A vehicle door automatic detection system

Abstract

The present invention discloses an automatic detection system for vehicle doors, including a conveyor roller and a skid, the skid is slidably matched with the conveyor roller, the conveyor roller is provided with a proximity sensor for detecting the skid, the conveyor roller is provided with guide rails on both sides, the guide rails are provided with an industrial robot, the industrial robot is provided with a detection tool, the industrial robot is electrically connected to a robot control cabinet, the robot control cabinet is electrically connected to a PLC control cabinet, and the PLC control cabinet is electrically connected to an operating cabinet. The industrial robot uses the detection tool to perform locking detection on vehicle doors, front engine hoods and trunks, which can reduce personnel input and personnel costs, replace manual detection, and improve the automation, intelligence and safety of detection; the operator can adjust parameters according to different vehicle models to allow the industrial robot to meet the detection of different vehicle models, and the application range is wide and has universality.

Description

Technical Field

[0001] The invention relates to the technical field of whole vehicle detection, in particular to an automatic detection system for whole vehicle doors. Background Art

[0002] Electrophoresis is a process in automobile manufacturing. It is for better adhesion and corrosion resistance of paint. As a new type of low-pollution, energy-saving, resource-saving, protective and anti-corrosive process, electrophoresis coating has the characteristics of smooth coating, good water resistance and chemical resistance, and is easy to realize the mechanization and automation of the coating industry. It is suitable for coating workpieces with complex shapes, edges, corners, and holes. It is widely used in the coating of automobiles, automatic vehicles, electromechanical, home appliances and other hardware.

[0003] Electrophoretic coating of vehicles is not limited to the surface coloring of the vehicle shell. The surfaces of various parts that need anti-corrosion protection, such as chassis, beams, axles, etc., can be electrophoretically coated, thereby achieving a better effect than traditional spray painting. In the production line of the whole vehicle, before electrophoretic treatment, the doors, front and rear covers need to be fixed. The current way to detect whether the doors are fixed is to use manual inspection, which has the problems of high personnel input, high labor costs, high labor intensity and low work efficiency. Summary of the invention

[0004] The present invention aims at the above-mentioned deficiencies in the prior art and provides an automatic vehicle door detection system. An industrial robot uses detection tooling to perform locking detection on vehicle doors, front hood and trunk, which can reduce personnel input and personnel costs, and replace manual detection to improve the automation, intelligence and safety of detection. The system has high repetition accuracy and low failure rate, which greatly improves the detection efficiency, and the structure is light and stable to use. The operator can adjust parameters according to different vehicle models to allow the industrial robot to meet the detection requirements of different vehicle models. The system has a wide range of applications and is universal.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A vehicle door automatic detection system includes a conveyor roller and a slide, the slide is slidably matched with the conveyor roller, the conveyor roller is provided with a proximity sensor for detecting the slide, guide rails are provided on both sides of the conveyor roller, an industrial robot is provided on the guide rails, the industrial robot is provided with a detection tooling, the industrial robot is electrically connected to a robot control cabinet, the robot control cabinet is electrically connected to a PLC control cabinet, and the PLC control cabinet is electrically connected to an operating cabinet.

[0007] Preferably, the guide rail is surrounded by a fence, a car entrance and a car exit are provided on both sides of the fence, gratings electrically connected to the PLC control cabinet are provided on both sides of the car entrance and the car exit, and an exit grating shielding switch and an import grating shielding switch are provided on the conveying roller, the import grating shielding switch is arranged at the car entrance, and the exit grating shielding switch is arranged at the car exit.

[0008] Preferably, an access door is provided on the side wall of the fence, a fifth proximity switch electrically connected to the PLC control cabinet is provided on the door frame of the access door, and a trigger block cooperating with the fifth proximity switch is provided at the upper end of the vehicle door.

[0009] Preferably, the detection tooling includes a suction cup, a hollow tube, a support bracket and a vacuum generator, the support bracket is connected to the six axes of the industrial robot, the vacuum generator is fixed on the side wall of the industrial robot, the hollow tube is connected to the support bracket, one end of the hollow tube is provided with a suction cup, and the other end of the hollow tube is connected to the vacuum generator.

