Flexible online detection system and detection method

Abstract

The invention discloses a flexible online detection system and a detection method. The flexible online detection system comprises a double-clamp switching device and a first base body, wherein a first clamp is arranged on the first base body; a second clamp is arranged on the second base body; the lifting device is assembled on the first base body, connected with the second base body and used for driving the second base body to ascend and descend; the measuring machine is used for measuring the part clamped and fixed in the first clamp or the second clamp; the first conveying material line can be used for two-way conveying; the second conveying material line can be used for bidirectional conveying; the unqualified material line is arranged between the first conveying material line and the second conveying material line; and the transfer robot is arranged between the material conveying line group and the measuring machine and is used for transferring the steering knuckles or the fork arms. According to the flexible online detection system provided by the invention, automatic feeding, transferring and detection of the steering knuckle and the fork arm can be realized at the same time, and one set of system is compatible with detection of two types of parts at the same time.

Description

Technical Field

[0001] The present invention belongs to the technical field of detection systems, and in particular, relates to a flexible online detection system and a detection method. Background Art

[0002] The steering knuckle is one of the important parts of the automobile steering system and is the hinge of the automobile steering. Whether the size of the steering knuckle parts is qualified is related to the stability of the car's driving and the accuracy of steering. The fork arm parts belong to the automobile suspension system, connecting the wheels and the body, and together with the elasticity, shock absorption and other components to support the entire body. It affects the stability and reliability of the body during movement, and even the safety of the passengers. Therefore, it is very important to detect the geometric dimensions of the steering knuckle and fork arm parts.

[0003] The three-dimensional coordinate measuring machine has the advantages of high measurement accuracy and high degree of automation, and is suitable for batch measurement of automotive parts such as steering knuckles and forks. With the development of software control technology, the functions of the three-dimensional coordinate measuring machine have become more powerful. It can integrate corresponding special measurement software according to user needs, write different measurement programs for different parts, and call the program corresponding to the part during measurement, making the measurement more convenient and efficient.

[0004] Steering knuckle and fork arm parts are both mass-produced on assembly lines. Due to the different structures of steering knuckle parts and fork arm parts, they are placed separately under the measuring machine during measurement and measured by their own adaptive fixtures. Each part is measured separately with a matching system, and the measurement method is limited and single. Summary of the invention

[0005] In view of the above-mentioned technical problems existing in the detection of steering knuckles and fork arms in the prior art, the present invention proposes a flexible online detection system that can simultaneously realize automatic loading, transportation and detection of steering knuckles and fork arms, thereby realizing a set of systems that are compatible with the detection of two types of parts at the same time and improving the detection efficiency.

[0006] In order to achieve the above invention / design purpose, the present invention adopts the following technical solutions: A flexible online detection system, characterized by comprising: Double fixture switching device, including: A first substrate, on which a first clamp is provided for clamping and fixing the steering knuckle; A second base body, on which a second clamp is arranged for clamping and fixing the fork arm; A lifting device, assembled on the first base, connected to the second base, and used to drive the second base to rise and fall, the lifting device having a lifting position and a lowering position; When the lifting device is in the lowered position, the first clamp extends from the second base to support and fix the steering knuckle, and the second clamp is arranged below the steering knuckle; When the lifting device is in the raised position, the second base covers the first clamp, and the second clamp clamps and fixes the fork arm assembled thereon; A measuring machine, used for measuring a steering knuckle or a fork arm clamped in the first fixture or the second fixture; The conveying line group includes a first conveying line, which can convey in both directions and is used for reciprocatingly conveying the steering knuckle; The second conveying line is arranged side by side with the first conveying line, capable of bidirectional conveying, and used for reciprocating conveying fork arms; The unqualified material line is arranged between the first conveying material line and the second conveying material line, and is used to receive the unqualified parts detected and convey them outward; The transfer robot is arranged between the conveyor line group and the measuring machine, and is used to transfer the steering knuckle between the first fixture and the first conveyor line or the unqualified material line, or to transfer the fork arm between the first fixture and the second conveyor line or the unqualified material line.

[0007] Compared with the prior art, the advantages and positive effects of the present invention are: In the flexible online detection system of the present invention, the steering knuckle or fork arm parts are automatically conveyed from the first and second conveyor lines of two automatic conveyors. After being conveyed to the place, the transfer robot automatically matches and replaces the gripper, then grabs the corresponding parts, and grabs the corresponding parts to the double-clamp switching device. The double-clamp switching device automatically acts to match and reveal the corresponding clamp. After the transfer robot places the parts on the clamp, the clamp automatically clamps, and then the measuring machine automatically measures. After the measurement is completed, the transfer robot automatically grabs and transfers to the conveyor line at the initial grabbing position for reverse conveying. The measurement of the entire part is fully automated, and the entire process does not require human participation, which not only improves the test accuracy but also improves the test efficiency. In addition, the flexible online detection system is equipped with two sets of conveyor lines, two types of corresponding grippers and a double-clamp switching device that can clamp and fix two types of parts, which realizes the measurement and detection of two types of parts and improves the compatibility and versatility of the entire system. At the same time, by improving the steering knuckle gripper and the forkarm gripper, so that they are compatible with the grasping of the left and right steering knuckle parts, and the grasping of the left and right forkarm parts, the double clamp switching device is improved, and one set of the first clamp is provided, so that it can clamp the left and right steering knuckle parts at the same time, and two sets of forkarm clamps are provided, so that it can clamp the left and right forkarm parts, so that the whole system can match the grasping, clamping and measuring of the left and right steering knuckle parts, the right steering knuckle parts, the left and right forkarm parts, and can realize the detection of 4 parts at one time, thereby improving the detection range and application range.

[0008] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 It is a three-dimensional structural diagram of an embodiment of the flexible online detection system proposed by the present invention; Figure 2 is a top view of an embodiment of the flexible online detection system proposed by the present invention; Figure 3 It is a structural schematic diagram of the flexible online detection system proposed by the present invention when it is in a falling position; Figure 4 It is a structural schematic diagram of the flexible online detection system proposed by the present invention when it is in a raised position; Figure 5 It is a structural schematic diagram of the lifting device of the flexible online detection system proposed by the present invention; Figure 6 It is a structural schematic diagram of the lifting device of the flexible online detection system proposed by the present invention driving the second substrate to rise; Figure 7 It is a schematic diagram of the first fixture structure of the flexible online detection system proposed by the present invention; Figure 8 This is a diagram showing the coordination structure of the first clamp and the fork arm of the flexible online detection system proposed by the present invention; Fig. 9 It is a structural diagram of the fork arm detected by the flexible online detection system proposed by the present invention; Fig.10 It is a structural schematic diagram of a second clamp of the flexible online detection system proposed by the present invention; Fig.11 The three-dimensional structure of the steering knuckle of the flexible online detection system proposed by the present invention Figure 1 ; Fig.12 The three-dimensional structure of the steering knuckle of the flexible online detection system proposed by the present invention Figure 2 ; Fig.13 It is a structural schematic diagram of the fork arm gripper of the flexible online detection system proposed by the present invention being assembled on a transfer robot; Fig.14 The structure diagram of the fork arm gripper of the flexible online detection system proposed by the present invention is Figure 1 ; Fig.15 The structure diagram of the fork arm gripper of the flexible online detection system proposed by the present invention is Figure 2 ; Fig.16 It is a structural schematic diagram of a first positioning guide member of a fork arm gripper of a flexible online detection system proposed by the present invention; Fig.17 It is a structural schematic diagram of the gripper replacement frame of the flexible online detection system proposed by the present invention. DETAILED DESCRIPTION

[0011] 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.

[0012] In some embodiments of the present application, a flexible online detection system is proposed, referring to Figure 1-Figure 17 As shown, it includes: a double-clamp switching device, including: a first base 110, on which a first clamp 200 is arranged for clamping and fixing the steering knuckle; a second base 120, on which a second clamp 300 is arranged for clamping and fixing the fork arm 600; A lifting device 400 is assembled on the first base 110 and connected to the second base 120, and is used to drive the second base 120 to rise and fall. The lifting device 400 has a rising position and a falling position; When the dual-clamp switching device is in use, the lifting device 400 can drive the second base 120 to move and change its position to achieve the switching between the first clamp 200 and the second clamp 300 .

[0013] When the lifting device 400 is in the lowered position, the first clamp 200 on the first base 110 passes through the second base 120 and extends outward from the second base 120 to support and fix the steering knuckle, and the second clamp 300 and the second base 120 are both arranged below the steering knuckle.

[0014] The second clamp 300 and the second base 120 are driven downward by the lifting device 400 to reach the falling position, so as to shield the second clamp 300 , so that the first clamp 200 on the first base 110 protrudes out of the second base 120 .

[0015] When measuring, the steering knuckle is assembled to the first fixture 200 , and the steering knuckle higher than the second fixture 300 and the second base 120 is measured by the detection element at the upper position, thereby effectively avoiding the interference of the second fixture 300 .

