A flexible loading tooling for an automotive glass guide rail bracket

Abstract

The present invention provides a flexible loading tooling for an automotive glass guide rail bracket, belonging to the technical field of automotive part processing tooling, including: a workbench; a vision camera; a flipping assembly; a robotic arm. The beneficial effects of the present invention are as follows: The state of the products in the storage box is obtained through visual shooting. When the products in the storage box are close to the state of facing upwards, the robotic arm grabs and adjusts the products from the storage box so that the products are placed on the detection seat in the state of facing upwards. When the products in the storage box are close to the state of facing downwards, the robotic arm grabs and adjusts the products from the storage box so that the products are placed on the flipping head in the state of facing downwards. Then, the flipping driving device drives the flipping arm to rotate, thereby driving the products on the flipping head to be inverted on the detection seat, realizing automatic loading of the products.

Description

Technical Field

[0001] The present invention belongs to the technical field of automotive parts processing tooling, and relates to a flexible feeding tooling for an automotive glass guide rail bracket. Background Art

[0002] Automotive parts products such as automotive glass guide rail brackets are generally fed manually. Manual feeding requires human eyes to judge. During long-term mechanized labor, it is very easy to make mistakes and misclassify the front and back of the products, resulting in subsequent assembly and processing failures, and there is a large room for improvement. Summary of the Invention

[0003] The purpose of the present invention is to provide a flexible feeding tooling for an automotive glass guide rail bracket in view of the above problems existing in the prior art.

[0004] The purpose of the present invention can be achieved by the following technical solutions: A flexible feeding tooling for an automotive glass guide rail bracket, comprising:

[0005] A workbench, which is provided with a storage box and a detection seat;

[0006] A vision camera, which is connected to the workbench, and the vision camera is aligned with the storage box and is used to photograph and obtain the state of the products in the storage box;

[0007] A flipping assembly, which includes a flipping driving device, a flipping arm and a flipping head. One end of the flipping arm is linked to the flipping driving device, and the flipping head is connected to the other end of the flipping arm. The flipping driving device can drive the flipping arm to rotate so as to drive the products on the flipping head to be buckled on the detection seat;

[0008] A robot arm, which is connected to the workbench. The robot arm can move to the storage box or the detection seat or the flipping head. When the products in the storage box are close to the state of facing upwards, the robot arm grabs and adjusts the products from the storage box so that the products are placed on the detection seat in the state of facing upwards. When the products in the storage box are close to the state of facing downwards, the robot arm grabs and adjusts the products from the storage box so that the products are placed on the flipping head in the state of facing downwards.

[0009] In the above flexible feeding tooling for an automotive glass guide rail bracket, it further includes a material ejecting assembly. The material ejecting assembly includes a material ejecting driving device, a material ejecting seat and material ejecting claws. The material ejecting driving device is connected to the detection seat, the material ejecting claws are connected to the material ejecting seat, and the material ejecting seat is linked to the material ejecting driving device. The material ejecting driving device can drive the material ejecting seat to lift so that the material ejecting claws throw out the products.

[0010] In the above-mentioned flexible loading tooling for an automotive glass guide rail bracket, the elastic material component further includes a linkage arm. The linkage arm is provided with a limiting groove, and the detection seat is provided with a limiting pin. The limiting pin is arranged in the limiting groove and can move along the limiting groove. The limiting pin can contact the end of the limiting groove to limit the maximum moving stroke of the elastic material seat.

[0011] In the above-mentioned flexible loading tooling for an automotive glass guide rail bracket, the number of the elastic claws is set to two, and the two elastic claws are respectively located on both sides of the detection seat.

[0012] In the above-mentioned flexible loading tooling for an automotive glass guide rail bracket, the elastic material component further includes a parabolic arm. The elastic claw is arranged on the parabolic arm. The parabolic arm is hinged to the elastic material seat, and the parabolic arm is hinged to the linkage arm. The limiting pin can rotate in the limiting groove. When the limiting pin contacts the end of the limiting groove and the elastic material driving device drives the elastic material seat to continue rising, the linkage arm rotates around the limiting pin and pulls the parabolic arm to rotate relative to the elastic material seat.

[0013] In the above-mentioned flexible loading tooling for an automotive glass guide rail bracket, the parabolic arm is provided with a counterweight block. The hinge point between the parabolic arm and the elastic material seat is located between the hinge point between the parabolic arm and the linkage arm and the counterweight block.