[0010] Preferably, a fixing seat is provided at the upper end of the supporting bracket, the hollow tube is arranged in the fixing seat, a spring is sleeved on the outside of the hollow tube, a fixing ring is provided on the side wall of the hollow tube, one end of the spring is connected to the fixing seat, and the other end of the spring is connected to the fixing ring, proximity switches for detecting the fixing ring are provided on both sides of the spring, and a photoelectric sensor is provided on the side wall of the supporting bracket, and the proximity switch and the photoelectric sensor are both electrically connected to the PLC control cabinet.

[0011] Preferably, a sensor bracket is provided at the upper end of the supporting bracket, and a first proximity switch, a second proximity switch, a third proximity switch and a fourth proximity switch are sequentially provided on the sensor bracket.

[0012] Preferably, the sensor bracket includes a first sensor bracket and a second sensor bracket, the first sensor bracket and the second sensor bracket are respectively arranged on both sides of the spring, the first sensor bracket is provided with a first proximity switch and a third proximity switch, and the second sensor bracket is provided with a second proximity switch and a fourth proximity switch.

[0013] Preferably, the spring includes a first spring and a second spring, the fixing ring includes a first fixing ring and a second fixing ring, the first spring and the second spring are respectively arranged on both sides of the fixing seat, the second spring is arranged between the first sensor bracket and the second sensor bracket, one end of the first spring is connected to the hollow tube through the first fixing ring, and the other end of the first spring is connected to the fixing seat, one end of the second spring is connected to the fixing seat, and the other end of the second spring is connected to the hollow tube through the second fixing ring.

[0014] Preferably, photoelectric sensors are provided on both sides of the supporting bracket.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention uses an industrial robot to perform locking inspection on vehicle doors, front hoods and trunks using inspection tools, which can reduce personnel input, reduce personnel costs, and replace manual inspection to improve the automation, intelligence and safety of inspection; the system has high repetition accuracy and low failure rate, greatly improving the inspection efficiency, and has a light structure and stable use; the operator can adjust parameters according to different vehicle models to allow the industrial robot to meet the requirements of different vehicle models for inspection, and has a wide range of applications and versatility.

[0017] 2. The present invention sets a fence, and sets a grating at the entrance and exit of the fence to detect the entry of people or other objects. During the detection process, once other objects or people are detected to enter, the system will automatically stop the operation of the industrial robot to avoid casualties and increase safety in use.

[0018] 3. The present invention sets a fifth proximity switch on the access door to detect the opening and closing status of the access door. When the access door is in the open state, the system will automatically stop the operation of the industrial robot to prevent accidental injury to personnel, ensure safe use, and is very convenient and intelligent to use.

[0019] 4. The present invention is provided with two springs, which can increase the sliding stability and push-pull strength of the suction cup, increase the service life of the spring, and make the use more reliable.

[0020] 5. The present invention provides a long strip-shaped mounting hole on the sensor support frame, which improves the convenience of adjusting the proximity switch and makes adjustment and fixing more convenient.

[0021] 6. The present invention provides a guide protrusion on the support bracket, which plays a guiding role when installing and fixing the support bracket, thereby improving the installation speed and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 A top view of the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of the present invention after removing the fence;

[0025] Figure 4 Schematic diagram of the three-dimensional structure of the inspection tooling Figure 1 ;

[0026] Figure 5 This is a top view of the inspection tooling;

[0027] Figure 6 This is the main view of the inspection tooling;

[0028] Figure 7 Schematic diagram of the three-dimensional structure of the inspection tooling Figure 2 .

[0029] In the figure: 1-suction cup; 2-hollow tube; 3-first fixing ring; 4-first spring; 5-fixing seat; 6-first sensor bracket; 7-second spring; 8-second fixing ring; 9-second sensor bracket; 10-photoelectric sensor; 11-support bracket; 1101-threading hole; 1102-guide protrusion; 12-first proximity switch; 13-third proximity switch; 14-fourth proximity switch; 15-second proximity switch; 16-mounting hole; 17-fence; 18-conveyor roller; 19-grating; 20-sliding skid; 21-PLC control cabinet; 22-robot control cabinet; 23-operating cabinet; 24-entry and exit door; 25-guide rail; 26-industrial robot; 27-export grating shielding switch; 28-proximity sensor; 29-detection tooling; 30-import grating shielding switch; 31-fifth proximity switch. DETAILED DESCRIPTION

[0030] 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 creative work are within the scope of protection of the present invention.