[0016] When the lifting device 400 is in the raised position, the second base 120 covers the first clamp 200 , and the second clamp 300 clamps and fixes the fork arm 600 mounted thereon.

[0017] When the second base 120 and the second clamp 300 are driven to move upward to the raised position by the lifting device 400, the height of the second base 120 is higher than the height of the first clamp 200, and the second base 120 is located above the first clamp 200, thereby covering and shielding the first clamp 200.

[0018] In this way, when measuring the fork arm 600, the fork arm 600 can be fixed and measured by the second clamp 300 above, and the first clamp 200 located below it is blocked and will not interfere with the measurement.

[0019] The measuring machine 130 is used to measure the parts clamped in the first fixture 200 or the second fixture 300 .

[0020] The measuring machine 130 can directly adopt the existing three-dimensional coordinate measuring machine 130 structure, and multiple probes are arranged on the top of the measuring machine 130, which can directly measure the size, length, contour and other parameters of the relevant parts, which will not be described in detail here.

[0021] The conveying line group includes a first conveying line 140, which can convey in both directions and is used for reciprocatingly conveying the steering knuckle.

[0022] A first positioning pallet is provided on the first conveying line 140, and the steering knuckle is placed on the first positioning pallet. A positioning cylinder is provided below the first conveying line 140, and a positioning pin is connected to the end of the cylinder. A hole is provided on the first positioning pallet. When the first positioning pallet is moved into place, the positioning pin on the positioning cylinder can be inserted into the hole to position it, so as to ensure that the transfer robot 170 can perform precise grasping.

[0023] The second conveying line 150 is arranged side by side with the first conveying line 140 and can convey in both directions, and is used for reciprocatingly conveying the fork arm 600 .

[0024] A second positioning pallet is provided on the second conveyor line 150, and the fork arm 600 is placed on the second positioning pallet. A positioning cylinder is also provided below the second conveyor line 150, and a positioning pin is connected to the end of the cylinder. A socket is provided on the second positioning pallet, and the positioning pin of the positioning cylinder can be inserted into the socket to position the second positioning pallet, thereby ensuring that the transfer robot 170 can grasp it accurately.

[0025] The unqualified material line 160 is arranged between the first conveying material line 140 and the second conveying material line 150, and is used to receive unqualified parts after inspection and convey them outward.

[0026] The unqualified material line 160 can adopt the existing belt conveyor line structure.

[0027] The transfer robot 170 is arranged between the conveyor line group and the measuring machine 130, and is used to transfer the steering knuckle between the first fixture 200 and the first conveyor line 140 or between the unqualified material line 160, or to transfer the fork arm 600 between the first fixture 200 and the second conveyor line 150 or between the unqualified material line 160.

[0028] When the flexible online detection system in this embodiment is in use, the steering knuckle and the fork arm 600 can be transported through the first conveying line 140 and the second conveying line 150 respectively.

[0029] When measuring, the transfer robot 170 can grab the steering knuckle on the first conveyor line 140 to the position of the double clamp switching device, and the lifting device 400 drives the second base 120 to move to shield the unused clamp, and then another clamp is exposed. The transfer robot 170 places the part on this clamp, and then the clamp is automatically clamped, and the measuring machine 130 automatically measures the part. After the measurement is completed, if the part is qualified, the transfer robot 170 automatically grabs the part to the initial grabbing position of the first conveyor line 140 or the second conveyor line 150. The first conveyor line 140 or the second conveyor line 150 is a bidirectional conveyor line and can be transported in reverse.

[0030] If the parts are unqualified, the parts will be directly placed on the unqualified material line 160 and output outward through the unqualified material line 160.

[0031] Through a flexible online detection system, automatic loading, automatic transfer, automatic clamping and automatic measurement of two types of parts can be realized, improving the compatibility of the entire system.

[0032] In some embodiments of the present application, the lifting device 400 includes: a main lifting component, connected to the bottom position of the second base 120, used to drive the second base 120 to rise and fall, the main lifting component provides the main lifting power, which is arranged in the middle position of the bottom of the second base 120, and is used to drive the middle area of ​​the second base 120 to move up and down.

[0033] The main lifting components include: A main lifting cylinder 411, the main lifting cylinder 411 has a main cylinder rod, and the end of the main cylinder rod is connected to a cylinder frame 418; And a lifting connecting rod, the lifting connecting rod comprises: A first connecting rod 412, one end of which is hinged to the second base body 120, and one end of which is hinged to the cylinder frame 418; The second connecting rod 413 has one end hinged to the first base body 110 , and another end hinged to the middle position of the first connecting rod 412 .

[0034] The movement of the main lifting cylinder 411 drives the movement of the main cylinder rod, and then drives the cylinder frame 418 and the first connecting rod 412 and the second connecting rod 413 to move. The movement of the first connecting rod 412 drives the second base 120 hinged thereto to move up and down to achieve the up and down lifting effect.

[0035] In some embodiments of the present application, two first connecting rods 412 are provided and arranged symmetrically.

[0036] There are two second connecting rods 413, which are symmetrically arranged.

[0037] The first hinge shaft 414 is hinged to one end of the two first connecting rods 412 and the second base 120 .

[0038] Specifically, one end of the first hinge shaft 414 passes through one end of one of the first connecting rods 412 and is connected to the first connecting rod 412 via a bearing. The section extending out of the first connecting rod 412 is connected to the second base 120 via a bearing assembly.

[0039] The other end of the first hinge shaft 414 passes through one end of the other first connecting rod 412 and is rotatably connected to the other first connecting rod 412 via a bearing. The section extending out of the other first connecting rod 412 is connected to the second base 120 via a bearing assembly.

[0040] The bearing assembly includes a bearing and a bearing seat. The bearing is connected to the first hinge shaft 414 , and the bearing seat is connected to the second base 120 to achieve hinge connection between the first hinge shaft 414 and the second base 120 .

[0041] The second hinge shaft 415 is hinged to one end of the two second connecting rods 413 and the first base body 110 .

[0042] Specifically, two second hinge shafts 415 are provided, which are hinged to the two second connecting rods 413 and the first base 110 respectively.

[0043] When connected, the second hinge shaft 415 is respectively inserted into the second connecting rod 413 and the first base 110, and is hinged to the second connecting rod 413 through the bearing, and is hinged to the first base 110 through the bearing assembly.

[0044] The bearing assembly includes a bearing and a bearing seat. The bearing is connected to the second hinge shaft 415 , and the bearing seat is connected to the first base 110 to achieve hinge connection between the second hinge shaft 415 and the first base 110 .

[0045] A third hinge shaft 416 is hinged to the other ends of the two first connecting rods 412 and a cylinder frame 418; The third hinge shaft 416 is arranged between the two first connecting rods 412 , and both ends thereof extend from the other ends of the two first connecting rods 412 . The third hinge shaft 416 is rotatably connected to the two first connecting rods 412 via bearings.

[0046] The cylinder frame 418 is arranged between the two first connecting rods 412, and includes a first connecting plate, which is connected and fixed to the main cylinder rod; and a second connecting plate extending from both ends of the first connecting plate.

[0047] Both ends of the third hinge shaft 416 pass through the two second connecting plates respectively and are then inserted into the first connecting rod 412 .

[0048] The fourth hinge shaft 417 is hinged to the middle position of the two first connecting rods 412 and the other ends of the two second connecting rods 413 .

[0049] The fourth hinge shaft 417 is arranged at the middle position of the two first connecting rods, and both ends thereof pass through the first connecting rod 412 and the second connecting rod 413 in sequence, and are connected to the first connecting rod 412 and the second connecting rod 413 via bearings.

[0050] The rapid lifting operation of the second base 120 is realized by the cooperation of the main lifting cylinder 411 and the lifting connecting rod, so that the second base 120 can drive the fork arm 600 fixture to quickly switch between the raised position and the lowered position.

[0051] The drive adopts the structure of the main lifting cylinder 411, which has a self-locking function and can be automatically locked when rising to the raised position, so that the second base 120 and the fork arm 600 clamp above it remain in the raised position.

[0052] The length of the second connecting rod 413 is 1 / 2 of the length of the first connecting rod 412 .

[0053] There are multiple auxiliary lifting components, which are arranged circumferentially along the second base 120. The auxiliary lifting components include an auxiliary lifting cylinder 421, which has an auxiliary cylinder rod. A cylinder connecting plate 422 is connected to the second base 120, and the cylinder connecting plate 422 corresponds to the position of the auxiliary cylinder rod.

[0054] At least two auxiliary cylinders are provided, symmetrically arranged at both sides of the second base 120, for assisting the movement of the main lifting assembly.