[0014] In the above-mentioned flexible loading tooling for an automotive glass guide rail bracket, the detection seat is provided with a first positioning block and a positioning driving device. The positioning driving device is provided with a second positioning block. A positioning space is formed between the second positioning block and the first positioning block. The positioning driving device can drive the second positioning block to approach or move away from the first positioning block.

[0015] In the above-mentioned flexible loading tooling for an automotive glass guide rail bracket, both the first positioning block and the second positioning block are provided with guiding chamfers for guiding the product to fall into the positioning space.

[0016] In the above-mentioned flexible loading tooling for an automotive glass guide rail bracket, the workbench is provided with a moving driving device and a moving seat. The moving seat is linked with the moving driving device. The moving driving device can drive the moving seat to move relative to the workbench. The vision camera is arranged on the moving seat.

[0017] In the above-mentioned flexible loading tooling for an automotive glass guide rail bracket, the detection seat is provided with a photoelectric detection device, and the photoelectric detection device is used to detect whether the product is placed in place.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. The state of the product in the storage box is obtained by visual shooting. When the product in the storage box is close to the state of facing upwards, the robot grabs the product from the storage box and adjusts the product so that the product is placed on the detection seat in the state of facing upwards. When the product in the storage box is close to the state of facing downwards, the robot grabs the product from the storage box and adjusts the product so that the product is placed on the flipping head in the state of facing downwards. Then, the flipping driving device drives the flipping arm to rotate, thereby driving the product on the flipping head to be inverted on the detection seat, realizing automatic feeding of the product.

[0020] 2. The ejecting driving device can drive the ejecting seat to lift. The ejecting driving device rises and holds up the product, and then continues to rise a certain distance and suddenly stops. Due to the action of inertia, the ejecting claws can eject the product.

[0021] 3. When the limit pin contacts the end of the limit groove and the ejecting driving device drives the ejecting seat to continue rising, the linkage arm rotates around the limit pin and pulls the parabolic arm to rotate relative to the ejecting seat, so that the parabolic arm and the linkage arm move in a direction forming a straight line, thereby ejecting the product obliquely upwards.

[0022] 4. The positioning driving device can drive the second positioning block to approach or move away from the first positioning block, thereby adjusting the size of the positioning space. By pre-adjustment, the flexible feeding tooling of the present invention can be adapted to products of different widths.

[0023] 5. When the manipulator places the product on the detection seat or the flipping arm inverts the product on the flipping head on the detection seat, the guiding chamfers of the first positioning block and the second positioning block can guide the product to fall into the positioning space, making the final position of the product on the detection seat more accurate.

[0024] 6. The moving driving device can drive the moving seat to move relative to the workbench, so that the vision camera can move relative to the workbench, and the storage box can be photographed from multiple angles, preventing the vision camera from having a vision dead angle due to always shooting from the same direction.

[0025] 7. The photoelectric detection device is used to detect whether the product is placed in place and control the ejecting assembly to eject the product that is not placed in place or placed incorrectly. Description of the Drawings

[0026] Figure 1 It is a schematic structural diagram of the flexible feeding tooling of the present invention.

[0027] Figure 2 It is a schematic structural diagram of the flipping assembly and the ejecting assembly of the present invention.

[0028] Figure 3 It is a schematic diagram of the flipping state of the flipping assembly of the present invention.

[0029] Figure 4Schematic diagram of the proximity to the end state of the flipping component of the present invention.

[0030] Figure 5 Schematic diagram of the end state of the flipping component of the present invention.

[0031] Figure 6 Schematic diagram of the state of the component for ejecting materials in preparation for ejecting materials according to the present invention.

[0032] Figure 7 Schematic diagram of the state of the component for ejecting materials while ejecting materials according to the present invention.

[0033] In the figure, 100 is a workbench; 110 is a storage box; 120 is a detection seat; 121 is a limit pin; 122 is a first positioning block; 123 is a positioning driving device; 124 is a second positioning block; 125 is a guiding chamfer; 126 is a photoelectric detection device; 130 is a moving driving device; 140 is a moving seat; 200 is a vision camera; 300 is a flipping component; 310 is a flipping driving device; 320 is a flipping arm; 330 is a flipping head; 400 is a robot arm; 500 is a component for ejecting materials; 510 is an ejecting driving device; 520 is an ejecting seat; 530 is an ejecting claw; 540 is a linkage arm; 541 is a limit groove; 550 is a parabolic arm; 551 is a counterweight. Detailed implementation manners

[0034] The following are specific embodiments of the present invention and, in conjunction with the accompanying drawings, further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0035] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0036] In addition, in the present invention, descriptions such as "first", "second", "one", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0037] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" shall be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0039] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar methods for substitution, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0040] As Figures 1 - 7 shown, a flexible feeding tooling for an automotive glass guide rail bracket includes: a workbench 100, a vision camera 200, a flipping assembly 300, and a robot 400.