[0031] like Figure 1-3 As shown, an automatic detection system for vehicle doors includes a conveyor roller 18 and a slide 20, the slide 20 slidingly cooperates with the conveyor roller, the conveyor roller 18 is provided with a proximity sensor for detecting the slide 20, the proximity sensor model is: NBN40-L2-E2-V1, guide rails 25 are provided on both sides of the conveyor roller 18, an industrial robot 26 is provided on the guide rail 25, the robot model is: IRB4600-40-255, the guide rail 25 model is: HRT229010000A, the industrial robot 26 is provided with a detection fixture, the industrial robot 26 is electrically connected to a robot control cabinet 22, the robot control cabinet 22 model is IRC5, the robot control cabinet 22 is electrically connected to a PLC control cabinet 21, the PLC control cabinet 21 is electrically connected to an operation cabinet 23, the operation cabinet 23 is a human-machine interaction device, and is used for the staff to set the operation of the industrial robot 26.

[0032] A fence 17 is provided around the guide rail 25, and a car entrance and a car exit are provided on both sides of the fence 17. Both sides of the car entrance and the car exit are provided with gratings 19 electrically connected to the PLC control cabinet 21, and the grating 19 model is: C40S-0903CA010 / C40E-0903CA010. An exit grating shielding switch and an import grating shielding switch 30 are provided on the conveying roller 18. The grating 19 shielding switch model is NBN40-L2-E2-V1. The import grating shielding switch 30 is set at the car entrance, and the exit grating shielding switch is set at the car exit for detecting cars. When the car passes and leaves, the grating 19 is in a closed state. The rest of the time, the grating 19 is in an open state for detecting whether other people or objects pass through. Once people or objects are detected, the PLC will control the entire setting to stop running to increase safety.

[0033] An access door 24 is provided on the side wall of the fence 17, and a fifth proximity switch 31 electrically connected to the PLC control cabinet 21 is provided on the door frame of the access door 24. A trigger block cooperating with the fifth proximity switch 31 is provided at the upper end of the car door. The model of the fifth proximity switch 31 is: CES-AP-C01-AH-SB-111145, and the model of the trigger block is 098775. The trigger block is used in conjunction with the fifth proximity switch 31. When the access door 24 is opened, the fifth proximity switch 31 cannot detect the trigger block, indicating that the access door 24 is opened. At this time, the PLC stops the operation of the entire device to ensure the safety of personnel.

[0034] like Figure 4 As shown, the detection tooling includes a suction cup 1, a hollow tube 2, a support bracket 11 and a vacuum generator. A fixed seat 5 is provided at the upper end of the support bracket 11. The hollow tube 2 is arranged in the fixed seat 5. The hollow tube 2 and the fixed seat 5 are slidably matched. A suction cup 1 is provided at one end of the hollow tube 2. The outer part of the hollow tube 2 is covered with a first spring 4 and a second spring 7. The first spring 4 and the second spring 7 are respectively arranged on both sides of the fixed seat 5. One end of the first spring 4 is connected to the hollow tube 2 through a first fixing ring 3, and the other end of the first spring 4 is connected to the fixed seat 5. One end of the second spring 7 is connected to the fixed seat 5, and the other end of the second spring 7 is connected to the hollow tube 2 through a second fixing ring 8. Proximity switches are provided on both sides of the second spring 7. The model of the proximity switch is NBB4-12GM50-E2-V1. A photoelectric sensor 10 is provided on the side wall of the support bracket 11. The model of the photoelectric sensor 10 is DT35-B15251. When in use, the support bracket 11 is installed on the six axes of the industrial robot 26, the hollow tube 2 is connected to the vacuum generator through a hose, the vacuum generator is fixed on the side wall of the industrial robot 26, and the vacuum generator model is ZK2A12K5AL-08.