[0055] The flexible center detection system further includes a guide assembly including: a guide shaft 431, vertically arranged on the first substrate 110; And a linear bearing 432 for passing through the guide shaft 431, the linear bearing 432 is connected to the second base 120. When the second base 120 moves up and down, it moves up and down along the guide shaft 431 through the linear bearing 432 above it.

[0056] In some embodiments of the present application, the first fixture 200 includes: The first support member 210 has a first support positioning portion 211 formed on the first support member 210. The first support member 210 is a first support column, and the first support positioning portion 211 is a first positioning platform formed on the first support column.

[0057] A boss, a positioning long ball socket and a positioning round ball socket are arranged on the bottom surface of the steering knuckle.

[0058] The boss cooperates with the first positioning platform.

[0059] A second support member 220, on which a second support positioning portion 221 is formed; The second support member 220 is a second support column, and the second support positioning portion 221 is a second spherical positioning protrusion formed on the top of the second support member 220 .

[0060] The second spherical positioning protrusion and the positioning long ball socket are matched to achieve self-centering and positioning.

[0061] The third support member 230 has a third support positioning portion 231 formed thereon. The third support member 230 is disposed opposite to the second support member 220 .

[0062] The third support member 230 is a third support column, and the third support positioning portion 231 is a third spherical positioning protrusion formed on the top of the third support member 230 .

[0063] The third spherical positioning protrusion and the positioning spherical socket are matched to achieve self-centering and positioning.

[0064] The cooperation among the first support member 210 , the second support member 220 and the third support member 230 realizes three-point support of the part, wherein the cooperation among the second support positioning portion 221 and the third support positioning portion 231 realizes rapid positioning of the part.

[0065] The pressing component 240 is disposed above the first support member 210 and includes a pressing cylinder having a pressing arm 241 , on which a pressing member 242 for pressing the pressing surface of the steering knuckle is disposed.

[0066] When the clamping cylinder is actuated, the clamping arm 241 and the clamping member 242 connected thereto are driven to move downward, thereby clamping and fixing the steering knuckle.

[0067] The clamping surface is located inside a triangular outline formed by a line connecting the boss, the long positioning ball socket and the round positioning ball socket, so as to ensure the stability of the steering knuckle after clamping.

[0068] In some embodiments of the present application, two first supporting members 210 are provided, which are arranged opposite to each other; The pressing components 240 are provided with two and arranged opposite to each other; The second support member 220, the third support member 230, and any first support member 210 and the pressing member 240 located on the same side constitute a first support fixture, and the first support fixture can be used to support and fix the left steering knuckle member or the right steering knuckle member.

[0069] The second support member 220 , the third support member 230 , and the first support member 210 and the pressing member 240 located on the remaining side constitute a second support jig.

[0070] The second supporting fixture can be used to support and fix the right steering knuckle member or the left steering knuckle member.

[0071] The first clamp 200 in this embodiment can simultaneously support and fix the left steering knuckle or the right steering knuckle by using the structural arrangement of the second support member 220 and the third support member 230 at a common middle position. Two types of steering knuckles can be clamped and fixed by one clamp, thereby improving the versatility of the clamp.

[0072] The second base body 120 is provided with a first avoidance portion 121 , a second avoidance portion 122 and a third avoidance portion 123 for avoiding the first support member 210 , the second support member 220 and the third support member.

[0073] The first avoidance portion 121 , the second avoidance portion 122 , and the third avoidance portion 123 are respectively a first avoidance hole, a second avoidance hole, and a third avoidance hole.

[0074] The first avoidance portion 121, the second avoidance portion 122 and the third avoidance portion 123 can be used to avoid the first support member 210, the second support member 220 and the third support member 230, ensuring that there is no interference with the second base 120 when the second base 120 moves up and down, and can ensure that when the second base 120 moves, the first support member 210, the second support member 220 and the third support member 230 can extend relative to the second base 120 to support the steering knuckle.

[0075] In some embodiments of the present application, the fork arm 600 includes: a columnar body 630 , the columnar body 630 having a positioning end surface 631 and a side positioning platform 632 ; The first leg 610 is provided with a first supporting boss 611 near the bottom end of the columnar body 630; The first leg 610 is connected to a first column at its end, the first column has a second supporting boss 612 at its bottom, a first positioning boss 613 at its end, and a first positioning surface 614 at its side; A second leg 620, which is lower than the first leg 610, has a second positioning surface 621 on its side, and is provided with a third supporting boss 622 near the bottom end of the columnar body 630; The end of the second leg 620 is connected to a second column, the bottom of the second column has a fourth supporting boss 623 , and the end of the second column has a second positioning boss 624 .

[0076] There are two groups of support components, each group includes two support parts 310 , and the two groups of support components are symmetrically arranged with a distance therebetween, and the support components are used to support the fork arm 600 .

[0077] One group of two supporting components 310 is respectively arranged below the first supporting boss 611 and the second supporting boss 612 of the first leg 610 for supporting the first leg 610 .

[0078] The two supporting components 310 are located below the first supporting boss 611 and the second supporting boss 612 , and can support both ends of the first supporting leg 610 .

[0079] The other two supporting components 310 are respectively arranged below the third supporting boss 622 and the fourth supporting boss 623 of the second supporting leg 620 to support the second supporting leg 620 .

[0080] The two supporting components 310 are located below the third supporting boss 622 and the fourth supporting boss 623 , and can support both ends of the second supporting leg 620 .

[0081] By providing the four supporting components 310 , uniform support is achieved for the four positions of the fork arm 600 , thereby ensuring the supporting effect for the entire fork arm 600 .

[0082] The fork arm 600 fixture also includes: a positioning component, which is used to position the fork arm 600 to ensure that the fork arm 600 does not shake during the measurement process, thereby ensuring the accuracy of the measurement.

[0083] The positioning component includes: A first positioning member 320; The second positioning member 330 is disposed opposite to the first positioning member 320 , and a clamping space is formed between the second positioning member 330 and the first positioning member 320 , and the fork arm 600 is disposed in the clamping space.

[0084] The columnar body 630 of the fork arm 600 in the clamping space faces the first positioning member 320 , and the first column and the second column at the ends of the first leg 610 and the second leg 620 face the second positioning member 330 .

[0085] The positioning drive member 340 is connected to the first positioning member 320 and the second positioning member 330 respectively, driving the first positioning member 320 and the second positioning member 330 to move toward each other so that the first positioning member 320 is pressed against the positioning end face 631, and the second positioning member 330 is pressed against the first positioning boss 613 and the second positioning boss 624 to clamp and fix the fork arm 600 in the first direction.

[0086] When the fork arm 600 is placed on the supporting assembly, the positioning driving member 340 can be actuated to drive the first positioning member 320 and the second positioning member 330 to move toward each other, so as to press against the positioning end surface 631 and the first positioning boss 613 and the second positioning boss 624 respectively to position the fork arm 600 in the first direction.

[0087] The positioning assembly further includes a third positioning member 350 and a fourth positioning member 360 , through which the third positioning member 350 , the fourth positioning member 360 and the side extension portion 311 on the support member 310 on the same side as the fourth positioning member 360 can realize positioning of the fork arm 600 in the second direction.

[0088] Specifically, the third positioning member 350 is arranged on the side of the second leg 620 and is used to press on the second positioning surface 621 of the second leg 620. It is movable along the second direction. The third positioning member 350 can adjust the clamping degree of the fork arm 600 by moving along the second direction, wherein the second direction is perpendicular to the first direction.

[0089] The fourth positioning member 360 is arranged on the side of the first leg 610 and is opposite to the third positioning member 350 .

[0090] The fourth positioning member 360 is connected to the supporting component 310 supporting the first leg 610 and close to the columnar body 630, and is used to abut against the side positioning platform 632. The distance between the fourth positioning member 360 and the side supporting platform is adjustable.

[0091] The fourth positioning member 360 can be pressed against the side positioning platform 632 of the columnar body 630 to limit the position of the columnar body 630; A side extension portion 311 is formed by extending upward from the side of the support component 310 below the first column. The side extension portion 311 abuts against the first positioning surface 614 . The side extension portion 311 and the fourth positioning member 360 are arranged on the same side of the first leg 610 .

[0092] The side extension portion 311 formed on the supporting component 310 can abut against the first positioning surface 614 of the first column on the opposite side of the third positioning member 350, and it and the fourth positioning member 360 respectively abut against the two end positions of the fork arm 600 on the first leg 610 side, and cooperate with the third positioning member 350 to apply a force in the opposite direction to the fork arm 600, so as to position and fix the fork arm 600 in the second direction.

[0093] The fork arm 600 fixture includes: a detection component, the detection component includes: a photoelectric reflector 370, the height of the photoelectric reflector 370 is similar to the height of the first leg 610; And a photoelectric switch 380 is arranged opposite to the photoelectric reflector 370, the photoelectric switch 380 has a transmitting end and a receiving end, the transmitting end is used to transmit light to the photoelectric reflector 370, and the receiving end is used to receive the light reflected by the photoelectric reflector 370, and a detection space 873 is formed between the photoelectric switch 380 and the photoelectric reflector 370.

