform is connected to the bracket, and the camera system is connected to the upper end of the fixture platform, wherein the camera system is used to photograph the hanger and transmit it to a visual processing system, wherein the visual processing system obtains the position information of the hanger by processing and analyzing the collected pictures and transmits the position information to the industrial robot. The robot transfer hanging system of the present invention directly collects and processes the information of the position of the hanger, thereby eliminating the error between the stop position of the hanger vehicle and the installation position of the hook, which is very beneficial for the industrial robot to accurately grasp the hanger; at the same time, the robot transfer hanging system can also avoid the disadvantages of manual operation, save labor costs and improve production efficiency by more than 10%.

Description

Technical Field

[0001] The invention relates to a robot transfer system. Background Art

[0002] Existing hangers are mainly grabbed by manual and robot grabbing. If the manual method is used, there are problems of heavy work and low efficiency of manual handling; if the robot is used, due to the errors in the position where the hanger trolley stops and the installation position of the hook, the robot often fails to grab and causes equipment abnormalities; in addition, due to the instability of the clamp, the grabbing is often unstable and the hanger falls. Summary of the invention

[0003] In order to solve the above technical problems, an object of the present invention is to provide a robot transfer system.

[0004] The present invention is achieved through the following technical solutions: a robot transfer hanging system, including an industrial robot and a hanger trolley, the hanger trolley is connected to a hanger table, the hanger table includes a bracket, a camera system and a fixture table, the fixture table is connected to the bracket, and the camera system is connected to the upper end of the fixture table. The camera system is used to take pictures of the hanger and transmit them to a visual processing system. The visual processing system obtains the position information of the hanger by processing and analyzing the collected pictures and transmits the position information to the industrial robot.

[0005] Preferably, the camera system is installed on the upper end of the fixture table using a connecting frame and a connecting platform, one end of the connecting frame is located on the fixture table, and the other end of the connecting frame is connected to the camera system using the connecting platform, and the connecting platform has an opening corresponding to the shooting position of the camera system for the camera system to shoot.

[0006] Preferably, it further comprises a light source, wherein the light source and the camera system are respectively located on two opposite sides of the connecting platform.

[0007] Preferably, the connecting platform is connected to a screw rod, and the screw rod is used to adjust the height of the camera system.

[0008] Preferably, the fixture table includes a table top, and a cylinder, a slider and two clamping jaws located on the table top, the output end of the cylinder is connected to the slider, and a slide rail that slides in cooperation with the slider is provided on the table top; the slider is connected to the fixture by a connecting block, and the connecting block is hinged to the slider and the fixture respectively.

[0009] Preferably, the two ends of the connection block are respectively provided with a yielding portion, and the sliding block and the clamping claw are respectively placed in the yielding portion and hingedly connected to the connection block.

[0010] Preferably, the opening of the clamping jaw is V-shaped.

[0011] Preferably, the bottom ends of the clamping jaws are provided with sliding blocks respectively, and the table top is provided with guide rails corresponding to the positions of the sliding blocks.

[0012] Preferably, the cylinder may be connected to a cylinder regulating valve.

[0013] The robot transfer hanging system of the present invention improves the structure of the fixture table and the clamping method, so that the fixture table can stably clamp the hanger, prevent the hanger from falling, and improve production efficiency; at the same time, since the information of the position of the hanger is directly collected and processed, the error between the stop position of the hanger vehicle and the installation position of the hook is eliminated, which is very beneficial for the industrial robot to accurately grasp the hanger; at the same time, the robot transfer hanging system can also avoid the disadvantages of manual operation, save labor costs and can improve production efficiency by more than 10%. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a three-dimensional schematic diagram of the present invention.

[0016] Figure 2 It is a three-dimensional schematic diagram of the hanger table of the present invention.

[0017] Figure 3 yes Figure 2 A magnified schematic diagram of center A. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0019] Reference Manual Attached Figure 1 To Attachment Figure 3A robot transfer system includes an industrial robot 1, a hanger vehicle 2 and a hanger transfer platform 3. The hanger vehicle 2 is connected with a hanger platform 21, and the hanger platform 21 has a hanger rod, and the hanger platform is installed on the hanger vehicle 2 by connecting the hanger rod with a hook. The hanger platform 21 includes a bracket 21a, a camera system 21b and a fixture platform 21c, the fixture platform 21c is connected to one side of the bracket 21a, and the camera system 21b is connected to the upper end of the fixture platform 21c. The system uses an industrial robot to carry the hanger, and the robot has high positioning accuracy and high operating stability.