[0035] like Figure 5As shown, in order to avoid the structure being too compact and inconvenient for disassembly and assembly, a first sensor bracket 6 and a second sensor bracket 9 are provided at the upper end of the support bracket 11, and the first sensor bracket 6 and the second sensor bracket 9 are respectively provided on both sides of the second spring, and the proximity switch comprises a first proximity switch 12, a second proximity switch 15, a third proximity switch 13 and a fourth proximity switch 14, and the proximity switch is used to detect the position of the second fixing ring 8 to judge the state of the suction cup 1, the first proximity switch 12 and the third proximity switch 13 are fixed on the first sensor bracket 6, and the second proximity switch 15 and the fourth proximity switch 14 are fixed on the second sensor bracket 9, and the distance from the suction cup 1 from near to far is the first proximity switch 12, the second proximity switch 15, the third proximity switch 13 and the fourth proximity switch 14, wherein the first proximity switch 12 is used when detecting the hood and trunk lid of the vehicle, the second proximity switch 15 is used when detecting the door, the third proximity switch 13 is for initial position detection, and the fourth proximity switch 14 is for pulling position detection.

[0036] In addition, in order to save space, only one sensor support frame may be provided, and the four proximity switches may be provided in sequence. This embodiment adopts the form of two sensor support frames.

[0037] like Figure 6 As shown, a strip-shaped mounting hole 16 is provided on the side wall of the sensor support frame, and the proximity switch is arranged in the mounting hole 16. The proximity switch can be adjusted in position in the mounting hole 16, and is easy to use.

[0038] like Figure 7 As shown, a threading hole 1101 is provided on the side wall of the support bracket 11 , and the line is routed through the threading hole 1101 .

[0039] A guide protrusion 1102 is provided on the side wall of the support bracket 11, which plays a guiding role during installation, facilitates positioning, and improves the speed of installation and fixing.

[0040] In order to increase the accuracy of detection, photoelectric sensors 10 are provided on both sides of the support bracket 11 .

[0041] Specific usage:

[0042] The whole vehicle moves along the conveyor roller 18 on the skid 20. When the proximity sensor 28 detects the skid 20, the skid 20 stops. At this time, the industrial robot 26 moves the detection tooling 29 under the PLC setting program. At the initial position, the second fixing ring 8 is located at the third proximity switch 13. When the photoelectric sensor 1010 detects a signal, it indicates that the suction cup 1 has contacted the car door. At this time, the robot presses the tooling downward, and the suction cup 1 is pressed on the car door. The second fixing ring 8 slides toward the fourth proximity switch 14. When the fourth proximity switch 14 detects the second fixing ring 8, it indicates that the suction cup 1 has been completely pressed on the car door, and the first spring 4 is compressed, the second spring is stretched, and the vacuum generator draws negative pressure to suck the car door. The robot pulls the suction cup 1 back. If the car door is locked, the first spring 4 is pulled back. The spring 4 is stretched and the second spring is compressed. When the second proximity switch 15 detects the second fixing ring 8 and the photoelectric sensor 10 does not detect the door, it indicates that the door is locked. If the vacuum generator draws negative pressure to suck the door, the robot pulls the suction cup 1 back, the second proximity switch 15 does not detect the second fixing ring 8, and the photoelectric sensor 10 detects the door, indicating that the door is not locked. At this time, a reminder is issued on the operation cabinet interface, requiring personnel to manually lock it. When the personnel open the door, the industrial robot stops running. It will only run again when the personnel come out of the fence 17 and close the door 24. When detecting the front hood or trunk, since the front hood or trunk is heavier than the door, the first proximity switch 12 is used to detect the position of the second fixing ring 8. When all the tests are completed and it is ensured that the door is locked with the front and rear covers, the conveyor roller 18 runs to drive the skid 20 to convey the whole vehicle away.