[0094] When the fork arm 600 is placed upside down or there is no fork arm 600 in the detection space 873, the photoelectric switch 380 will feedback a signal. When the fork arm 600 is placed correctly and the first leg 610 is placed in the first detection space 873, the photoelectric switch 380 will not receive the reflected light from the photoelectric reflector 370 and will not feedback a signal.

[0095] The positioning driving member 340 is a two-way clamping claw cylinder, including a first moving claw 341, the first moving claw 341 is connected to the first positioning member 320, and the first positioning member 320 is formed with a first positioning stopper; The second moving claw 342 is disposed opposite to the first moving claw 341 . The second moving claw 342 is connected to the second positioning member 330 , and the second positioning member 330 is formed with a second positioning stopper.

[0096] In some embodiments of the present application, the third positioning member 350 includes a third driving cylinder 351 and a third connecting block connected to the third driving cylinder 351 , and a third pressing block 352 is connected to the third connecting block.

[0097] In some embodiments of the present application, the fourth positioning member 360 includes: a fourth connecting block 361, which is connected to the supporting member 310 near the columnar body 630 and is arranged opposite to the third positioning member 350; The fourth abutting member 362 is screwed into the fourth connecting block 361 and is disposed on the side of the vertical columnar body 630 , and a side abutting platform abutting against the side positioning platform 632 is formed at the end thereof.

[0098] The fourth abutment member 362 is a fourth abutment bolt, which can be abutted against the side support platform to position the fork arm 600 .

[0099] In some embodiments of the present application, in order to achieve the grasping of the steering joint and the fork arm 600, a replaceable gripper is provided on the transfer robot 170, and the gripper includes: A steering knuckle gripper 700 and a fork arm gripper 800, wherein the steering knuckle gripper 700 and the fork arm gripper 800 are both provided with a quick-change joint portion 191; The transfer robot 170 includes a robot body, and an output shaft is arranged at the end of the robot body. A floating unit 180 is connected to the output shaft, and the floating unit 180 is connected to a quick-change joint fitting part 192. The transfer robot 170 can be optionally connected to the quick-change joint part 191 on one of the steering knuckle gripper 700 or the fork arm gripper 800 through the quick-change joint fitting part 192.

[0100] The quick-change joint part 191 and the quick-change joint constitute a quick-change unit, which adopts the existing structure and realizes the rapid replacement of the transfer robot 170 between the two grippers through the quick-change structure.

[0101] The floating unit 180 also adopts an existing structure, which can facilitate the floating of the knuckle gripper 700 or the fork arm gripper 800.

[0102] The steering knuckle comprises a steering knuckle body, a center hole located at a center position, corner positioning holes arranged at corner positions of the steering knuckle, and a steering knuckle leg.

[0103] The steering knuckle comprises a left steering knuckle piece and a right steering knuckle piece.

[0104] The steering connecting leg of the left steering knuckle is connected at the left corner, and the corner positioning hole is at the right corner. The steering connecting leg of the right steering knuckle is connected at the right corner, and the corner positioning hole is arranged at the left corner.

[0105] The steering knuckle gripper 700 is used to grab the left or right steering knuckle part, and includes: The main body component 710 has a steering knuckle accommodating space formed below the main body component 710 .

[0106] The steering knuckle accommodating space can be used to accommodate the steering knuckle grasped by the steering knuckle grasper 700 .

[0107] The pneumatic power member 720 is connected to the main component 710, and the pneumatic power member 720 has a plurality of pneumatic actuating claws arranged along its circumference.

[0108] In some embodiments of the present application, the pneumatic power part 720 is a three-claw cylinder, and three pneumatic actuating claws are correspondingly provided.

[0109] The clamping jaw 730 assembly includes a plurality of clamping jaws 730 , and the plurality of clamping jaws 730 are respectively connected to a plurality of pneumatic action jaws and can be extended and retracted under the drive of the plurality of pneumatic action jaws.

[0110] The plurality of clamping jaws 730 can perform relative expansion or contraction movements along the center of the pneumatic power member 720 and along the radial direction of the pneumatic power member 720 .

[0111] The clamping claw 730 is configured to be inserted into the center hole of the steering knuckle by telescopic means and to open by moving radially along the center hole so as to abut against the inner wall of the center hole to support and fix the steering knuckle.

[0112] When the steering knuckle needs to be grasped, multiple clamping jaws 730 in a retracted state are extended into the center hole. After entering the center hole, the pneumatically actuated jaws drive the clamping jaws 730 to move radially along the center hole, and finally the multiple clamping jaws 730 move to the side and rest against the inner wall of the center hole to position the steering knuckle.

[0113] In addition, since there is friction between the side wall of the clamping jaw 730 and the side wall of the center hole, it can be ensured that the clamping jaw 730 lifts the steering knuckle component without falling.

[0114] The bottom of the clamping claw 730 extends outward to form a bearing portion 731 to prevent the steering knuckle from falling off.

[0115] When the steering knuckle falls off, it will fall to the bearing portion 731 and be limited by the bearing portion 731 to prevent the steering knuckle from falling off.

[0116] In some embodiments of the present application, the bearing portion 731 is a bearing platform extending from the bottom of the clamping jaw 730 , and is directly integrally formed with the clamping jaw 730 during molding.

[0117] In order to achieve the angular rotation limit of the steering knuckle, the first angular positioning member 740 and the second angular positioning member 750 are correspondingly arranged on the steering knuckle gripper 700. One of the first angular positioning member 740 and the second angular positioning member 750 cooperates with the clamping claw 730 assembly to respectively realize the gripping operation of the right part or the left part of the steering knuckle.

[0118] Specifically, the first angular positioning member 740 is mainly used to position the corner of the right steering knuckle to prevent the steering knuckle from rotating during the gripping operation of the clamping claw 730.

[0119] The first angular positioning member 740 is arranged on the left side of the main component 710, and is used to be inserted into the right steering knuckle member to position the right corner of the steering member. It cooperates with the clamping claw 730 assembly to form a supporting and positioning structure for the right steering knuckle member.

[0120] The second angular positioning member 750 is arranged on the right side of the main component 710, opposite to the first angular positioning member 740, and is used to be inserted into the left steering member to position the corner of the left steering knuckle. It cooperates with the clamping claw 730 assembly to form a supporting and positioning structure for the left steering knuckle.

[0121] The second angular positioning member 750 is inserted into the angular positioning hole on the right side of the left steering knuckle member to limit the rotation of the left steering knuckle member, and the left steering knuckle member is grabbed by clamping the clamping claw 730 assembly into the central hole of the left steering knuckle member.

[0122] The steering knuckle gripper 700 structure in the present embodiment matches the steering knuckle structure setting, and a clamping jaw 730 assembly for main positioning and grasping is arranged under the main component 710 of the gripper. At the same time, a first angular positioning member 740 and a second angular positioning member 750 which can be used in conjunction with the clamping jaw 730 assembly are respectively arranged at both sides of the main component 710. When grasping the steering knuckle components in different directions, the first angular positioning member and the clamping jaw 730 or the second angular positioning member and the clamping jaw 730 can be used according to the actual steering knuckle structure. This allows a gripper to simultaneously grasp the left and right steering knuckle components without the need to separately set up two grippers, thereby reducing the number of grippers that need to be set up and significantly improving versatility.

[0123] In some embodiments of the present application, the steering knuckle gripper 700 includes a steering knuckle detection component for detecting the presence or absence of a steering knuckle, which includes: A first mounting bracket is assembled to the main body member 710 and extends from the main body member 710 to a position close to the bottom of the clamping jaw assembly, and is located on one side of the clamping jaw assembly; A steering knuckle detection switch 761 is installed at a position corresponding to the first mounting frame and the clamping claw assembly; Since the steering knuckle is mainly grasped by the clamping claw assembly, the steering knuckle detection switch 761 used for detection is set at a position corresponding to the position of the clamping claw assembly, which can ensure accurate detection of the presence or absence of the workpiece.

[0124] A second mounting bracket is assembled to the main member 710 and extends from the main member 710 to a position close to the bottom of the clamping jaw assembly, and is located on the other side of the clamping jaw assembly opposite to the position of the first mounting bracket; The steering knuckle detection mirror 762 is mounted on the second mounting frame and is arranged opposite to the steering knuckle detection switch 761.

[0125] The second mounting frame is mainly used for assembling the steering knuckle detection mirror 762, and the steering knuckle detection mirror 762 is used to cooperate with the steering knuckle detection switch 761 to realize the detection of whether the steering knuckle is present.

[0126] The first mounting frame and the second angular positioning member 750 are on the same side, and the first mounting frame is farther away from the clamping claw assembly than the second angular positioning member 750 .