[0020] Specifically, refer to the attached Figure 3 The fixture table 21c includes a table 211, and a cylinder 212, a slider 213 and two clamping jaws 214 located on the table 211. The output end of the cylinder 212 is connected to the slider 213. The table 211 is provided with a slide rail b that slides with the slider 213. The slider 213 can slide back and forth along the slide rail b. The two opposite sides of the slider 213 are connected to the clamping jaws 214 by connecting blocks 215, and the two ends of the connecting block 215 are respectively It has a yielding portion c, and the slider 213 and the clamping claw 214 are respectively placed in the yielding portion c at both ends, and the slider and the clamping claw are respectively hinged with the connecting block 215; the opening of the clamping claw 214 is V-shaped, which can clamp the hanger with a certain deviation, and can correct the deviation of the hanger after clamping, thereby clamping the hanger to prevent it from falling; at the same time, the bottom end of the clamping claw 214 has a sliding block d, and the sliding block d moves in coordination with the guide rail e on the table 211. Preferably, the cylinder 212 can also be connected to a cylinder regulating valve, and the cylinder regulating valve can be used to adjust the clamping force of the clamp to adjust it to a force that can stably grasp the hanger. In this way, by improving the structure of the clamping table and the clamping method, the clamping table can stably clamp the hanger, prevent the hanger from falling, and improve production efficiency.

[0021] For further information, see Attachment Figure 3, the camera system 21b is installed on the upper end of the fixture table by using a connecting frame 216 and a connecting platform 218. The connecting frame 216 is connected to the table 211 of the fixture table, and it and the clamping claw 214 are respectively located at opposite ends of the table 211. The other end of the connecting frame 216 is connected to the camera system 21b by using a connecting platform 218. The connecting platform has an opening corresponding to the shooting position of the camera system for the camera system to shoot; when the camera system 21b is working, the camera system shoots the positioning mark on the hanger car and then obtains the position information of the hanger through the visual processing system in the camera system, and then transmits the position information to the industrial robot 1; preferably, the connecting platform 218 is also provided with a light source 219 on the side different from the camera system, that is, the light source 219 and the camera system 21b are respectively located on opposite sides of the connecting platform 218, and the light source 219 can better highlight the characteristics of the hanger, so that the camera system can more stably identify the accurate position of the hanger. Furthermore, the connecting platform 218 is connected to a screw rod 2 b , and the connecting platform 218 can be adjusted in height by using the screw rod 2 b , thereby adjusting the height of the camera system.

[0022] In this way, when the hanger vehicle 2 arrives at the designated position, the industrial robot 1 runs to the shooting position of the camera system. At this time, the camera system 21b is used to shoot the hanger and transmit it to the visual processing system in the camera system. The visual processing system processes and analyzes the collected pictures to obtain the position information of the hanger. Then the camera system transmits the position information to the industrial robot 1. The industrial robot takes action based on the obtained position information, accurately grabs the hanger, and then puts the hanger on the hanger transfer table 3. The robot transfer system of the present invention directly collects and processes the information of the hanger position, thereby eliminating the error between the hanger vehicle stop position and the hook installation position, which is very beneficial for the industrial robot to accurately grab the hanger; at the same time, this kind of robot transfer system can also avoid the disadvantages of manual operation, save labor costs and can improve production efficiency by more than 10%.

[0023] The above description shows and describes the preferred embodiments of the present invention. As mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. A robot transfer system, It is characterized in that It includes an industrial robot and a hanger vehicle, the hanger vehicle is connected to a hanger platform, the hanger platform includes a bracket, a camera system and a fixture platform, the fixture platform is connected to the bracket, the camera system is connected to the upper end of the fixture platform, the camera system is used to take pictures of the hanger and transmit them to the visual processing system, the visual processing system processes and analyzes the collected pictures to obtain the position information of the hanger and transmits the position information to the industrial robot; The camera system is installed on the upper end of the fixture table by using a connecting frame and a connecting platform, one end of the connecting frame is located on the fixture table, and the other end of the connecting frame is connected to the camera system by using the connecting platform, and the connecting platform is provided with an opening corresponding to the shooting position of the camera system for the camera system to shoot; The fixture table includes a table top, and a cylinder, a slider and two clamping claws located on the table top, the output end of the cylinder is connected to the slider, and a slide rail that slides in cooperation with the slider is arranged on the table top; the slider is connected to the fixture by a connecting block, and the connecting block is hinged to the slider and the fixture respectively; The two ends of the connection block are respectively provided with a yielding portion, and the sliding block and the clamping claw are respectively placed in the yielding portion and are hinged to the connection block.

2. A robot transfer system according to claim 1, It is characterized in that A light source is also included. The light source and the camera system are respectively located on two opposite sides of the connecting platform.

3. A robot transfer system according to claim 1, It is characterized in that The connecting platform is connected with a screw rod, and the screw rod is used to adjust the height of the camera system.

4. A robot transfer system according to claim 1, It is characterized in that The opening of the clamping jaw is V-shaped.

5. A robot transfer system according to claim 1, It is characterized in that The bottom ends of the clamping jaws are respectively provided with sliding blocks, and the table surface is provided with guide rails corresponding to the positions of the sliding blocks.

6. A robot transfer system according to claim 1, It is characterized in that The cylinder may be connected to a cylinder regulating valve.

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