[0041] Among them, the workbench 100 is provided with a storage box 110 and a detection seat 120.

[0042] Among them, the vision camera 200 is connected to the workbench 100, and the vision camera 200 is aligned with the storage box 110 and is used to photograph and obtain the state of the products in the storage box 110.

[0043] Among them, the flipping assembly 300 includes a flipping drive device 310, a flipping arm 320, and a flipping head 330. One end of the flipping arm 320 is linked and connected to the flipping drive device 310, the flipping head 330 is connected to the other end of the flipping arm 320, and the flipping drive device 310 can drive the flipping arm 320 to rotate so as to drive the products on the flipping head 330 to be inverted on the detection seat 120.

[0044] Among them, the robotic arm 400 is connected to the workbench 100. The robotic arm 400 can move to the storage box 110, or the detection seat 120, or the flipping head 330. When the product in the storage box 110 is close to the state of facing upward, the robotic arm 400 grabs and adjusts the product from the storage box 110 so that the product is placed on the detection seat 120 in the state of facing upward. When the product in the storage box 110 is close to the state of facing downward, the robotic arm 400 grabs and adjusts the product from the storage box 110 so that the product is placed on the flipping head 330 in the state of facing downward.

[0045] It should be noted here that the products in the storage box 110 are randomly placed in a scattered manner. Therefore, there will be products at various angles. Generally speaking, there will be products close to the state of facing upward or close to the state of facing downward. The robotic arm can grab and adjust the workpiece within a certain angle range. Therefore, for the workpiece in the state of facing upward, it can be directly adjusted and grabbed to the detection seat 120. However, it is difficult to adjust the product in the state of facing downward to the state of facing upward. Therefore, for the workpiece in the state of facing downward, it needs to be first placed on the flipping head 330, and then the flipping driving device 310 drives the flipping arm 320 to rotate, thereby driving the product on the flipping head 330 to be inverted on the detection seat 120.

[0046] In this embodiment, the state of the product in the storage box 110 is obtained by visual shooting. When the product in the storage box 110 is close to the state of facing upward, the robotic arm 400 grabs and adjusts the product from the storage box 110 so that the product is placed on the detection seat 120 in the state of facing upward. When the product in the storage box 110 is close to the state of facing downward, the robotic arm 400 grabs and adjusts the product from the storage box 110 so that the product is placed on the flipping head 330 in the state of facing downward. Then, the flipping driving device 310 drives the flipping arm 320 to rotate, thereby driving the product on the flipping head 330 to be inverted on the detection seat 120, realizing automatic feeding of the product.

[0047] As Figures 1 - 7 shown, on the basis of the above embodiment, a material ejecting assembly 500 is further included. The material ejecting assembly 500 includes a material ejecting driving device 510, a material ejecting seat 520, and material ejecting claws 530. The material ejecting driving device 510 is connected to the detection seat 120. The material ejecting claws 530 are connected to the material ejecting seat 520. The material ejecting seat 520 is connected to the material ejecting driving device 510 in a linkage manner. The material ejecting driving device 510 can drive the material ejecting seat 520 to move up and down, so that the material ejecting claws 530 can eject the product.

[0048] In this embodiment, the material ejecting driving device 510 can drive the material ejecting seat 520 to move up and down. The material ejecting driving device 510 rises and holds up the product, and then continues to rise a certain distance and suddenly stops. Due to the action of inertia, the material ejecting claws 530 can eject the product.

[0049] As shown Figures 1 - 7 In the above embodiment, the elastic material component 500 further includes a linkage arm 540. The linkage arm 540 is provided with a limit groove 541. The detection seat 120 is provided with a limit pin 121. The limit pin 121 is arranged in the limit groove 541 and can move along the limit groove 541. The limit pin 121 can contact the end of the limit groove 541 to limit the maximum moving stroke of the elastic material seat 520.

[0050] In this embodiment, the limit pin 121 can limit the maximum moving stroke of the elastic material seat 520. When the limit pin 121 contacts the end of the limit groove 541, the linkage arm 540 stops moving and the elastic material seat 520 connected to the linkage arm 540 also stops moving, which is convenient for the elastic claws 530 to throw the product by inertia.

[0051] As shown Figures 1 - 7 In the above embodiment, the number of the elastic claws 530 is set to two, and the two elastic claws 530 are respectively located on both sides of the detection seat 120.