[0127] The second mounting frame is on the same side as the first angular positioning member 740 , and the second mounting frame is farther away from the clamping claw assembly than the first angular positioning member 740 .

[0128] The structural manner in which the first mounting frame and the second mounting frame are both arranged outside the two angular positioning members can ensure that no matter whether the left steering knuckle or the right steering knuckle is clamped, it can be detected by the steering knuckle detection switch 761.

[0129] The steering knuckle detection switch 761 has a transmitting end and a receiving end. The transmitting end is used to transmit light, and the receiving end is used to receive light reflected by the steering knuckle detection mirror 762.

[0130] When there is a steering knuckle workpiece between the two ends, the light from the transmitting end is blocked, and the receiving end cannot receive the light reflected by the steering knuckle detection mirror 762, then it is determined that there is a workpiece, otherwise it is determined that there is no workpiece.

[0131] In some embodiments of the present application, the main body component 710 includes: A first main body 711, on which a quick-change connector 191 is assembled; The second main body 712 is connected to the lower position of the first main body 711; The third main body member 713 is connected to a position below the second main body member 712 , and the pneumatic power member 720 , the first angular positioning member 740 , and the second angular positioning member 750 are all assembled on the third main body member 713 .

[0132] In some embodiments of the present application, mounting holes are provided on both sides of the first main body 711, and positioning sleeves 714 are provided in the mounting holes to facilitate positioning of the steering knuckle gripper 700. The positioning sleeves 714 are used to cooperate with the pins on the gripper replacement frame 900 for insertion and positioning, so that the steering knuckle gripper 700 can be quickly placed on the gripper replacement frame 900.

[0133] In some embodiments of the present application, the clamping jaw 730 includes: The clamp body is bent to form a connecting portion 732 above the clamp body, and the connecting portion 732 is connected to the pneumatic action jaw. A protrusion 733 is formed on the clamp body, and a concave avoidance portion is formed between the bearing portion 731 and the protrusion 733.

[0134] When the clamping jaw 730 moves, the protrusion 733 on the top contacts the inner wall of the central hole of the steering knuckle to support and fix the steering knuckle.

[0135] In some embodiments of the present application, a knuckle contact piece 734 is detachably provided on the protrusion 733, and the hardness of the knuckle contact piece 734 is less than the hardness of the clamp body. The knuckle contact piece 734 has a relatively low hardness to avoid direct contact with the knuckle to scratch or wear the knuckle.

[0136] In some embodiments of the present application, the knuckle contact member 734 is made of brass.

[0137] The outer side surface of the steering knuckle contact piece 734 is an arc-shaped surface, which matches the arc-shaped inner wall of the center hole to ensure that it can be firmly supported and fixed to the steering knuckle.

[0138] In some embodiments of the present application, the first angular positioning member 740 includes a positioning body 741; And a reference positioning portion 742 connected below the positioning body 741 and a tapered guide portion 743 smoothly transitioned therewith.

[0139] The outer diameter of the reference positioning portion 742 is smaller than the outer diameter of the positioning body 741 , and the outer diameter of the positioning body 741 is large to ensure the overall structural strength of the entire first angular positioning member 740 .

[0140] The outer diameter of the tapered guide portion 743 gradually increases from bottom to top.

[0141] The tapered guide portion 743 is mainly used to play a guiding role to ensure that the first angular positioning member 740 can be inserted into the steering knuckle.

[0142] The positioning of the steering knuckle is mainly achieved by matching the reference positioning portion 742 connected thereto with the positioning hole.

[0143] When the first angular positioning member 740 is not located exactly at the center of the positioning hole during insertion due to a placement deviation or a processing error in the steering knuckle, the guiding effect of the conical guide portion 743 can be used to ensure that the first angular positioning member 740 can be smoothly inserted into place, and finally guided to the reference positioning portion 742 by the conical guide portion 743 to achieve positioning.

[0144] The structure of the second angular positioning component is the same as that of the first angular positioning component, and will not be described in detail here.

[0145] The knuckle gripper 700 and the transfer robot 170 can be quickly connected or separated by the quick-change joint mating portion 192 on the floating unit 180 mating with the quick-change joint.

[0146] The floating unit 180 may enable the knuckle gripper 700 to move within a certain range.

[0147] Specifically, when in use, after the steering knuckle is placed in place, the transfer robot 170 drives the steering knuckle gripper 700 connected to the top of it to move over to grab the steering knuckle. Taking the right steering knuckle as an example, the conical guide portion 743 of the first angular positioning member 740 is inserted into the inner hole of the positioning hole on the steering connection. The outer diameter of the bottom end of the conical guide portion 743 is smaller than the hole, so even if the steering knuckle has a large deviation, it can be inserted. Then the floating unit 180 is opened, and the steering knuckle gripper 700 becomes floating. The gripper is guided by the first angular positioning member 740 to insert into the right steering knuckle. Then the clamping claw 730 assembly is opened to support the right steering knuckle, and then the right steering knuckle is lifted up. Then the floating unit 180 is closed, and the transfer robot 170 drives the steering knuckle gripper 700 to grab the part and move to the next position.

[0148] In some embodiments of the present application, an end hole is provided on the end surface of the main body of the fork arm 600 for positioning the fork arm 600 when grasping.

[0149] Positioning side holes are provided on the inner side surfaces opposite to the ends of the two legs of the fork arm 600 for facilitating positioning in cooperation with the fork arm gripper 800 .

[0150] The fork arm gripper 800 comprises: The main bearing member 810 is used to form a supporting base for the entire fork arm gripper 800, and supports and carries the first positioning assembly and the second positioning assembly arranged at a position below it.

[0151] The first positioning assembly is disposed below one end of the main bearing member 810 and includes: There are two first moving members 820 which are arranged opposite to each other, and there is a distance between the two first positioning members 320.

[0152] Two first positioning guide members 830 are provided and are respectively assembled on the two first moving members 820 .

[0153] The first positioning guide member 830 is connected to the first moving member 820 , and the two first positioning guide members 830 are arranged back to back.

[0154] The positioning power member 840 is connected to the first movable member 820, driving the two first movable members 820 to move backwards in the first direction so that the first positioning guide members 830 above them are respectively inserted into the two positioning side holes at one end of the fork arm 600 to position and support the fork arm 600.

[0155] The positioning power member 840 provides the first moving members 820 with moving power. Driven by the positioning power member 840 , the two first moving members 820 move in opposite directions and away from each other.

[0156] As the two first moving parts 820 continue to move, the distance between them continues to increase, so that the two first moving parts 820 eventually drive the first positioning guide parts 830 installed above them to approach the positioning side holes at the ends of the two legs, and are respectively inserted into the two positioning side holes to achieve the support positioning of the two leg ends at one end of the fork arm 600.

[0157] The second positioning assembly is disposed at a position below the other end of the main bearing member 810 and includes: A second positioning guide 850; The second movable member 860 is used to assemble the second positioning guide member 850, is movable along the second direction, and is configured to move along the second direction to drive the second positioning guide member 850 to be inserted into the end hole at the other end surface of the fork arm 600 to position and support the fork arm 600.

[0158] The second positioning guide member 850 is assembled to a bottom side position of the second moving member 860 .

[0159] The second moving member 860 is movable, and when it moves, it can correspondingly drive the second positioning guide member 850 mounted thereon to move along the second direction so as to be inserted into the end hole at the end surface position of the fork arm 600 body.

[0160] The other end of the fork arm 600 body is positioned by the second positioning guide 850 inserted into the end hole of the fork arm 600 body.

[0161] The entire fork arm gripper 800 structure drives the first positioning guide member 830 to move through the two first moving members 820 that move in opposite directions of the first positioning assembly to be inserted into the side positioning holes of the two leg ends at one end of the fork arm 600 to realize the support and positioning of one end of the fork arm 600; the second moving member 860 drives the second positioning guide member 850 to be inserted into the end hole at the other end of the fork arm 600 to realize the support and positioning of the other end of the fork arm 600. The first positioning assembly and the second positioning assembly cooperate to realize the support and positioning of both ends of the fork arm 600, thereby ensuring the support of the fork arm 600 and ensuring that the fork arm 600 can be grasped and lifted.

[0162] Moreover, in the present embodiment, the fork arm gripper 800 grasps the fork arm 600 by inserting the first positioning member 320 and the second positioning member 330 into the fork arm 600 to form a three-point support positioning structure to support and position the fork arm 600. After positioning, the fork arm 600 can be lifted by moving upward. This insertion and positioning method will not compress or clamp the fork arm 600. Compared with the existing method of clamping and grasping with claws, it can effectively avoid the fork arm 600 from being compressed and deformed, thereby ensuring the accuracy of the grasped fork arm 600.

[0163] The fork arm gripper 800 also includes a fork arm detection component, which is provided in two groups. A detection space 873 capable of accommodating a fork arm leg is formed in each group of the fork arm detection components. The two groups of detection spaces 873 are arranged in parallel, and the fork arm detection component is configured to detect whether there is a fork arm leg in the corresponding detection space 873.