[0043] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic vehicle door detection system, comprising a conveyor roller and a skid, wherein the skid is in sliding cooperation with the conveyor roller, and is characterized in that: The conveyor roller is provided with a proximity sensor for detecting the slide, guide rails are provided on both sides of the conveyor roller, an industrial robot is provided on the guide rails, a detection tool is provided on the industrial robot, the industrial robot is electrically connected to a robot control cabinet, the robot control cabinet is electrically connected to a PLC control cabinet, and the PLC control cabinet is electrically connected to an operation cabinet; The detection tooling includes a suction cup, a hollow tube, a support bracket and a vacuum generator, wherein the support bracket is connected to the six axes of the industrial robot, the vacuum generator is fixed to the side wall of the industrial robot, the hollow tube is connected to the support bracket, one end of the hollow tube is provided with a suction cup, and the other end of the hollow tube is connected to the vacuum generator; A fixing seat is provided at the upper end of the support bracket, the hollow tube is arranged in the fixing seat, a spring is sleeved on the outside of the hollow tube, a fixing ring is provided on the side wall of the hollow tube, one end of the spring is connected to the fixing seat, the other end of the spring is connected to the fixing ring, proximity switches for detecting the fixing ring are provided on both sides of the spring, a photoelectric sensor is provided on the side wall of the support bracket, and both the proximity switch and the photoelectric sensor are electrically connected to the PLC control cabinet; a sensor bracket is provided at the upper end of the support bracket, photoelectric sensors are provided on both sides of the support bracket, and a first proximity switch, a second proximity switch, a third proximity switch and a fourth proximity switch are provided on the sensor bracket in sequence; the sensor bracket includes a first sensor bracket and a second sensor bracket , the first sensor bracket and the second sensor bracket are respectively arranged on both sides of the spring, the first sensor bracket is provided with a first proximity switch and a third proximity switch, and the second sensor bracket is provided with a second proximity switch and a fourth proximity switch; the spring includes a first spring and a second spring, the fixing ring includes a first fixing ring and a second fixing ring, the first spring and the second spring are respectively arranged on both sides of the fixing seat, the second spring is arranged between the first sensor bracket and the second sensor bracket, one end of the first spring is connected to the hollow tube through the first fixing ring, the other end of the first spring is connected to the fixing seat, one end of the second spring is connected to the fixing seat, and the other end of the second spring is connected to the hollow tube through the second fixing ring; The whole vehicle moves along the conveyor roller on the skid. When the proximity sensor detects the skid, the skid stops. At this time, the industrial robot moves the detection tooling under the PLC setting program. At the initial position, the second fixed ring is located at the third proximity switch. When the photoelectric sensor detects a signal, it means that the suction cup has contacted the car door. At this time, the robot presses the tooling downward, and the suction cup is pressed on the car door. The second fixed ring slides toward the fourth proximity switch. When the fourth proximity switch detects the second fixed ring, it means that the suction cup is completely pressed on the car door, and the first spring is compressed, the second spring is stretched, and the vacuum generator draws negative pressure to suck the car door. The robot pulls the suction cup back. If the car door is locked, the first spring is stretched and the second spring is compressed. When the second proximity switch detects the second fixed ring If the vacuum generator sucks the door with negative pressure, and the robot pulls the suction cup back, the second proximity switch does not detect the second fixing ring, and the photoelectric sensor detects the door, indicating that the door is not locked. At this time, a reminder is issued on the operation cabinet interface, requiring personnel to manually lock the door. When the personnel opens the door, the industrial robot stops running. It will only run again when the personnel comes out of the fence and closes the door. When detecting the front hood or trunk, since the front hood or trunk is heavier than the door, the first proximity switch is used to detect the position of the second fixing ring. When all inspections are completed and it is ensured that the door is locked with the front and rear covers, the conveyor roller runs to drive the skid to transport the entire vehicle away.

2. The vehicle door automatic detection system according to claim 1, characterized in that: The guide rail is surrounded by fences, and a car entrance and a car exit are arranged on both sides of the fence. Gratings electrically connected to the PLC control cabinet are arranged on both sides of the car entrance and the car exit. An exit grating shielding switch and an import grating shielding switch are arranged on the conveying roller. The import grating shielding switch is arranged at the car entrance, and the exit grating shielding switch is arranged at the car exit.

3. The vehicle door automatic detection system according to claim 1, characterized in that: An access door is provided on the side wall of the fence, a fifth proximity switch electrically connected to the PLC control cabinet is provided on the door frame of the access door, and a trigger block cooperating with the fifth proximity switch is provided at the upper end of the vehicle door.

Images