[0052] In this embodiment, the two elastic claws 530 are respectively located on both sides of the detection seat 120. Therefore, when the elastic claws 530 rise, they can hold both ends of the product, making it not easy to fall.

[0053] As shown Figures 1 - 7 In the above embodiment, the elastic material component 500 further includes a parabolic arm 550. The elastic claw 530 is arranged on the parabolic arm 550. The parabolic arm 550 is hinged to the elastic material seat 520, and the parabolic arm 550 is hinged to the linkage arm 540. The limit pin 121 can rotate in the limit groove 541. When the limit pin 121 contacts the end of the limit groove 541 and the elastic material driving device 510 drives the elastic material seat 520 to continue rising, the linkage arm 540 rotates around the limit pin 121 and pulls the parabolic arm 550 to rotate relative to the elastic material seat 520.

[0054] In this embodiment, when the limit pin 121 contacts the end of the limit groove 541 and the elastic material driving device 510 drives the elastic material seat 520 to continue rising, the linkage arm 540 rotates around the limit pin 121 and pulls the parabolic arm 550 to rotate relative to the elastic material seat 520, so that the parabolic arm 550 and the linkage arm 540 move in a direction forming a straight line, thereby throwing the product obliquely upward.

[0055] As shown Figures 1 - 7As shown, on the basis of the above-described embodiment, the parabolic arm 550 is provided with a counterweight 551, and the hinge point between the parabolic arm 550 and the projectile seat 520 is located between the hinge point between the parabolic arm 550 and the linkage arm 540 and the counterweight 551.

[0056] In this embodiment, since the parabolic arm 550 can rotate relative to the projectile seat 520, a counterweight 551 is provided on the parabolic arm 550 and the hinge point between the parabolic arm 550 and the projectile seat 520 is located between the hinge point between the parabolic arm 550 and the linkage arm 540 and the counterweight 551, so that the linkage arm 540 cannot pull the parabolic arm 550 to rotate only by its own gravity.

[0057] As Figures 1 - 7 shown, on the basis of the above-described embodiment, the detection seat 120 is provided with a first positioning block 122 and a positioning driving device 123. The positioning driving device 123 is provided with a second positioning block 124. A positioning space (not shown in the figure) is formed between the second positioning block 124 and the first positioning block 122, and the positioning driving device 123 can drive the second positioning block 124 to approach or move away from the first positioning block 122.

[0058] In this embodiment, the positioning driving device 123 can drive the second positioning block 124 to approach or move away from the first positioning block 122 so as to adjust the size of the positioning space. By pre-adjustment, this flexible loading tooling can be adapted to products of different widths.

[0059] As Figures 1 - 7 shown, on the basis of the above-described embodiment, both the first positioning block 122 and the second positioning block 124 are provided with guiding chamfers 125 for guiding the product to fall into the positioning space.

[0060] In this embodiment, when the manipulator places the product on the detection seat 120 or the flipping arm 320 reversely buckles the product on the flipping head 330 onto the detection seat 120, the guiding chamfers 125 of the first positioning block 122 and the second positioning block 124 can guide the product to fall into the positioning space, making the position of the final product on the detection seat 120 more accurate.

[0061] As Figure 1 shown, on the basis of the above-described embodiment, the workbench 100 is provided with a moving driving device 130 and a moving seat 140. The moving seat 140 is linked to the moving driving device 130. The moving driving device 130 can drive the moving seat 140 to move relative to the workbench 100, and the vision camera 200 is disposed on the moving seat 140.

[0062] In this embodiment, the moving driving device 130 can drive the moving seat 140 to move relative to the workbench 100 so that the vision camera 200 can move relative to the workbench 100 and photograph the storage box 110 from multiple angles, preventing the vision camera 200 from always photographing from the same direction and having a vision dead angle.

[0063] As Figures 1 - 7 shown, on the basis of the above embodiment, the detection seat 120 is provided with a photoelectric detection device 126, and the photoelectric detection device 126 is used to detect whether the product is placed in place.

[0064] In this embodiment, the photoelectric detection device 126 is used to detect whether the product is placed in place and control the ejector component 500 to eject the product that is not placed in place or is placed incorrectly.