[0164] If the fork arm 600 is placed normally, the first leg 610 will be in the detection space 873 due to its high height, and the detection component corresponding to this detection space 873 will not feedback the detection signal, while the second leg 620 will be in a low height and not in the detection space 873, and the detection groups corresponding to this detection space 873 will feedback the detection signal.

[0165] The feedback signal of the detection component in the left space represents that it is the right part of the fork arm, and the feedback signal of the detection component in the right space represents that it is the left part of the fork arm. The detection of the left part and the right part of the fork arm is realized through the cooperation of the two groups of detection components to confirm whether the fork arm 600 is placed incorrectly.

[0166] The fork arm detection component includes a fork arm detection switch 871 and a fork arm reflector 872. The fork arm detection switch 871 has a receiving end and a transmitting end. If it is not blocked, the light emitted by its transmitting end can be reflected by the fork arm reflector 872 and received, otherwise it cannot be received.

[0167] In some embodiments of the present application, the first moving member 820 includes a first connecting portion 732 connected to the positioning power member 840; A first supporting portion is disposed perpendicular to the first connecting portion 732 and is formed by bending downward and extending from one end of the first connecting portion 732; A first positioning guide member 830, vertically mounted on the outer side of the first supporting portion; The reinforcing portion is connected between the first connecting portion 732 and the first supporting portion.

[0168] The first connection portion 732 is a connection arm, which fits the positioning power component 840 and is connected to the positioning power component 840 .

[0169] The first supporting portion is a supporting arm, which is bent downward from the connecting portion 732 and arranged vertically.

[0170] The reinforcement portion is a reinforcement rib, which connects the first connection portion 732 and the first support portion, and is used to enhance the strength of the entire gripper to ensure that it has sufficient strength to support the fork arm 600.

[0171] In some embodiments of the present application, the first positioning guide 830 includes: a first guide portion 831, the outer diameter of which gradually decreases in a direction away from the support portion, and is used to cooperate with the positioning side hole to guide the installation.

[0172] The first guide portion 831 is a conical guide section. Since the outer diameter of the conical guide section is relatively small, it can be inserted into the positioning side hole even if there is a certain deviation, thereby ensuring that the fork arm 600 is inserted into place.

[0173] The first positioning guide 830 includes a first positioning portion 832 , which is smoothly connected to the first guide portion 831 and is adapted to the contour of the positioning side hole for positioning the fork arm 600 . The first positioning portion 832 is a first cylindrical positioning segment.

[0174] In some embodiments of the present application, the first positioning guide member 830 is detachably connected to the support portion, and its hardness is greater than that of the first movable member 820. The first positioning guide member 830 is set to have a greater hardness to ensure its supporting and positioning effect on the fork arm 600.

[0175] In some embodiments of the present application, the positioning power member 840 is a finger parallel cylinder, which has a first connecting end and a second connecting end, and the two first moving members 820 are respectively connected to the first connecting end and the second connecting end. The supporting parts of the two first moving members 820 are parallel to each other, and the two first positioning guide members 830 are arranged back to back and their centers are collinear.

[0176] The centers of the two first positioning guide members 830 are colinear, which ensures that the two first positioning guide members 830 can be synchronously inserted into the positioning side holes of the fork arm 600, thereby ensuring the consistency of the insertion and positioning.

[0177] In some embodiments of the present application, the fork arm gripper 800 includes: The second driving member 880 drives the second moving member 860 to move along the second direction; The second moving member 860 is a moving arm connected to the second driving member 880 and arranged vertically; The second driving member 880 is a second positioning driving cylinder, which is connected and fixed to the moving arm to drive the moving arm to move along the second direction. The second direction is the end surface direction perpendicular to the main body of the fork arm 600.

[0178] The first direction is perpendicular to the second direction.

[0179] The second positioning guide 850 is vertically disposed on the side of the moving arm.

[0180] When the second driving member 880 moves, it can drive the movable arm and the second positioning guide member 850 above it to move so as to be inserted into the end hole.

[0181] The second positioning guide 850 includes: A second guide portion 851, the second guide portion 851 is used to guide the assembly of the fork arm 600; The second positioning portion 852 is adapted to at least a portion of the contour of the end hole of the fork arm 600 for positioning the fork arm 600 .

[0182] The second guide portion 851 is a second conical section, which is used to cooperate with the end hole to ensure that the second positioning guide member 850 can be smoothly inserted into the end hole.

[0183] The second positioning portion 852 is a second positioning column segment, which is matched with the end hole of the fork arm 600 and is used to position and support the fork arm 600 .

[0184] In some embodiments of the present application, the main bearing member 810 includes a first member 811 , on which a quick-change joint portion 191 is disposed, and positioning sleeves are disposed on both sides thereof.

[0185] After use, the fork arm gripper 800 needs to be grabbed by a robot and placed on the gripper replacement rack 900. The positioning sleeve above it can facilitate its coordination and positioning with the positioning pin on the gripper replacement rack 900, so that the fork arm gripper 800 can be quickly placed on the gripper replacement rack 900.

[0186] The second component 812 is arranged parallel to the first component 811 , and the first positioning component and the second positioning component are arranged below the second component 812 .

[0187] The first component 811 is a first supporting plate, and the second component 812 is a second supporting plate.

[0188] The third component 813 is vertically connected between the first component 811 and the second component 812 , and an assembly space is formed between the first component 811 and the second component 812 around the third component 813 .

[0189] When placing the fork arm gripper 800, the third component 813 will be stuck on the gripper replacement frame 900, and the first component 811 will be carried on the gripper replacement frame 900. The assembly space between the second component 812 and the first component 811 can facilitate the insertion of the supporting plate to support the first component 811, so that the fork arm gripper 800 can be quickly placed in place.

[0190] The fork arm gripper 800 and the mechanical gripping device can be quickly connected or separated by the quick-change joint matching portion 192 on the floating unit 180 cooperating with the quick-change joint portion 191.

[0191] The floating unit 180 may enable the fork arm gripper 800 to move within a certain range.

[0192] The six-axis robot drives the steering knuckle gripper 700 connected to its top to move over and grab the fork arm 600, and drives the two first moving parts 820 and the two first positioning guide parts 830 to move and insert into the two positioning side holes of the fork arm 600 respectively through the positioning power part 840, and drives the second positioning guide part 850 to move and insert into the end hole of the fork arm 600 through the second moving part 860, so as to realize the support and positioning of the fork arm 600.

[0193] During the insertion process of the first positioning guide 830 and the second positioning guide 850, there may be a positional offset of the positioning side holes and the end holes. At this time, the floating unit 180 can be opened to make the fork arm gripper 800 float as a whole. The floating of the floating unit 180 allows the first positioning guide 830 and the second positioning guide 850 to be inserted into place even if there is a deviation. After being inserted into place, the fork arm 600 is supported and positioned by the three positioning guides, and then the fork arm 600 is lifted and the floating unit 180 can be closed.

[0194] In some embodiments of the present application, a gripper replacement rack 900 is provided on one side of the transfer robot 170, and the fork arm gripper 800 and the steering knuckle gripper 700 can be placed and stored through the gripper replacement rack 900. When the transfer robot 170 needs to replace the gripper, the fork arm gripper 800 or the steering knuckle gripper 700 can be replaced by moving to the gripper replacement rack 900.

[0195] The gripper replacement frame 900 includes: The box body 910 has a receiving space formed inside. The top of the box body 910 has an opening.

[0196] An opening area is formed at the front side of the box body 910 to facilitate the replacement of the gripper of the robot without interfering with the movement of the robot.

[0197] The gripper placement piece 920 is arranged in the accommodating space, is arranged vertically on the side wall of the box body 910, and is arranged in plurality from top to bottom along the height direction of the box body 910. At least two gripper accommodating positions 921 are formed on the gripper placement piece 920 and penetrate the gripper placement piece 920 from top to bottom, and the side thereof has an opening.

[0198] The gripper placement piece 920 is a gripper placement plate, which is arranged horizontally, and the two sides are respectively arranged perpendicular to the side plates of the box body 910, and it is mainly used to bear and support the gripper placed thereon.

[0199] In some embodiments, a detection sensor is provided at the bottom of the gripper placement member 920 for detecting the presence or absence of the gripper.

[0200] The opening on the side of the grip accommodating position 921 is a side opening, which can facilitate the gripper to be inserted into the grip accommodating position 921 from the side.

[0201] Specifically, the gripper accommodation position 921 may be used to accommodate the second main body member 712 of the steering knuckle gripper 700 or the third member 813 of the fork arm gripper 800 .

[0202] The gripper placement member 920 is used to carry the first main body member 711 of the steering knuckle gripper 700 or the first component 811 of the fork arm gripper 800 .

[0203] At least two gripper accommodating positions 921 are provided, so that when the transfer robot 170 replaces the gripper, the gripper carried on it is first placed in one of the gripper accommodating positions 921, and then the gripper in the other gripper accommodating position 921 is picked up, thereby ensuring the normal progress of the gripper replacement operation.

[0204] In order to realize rapid positioning of the steering knuckle gripper 700 or the fork arm gripper 800 placed on the gripper placement member 920 , a positioning structure cooperating with the gripper is correspondingly provided on the gripper placement member 920 .

[0205] Positioning structure, including: The first fixing member 931 is arranged at one side of the gripper accommodation position 921 , and its shape is adapted to the shapes of the positioning sleeve 714 on the steering knuckle gripper 700 and the positioning shaft sleeve on the fork arm 600 .

[0206] When the gripper is placed, the first fixing member 931 can cooperate with the positioning sleeve 714 on the steering knuckle gripper 700 or the positioning shaft sleeve on the fork arm gripper 800 to achieve rapid positioning.

[0207] After one side of the gripper is positioned by the first fixing member 931 , it can also rotate relative to the gripper placement member 920 .

[0208] The second fixing member 932 is disposed opposite to the first fixing member 931 and is arranged at the other side of the grip accommodating position 921 .

[0209] The second fixing member 932 is used to cooperate with the positioning sleeve 714 on the steering knuckle gripper 700 or the positioning sleeve on the other side of the fork arm gripper 800 to achieve rotation limitation of the steering knuckle gripper 700 or the fork arm gripper 800 .

[0210] The first fixing member 931 and the second fixing member 932 cooperate to achieve complete positioning between the steering knuckle gripper 700 or the fork arm gripper 800 and the fixture placement member.

[0211] There is a gap between the second fixing member 932 and the positioning sleeve 714 of the steering knuckle gripper 700 and the positioning shaft sleeve on the fork arm gripper 800 in the horizontal direction, so that there is a space between the two in the horizontal direction.

[0212] During assembly, there is no need to ensure that the positioning sleeve 714 of the steering knuckle gripper 700 or the positioning sleeve on the fork arm gripper 800 is precisely matched with the second fixing member 932. Even if there is a deviation, it can be ensured that the steering knuckle gripper 700 or the fork arm gripper 800 can be assembled with the second fixing member 932, thereby reducing the difficulty of assembly and ensuring that the gripper can be quickly placed in place.

[0213] In some embodiments of the present application, the first fixing member 931 is a cylindrical positioning pin, and the second fixing member 932 is a diamond-shaped positioning pin.

[0214] In some embodiments of the present application, the first fixing member 931 and the second fixing member 932 are asymmetrically arranged on both sides of the center line of the gripper accommodating position 921 .

[0215] The first fixing member 931 and the second fixing member 932 are arranged asymmetrically with respect to the center line of the gripper accommodation position 921 to prevent mistakes. If the direction is opposite during the placement of the gripper, since the first fixing member 931 and the second fixing member 932 are not symmetrically arranged, the positioning sleeve 714 and the positioning shaft sleeve on the gripper cannot be inserted and matched with the first fixing member 931 and the second fixing member 932, and it can be known that the gripper is in the wrong direction.

[0216] The gripper accommodation position 921 includes a tapered guide groove 9211 and an accommodation groove 9212 , and the tapered guide groove 9211 mainly plays a guiding role.

[0217] In some embodiments of the present application, the gripper replacement rack 900 includes: A dust cover 940 is rotatably connected to the box body 910 and is used to open or close the box body 910; The pneumatic cylinder 950 is assembled on the transverse frame and connected to the dust cover 940, and is used to drive the dust cover 940 to automatically open or close.

[0218] In some embodiments of the present application, the dust cover 940 includes: The cover body is provided with a cover frame around the cover body for supporting and fixing the cover body.

[0219] A reinforcement member is connected to the cover frame and is located at a middle position of the cover frame.

[0220] The pneumatic cylinder 950 extends upward from the transverse frame to the top position, and the adapter block connected to the connecting ear plate at the end of the pneumatic cylinder 950 is connected to the reinforcement.

[0221] A bending plate 941 is formed by bending on one side of the cover body close to the box body 910 .

[0222] The bending plate 941 is bent and extends into the inner space of the box body 910 .

[0223] When the cover body rotates to open or close, the bending plate 941 is simultaneously driven to rotate and change position.

[0224] When the dust cover 940 is closed, the bending plate 941 is driven to rotate and fit together with the gripper placement piece 920, and a blocked space is formed between the cover body, the side wall of the box body 910, the gripper placement piece 920 and the bending plate 941, which is used to shield and protect the quick-change joint part 191 on the steering knuckle gripper 700 or the fork arm gripper 800 in the blocked space, to ensure that it can be accurately docked with the quick-change joint mating part 192 at the end of the transfer robot 170.

[0225] In some embodiments of the present application, the following are included: The constant temperature cover 960 has a constant temperature and humidity chamber formed therein. The constant temperature and humidity chamber has a window portion 961, and a door body 970 for opening or closing the window portion 961 is provided at the window portion 961. The double-clamp switching device and the measuring machine 130 are both arranged in the constant temperature and humidity chamber.

[0226] The constant temperature cover 960 is provided with an air conditioner for ensuring the temperature and humidity in the constant temperature and humidity room.

[0227] The door body 970 is horizontally pushed and pulled on the constant temperature cover 960 to achieve the function of horizontally opening and closing the window part 961, so as to ensure that the window part 961 with a larger area can be opened on the basis of occupying a smaller space.

[0228] A driving cylinder is provided on the constant temperature cover 960, and a door body 970 is connected to the end of the driving cylinder. The door body 970 is opened and closed by the extension and retraction of the driving cylinder.

[0229] This embodiment provides a detection method for a flexible online detection system, including the following steps: The incoming material signals of the first conveying line 140 and the second conveying line 150 are acquired, and the incoming material conveying line is determined according to the incoming material signals of the first conveying line 140 and the second conveying line 150.

[0230] The first conveyor line 140 is provided with a material detection sensor, and the second conveyor line 150 is also provided with a material detection sensor accordingly. When material is fed into the first conveyor line 140, a signal value control unit will be generated. The control unit can determine the conveyor line of the incoming material and the incoming order of the incoming material conveyor line according to the signals of the material detection sensors of the first conveyor line 140 and the second conveyor line 150.

[0231] According to the order of incoming materials, the parts on the corresponding conveyor line are inspected. The parts are steering knuckles or fork arms.

[0232] According to the part type of the incoming material conveying line, the transfer robot 170 is controlled to move to the gripper replacement rack 900 to replace the gripper.

[0233] If incoming material is detected on the first conveying line 140, it is determined that the conveying is a steering knuckle. At this time, the control unit controls the transfer robot 170 to move to the gripper replacement rack 900 to replace the gripper, and replaces the gripper with the steering knuckle gripper 700.

[0234] If it is detected that the second conveying line 150 has incoming materials, it is determined that the fork arm 600 is being conveyed, and the control unit controls the transfer robot 170 to replace the gripper with the fork arm gripper 800.

[0235] The transfer robot 170 moves to the first conveyor line 140 or the second conveyor line 150 according to the motion path pre-stored in the control unit to grab the parts and transfer the parts to the first fixture 200 or the second fixture 300.

[0236] If materials arrive at the first conveying line 140, after replacing the gripper, the transfer robot 170 moves to the first conveying line 140 to grab the steering knuckle.

[0237] Before the transfer robot 170 moves to the window portion 961, the control unit controls the pneumatic cylinder 950 to drive the door to open, and controls the double-clamp switching device to move so that it is in the falling position; The transfer robot 170 places the steering knuckle on the first fixture 200, and the first fixture 200 automatically clamps the steering knuckle; If materials arrive from the second conveying line 150 , after replacing the gripper, the transfer robot 170 moves to the second conveying line 150 to grab the fork arm 600 .

[0238] Before the transfer robot 170 moves to the window portion 961, the control unit controls the pneumatic cylinder 950 to drive the door to open, and controls the double-clamp switching device to move so that it is in the raised position; The transfer robot 170 places the fork arm 600 on the second clamp 300 , and the second clamp 300 automatically clamps the fork arm 600 .

[0239] After the parts are placed in place, the measuring machine 130 measures the parts and transmits the measurement results to the control unit.

[0240] The control unit determines whether the part is qualified based on the measurement results. Standard values ​​for part size determination are pre-stored in the control unit. By comparing the detected measurement results with the pre-stored standard values ​​of part size, it can be determined whether the part is qualified.

[0241] If the parts are unqualified, the parts are transferred to the unqualified material line 160 by the transfer robot 170 and transported outward through the unqualified material line 160.

[0242] Before the transfer robot 170 grabs the unqualified parts, the control unit controls the door to open automatically so that the transfer robot 170 can grab and operate from the window part 961 to ensure the constant temperature and humidity of the measurement environment where the measuring machine 130 is located, and ensure the accuracy of the test results.