[0065] As Figures 1 - 7 shown, in terms of the overall working principle, the vision camera captures the state of the product in the storage box 110. When the product in the storage box 110 is close to the state of facing upward, the robot arm 400 grabs and adjusts the product from the storage box 110 so that the product is placed on the detection seat 120 in the state of facing upward; when the product in the storage box 110 is close to the state of facing downward, the robot arm 400 grabs and adjusts the product from the storage box 110 so that the product is placed on the flipping head 330 in the state of facing downward, and then the flipping driving device 310 drives the flipping arm 320 to rotate, thereby driving the product on the flipping head 330 to be inverted on the detection seat 120. Then, the photoelectric detection device 126 detects whether the product is placed in place and controls the ejector component 500 to eject the product that is not placed in place or is placed incorrectly. First, the ejector driving device 510 can drive the ejector seat 520 to move up and down. When the ejector driving device 510 rises, the two ejector claws 530 lift the two ends of the product, and then continue to rise. When the limit pin 121 contacts the end of the limit groove 541 and the ejector driving device 510 drives the ejector seat 520 to continue rising, the linkage arm 540 rotates around the limit pin 121 and pulls the throwing arm 550 to rotate relative to the ejector seat 520, so that the throwing arm 550 and the linkage arm 540 move in a direction forming a straight line, thereby throwing the product obliquely upward.

Claims

1. A flexible loading tooling for an automotive glass guide rail bracket, characterized in that Comprising: A workbench, which is provided with a storage box and a detection seat; A vision camera, which is connected to the workbench, and the vision camera is aligned with the storage box and is used to photograph and obtain the state of the product in the storage box; A flipping assembly, which includes a flipping driving device, a flipping arm and a flipping head. One end of the flipping arm is connected to the flipping driving device in a linkage manner, and the flipping head is connected to the other end of the flipping arm. The flipping driving device can drive the flipping arm to rotate so as to drive the product on the flipping head to be inverted on the detection seat; A robot arm, which is connected to the workbench, and the robot arm can move to the storage box or the detection seat or the flipping head. When the product in the storage box is close to the state of facing upwards, the robot arm grabs and adjusts the product from the storage box so that the product is placed on the detection seat in the state of facing upwards. When the product in the storage box is close to the state of facing downwards, the robot arm grabs and adjusts the product from the storage box so that the product is placed on the flipping head in the state of facing downwards; It further includes a product ejecting assembly, and the product ejecting assembly includes a product ejecting driving device, a product ejecting seat and product ejecting claws. The product ejecting driving device is connected to the detection seat, the product ejecting claws are connected to the product ejecting seat, and the product ejecting seat is connected to the product ejecting driving device in a linkage manner. The product ejecting driving device can drive the product ejecting seat to move up and down so that the product ejecting claws eject the product; The product ejecting assembly further includes a linkage arm, the linkage arm is provided with a limiting groove, the detection seat is provided with a limiting pin, the limiting pin is arranged in the limiting groove and can move along the limiting groove, and the limiting pin can contact the end of the limiting groove so as to limit the maximum moving stroke of the product ejecting seat; The product ejecting assembly further includes a throwing arm, the product ejecting claws are arranged on the throwing arm, the throwing arm is hinged to the product ejecting seat, the throwing arm is hinged to the linkage arm, the limiting pin can rotate in the limiting groove, and when the limiting pin contacts the end of the limiting groove and the product ejecting driving device drives the product ejecting seat to continue to rise, the linkage arm rotates around the limiting pin and pulls the throwing arm to rotate relative to the product ejecting seat; The detection seat is provided with a first positioning block and a positioning driving device, the positioning driving device is provided with a second positioning block, a positioning space is formed between the second positioning block and the first positioning block, and the positioning driving device can drive the second positioning block to approach or move away from the first positioning block.

2. The flexible loading tooling for an automotive glass guide rail bracket according to claim 1, characterized in that: The number of the product ejecting claws is set to two, and the two product ejecting claws are respectively located on both sides of the detection seat.

3. The flexible loading tooling for an automotive glass guide rail bracket according to claim 1, wherein: The throwing arm is provided with a counterweight block, and the hinge point between the throwing arm and the product ejecting seat is located between the hinge point between the throwing arm and the linkage arm and the counterweight block.

4. The flexible loading tooling for an automotive glass guide rail bracket according to claim 1, characterized in that: Both the first positioning block and the second positioning block are provided with guiding chamfers for guiding the product to fall into the positioning space.

5. The flexible loading tooling for an automotive glass guide rail bracket according to claim 1, wherein: The workbench is provided with a moving driving device and a moving seat, the moving seat is connected to the moving driving device in a linkage manner, the moving driving device can drive the moving seat to move relative to the workbench, and the vision camera is arranged on the moving seat.

6. A flexible loading tooling for an automotive glass guide rail bracket according to claim 1, characterized in that: The detection seat is provided with an optoelectronic detection device, and the optoelectronic detection device is used to detect whether the product is placed in place.

Images