[0243] If qualified, the part is placed at the initial grabbing position, and then the next part is grabbed for measurement. After all the parts on one of the conveyor lines are inspected, the conveyor line runs in the reverse direction and the parts are transported outward.

[0244] After the parts on one conveyor line are inspected, the parts on another conveyor line are inspected according to the above steps.

[0245] In the flexible online detection system of this embodiment, the steering knuckle or fork arm 600 parts are automatically conveyed from the first conveying material line 140 and the second conveying material line 150 of two automatic conveyors. After being conveyed to the place, the transfer robot 170 automatically matches the replacement gripper, and then grabs the corresponding parts, and grabs the corresponding parts into the constant temperature cover 960. The double clamp switching device automatically moves to match and reveal the corresponding clamp. After the transfer robot 170 places the part on the clamp, the clamp automatically clamps, and then the measuring machine 130 automatically measures. After the measurement is completed, the transfer robot 170 automatically grabs and transfers it to the conveyor line at the initial grabbing position for reverse conveying. The measurement of the entire part is fully automated, and the entire process does not require human participation, which not only improves the test accuracy but also improves the test efficiency. In addition, the flexible online detection system is equipped with two sets of conveyor lines, and is matched with two types of corresponding grippers and a double-clamp switching device that can clamp and fix two types of parts, realizing the compatibility measurement and detection of two types of parts, and improving the compatibility and versatility of the entire system; At the same time, by improving the steering knuckle gripper 700 and the forkarm gripper 800, so that they are compatible with the gripping of the left and right steering knuckle parts, and the gripping of the left and right forkarm parts, the double clamp switching device is improved, and the first clamp 200 is provided with one set, so that it can clamp the left and right steering knuckle parts at the same time, and the forkarm 600 clamp is provided with two sets, so that it can adapt to the clamping of the left and right forkarm parts, so that the whole system can match the measurement of the left and right steering knuckle parts, the left and right forkarm parts, and can realize the detection of 4 parts at one time, thereby improving the detection range and application range.

Claims

1. A flexible online detection system, characterized in that: Included are: Double fixture switching device, including: A first substrate, on which a first clamp is provided for clamping and fixing the steering knuckle; A second base body, on which a second clamp is arranged for clamping and fixing the fork arm; A lifting device, assembled on the first base, connected to the second base, and used to drive the second base to rise and fall, the lifting device having a lifting position and a lowering position; When the lifting device is in the lowered position, the first clamp extends from the second base to support and fix the steering knuckle, and the second clamp is arranged below the steering knuckle; When the lifting device is in the raised position, the second base covers the first clamp, and the second clamp clamps and fixes the fork arm assembled thereon; A measuring machine, used for measuring a steering knuckle or a fork arm clamped in the first fixture or the second fixture; The conveying line group includes a first conveying line, which can convey in both directions and is used for reciprocatingly conveying the steering knuckle; The second conveying line is arranged side by side with the first conveying line, capable of bidirectional conveying, and used for reciprocating conveying fork arms; The unqualified material line is arranged between the first conveying material line and the second conveying material line, and is used to receive the unqualified parts detected and convey them outward; The transfer robot is arranged between the conveyor line group and the measuring machine, and is used to transfer the steering knuckle between the first fixture and the first conveyor line or the unqualified material line, or to transfer the fork arm between the first fixture and the second conveyor line or the unqualified material line.

2. The flexible online detection system according to claim 1, characterized in that: The lifting device includes: a main lifting assembly connected to the bottom of the second base, used to drive the second base to lift, including: A main lifting cylinder, the main lifting cylinder having a main cylinder rod, the end of which is connected to a cylinder frame; And a lifting connecting rod, the lifting connecting rod comprises: A first connecting rod, one end of which is hinged to the second base body, and one end of which is hinged to the cylinder frame; A second connecting rod, one end of which is hinged to the first base body, and the other end of which is hinged to the middle position of the first connecting rod; A plurality of auxiliary lifting components are provided and arranged along the circumference of the second base body.

3. The flexible online detection system according to claim 1, characterized in that: The first fixture comprises: A first support member, on which a first support positioning portion is formed; A second support member, on which a second support positioning portion is formed; A third support member, on which a third support positioning portion is formed, and the third support member is arranged opposite to the second support member; The pressing component is arranged above the first supporting member and comprises a pressing cylinder. The pressing cylinder has a pressing arm, and a pressing member for pressing the pressing surface of the steering knuckle is arranged on the pressing arm.

4. The flexible online detection system according to claim 1, characterized in that: The fork arm includes a first leg and a second leg, and the second clamp includes: a support assembly, which is provided with 2 groups, each group includes 2 support components; Two supporting components in one group are respectively arranged below the first supporting leg, and are used to support the first supporting leg; Another group of two supporting components are respectively arranged below the second supporting leg to support the second supporting leg; Positioning components, including: a first positioning member; a second positioning member, arranged opposite to the first positioning member; A positioning driving member, connected to the first positioning member and the second positioning member respectively, driving the first positioning member and the second positioning member to move toward each other so as to clamp and fix the two ends of the fork arm; A third positioning member, located on the side of the second leg, used to press against the side of the second leg, and movable; The fourth positioning member is located on the side of the first leg and abuts against the fork arm on the side opposite to the third positioning member. The position of the fourth positioning member is adjustable.

5. The flexible online detection system according to claim 1, characterized in that: Included are: A steering knuckle gripper and a fork arm gripper, wherein the steering knuckle gripper and the fork arm gripper are both provided with a quick-change joint; The transfer robot includes a robot body, an output shaft is arranged at the end of the robot body, a floating unit is connected to the output shaft, the floating unit is connected to a quick-change joint mating part, and the transfer robot is connected to the quick-change joint part on one of the steering knuckle gripper or the fork arm gripper through the quick-change joint mating part.

6. The flexible online detection system according to claim 1, characterized in that: A gripper replacement rack is provided on one side of the transfer robot, and the gripper replacement rack includes: A box body, wherein a receiving space is formed inside the box body; A gripper placement piece is arranged in the accommodation space, is arranged vertically on the side wall of the box body, and is arranged in plurality from top to bottom along the height direction of the box body. At least two gripper accommodation positions are formed on the gripper placement piece and penetrate the gripper placement piece from top to bottom. The side of the gripper accommodation position has an opening; The positioning structure is formed on the gripper placement member and includes: A first fixing member is arranged at one side of the gripper accommodation position; The second fixing member is arranged opposite to the first fixing member and is disposed at the other side of the gripper accommodating position.

7. The flexible online detection system according to claim 1, characterized in that: The steering knuckle gripper comprises: A main body component, a steering knuckle accommodating space is formed below the main body component; A pneumatic power part connected to the main body component, wherein the pneumatic power part has a plurality of pneumatic action claws arranged along its circumference; The clamping jaw assembly comprises a plurality of clamping jaws, which are respectively connected to a plurality of pneumatic action jaws and can be extended and retracted under the drive of the plurality of pneumatic action jaws, and is configured to be inserted into the central hole of the steering knuckle by extension and move along the radial direction of the central hole to open and abut against the inner wall of the central hole to support and fix the steering knuckle; The bottom of the clamping claw is extended to form a bearing portion; The first angular positioning member is arranged on the left side of the main component and is used to be inserted into the right member of the steering member to position the corner of the right member of the steering member, and cooperates with the clamping claw assembly to form a steering knuckle right member support positioning structure; The second angular positioning member is arranged on the right side of the main component, opposite to the first angular positioning member, and is used to be inserted into the left steering member to position the corner of the left steering knuckle member. It cooperates with the clamping claw assembly to form a supporting and positioning structure for the left steering knuckle member.

8. The flexible online detection system according to claim 1, characterized in that: The fork arm gripper comprises: Main load-bearing member; The first positioning assembly is arranged at a position below one end of the main bearing member, and includes: The first moving parts are provided with two and are arranged opposite to each other; Two first positioning guide members are provided and respectively assembled on the two first moving members; A positioning power member connected to the first moving member drives the two first moving members to move backwards in the first direction so that the first positioning guide members above the first moving members are respectively inserted into the two positioning side holes at one end of the fork arm to position and support the fork arm; The second positioning assembly is arranged at a position below the other end of the main bearing member, and includes: a second positioning guide; A second moving member, used for assembling the second positioning guide member, is movable along a second direction, and is configured to: drive the second positioning guide member to be inserted into the end hole at the other end surface of the fork arm to position and support the fork arm through its own movement, and the second direction is perpendicular to the first direction; Two groups of detection components are provided, each group of detection components forms a detection space capable of accommodating fork arm legs, the two groups of detection spaces are arranged in parallel, and the detection components are configured to detect whether there are fork arm legs in the corresponding detection space.

9. The flexible online detection system according to claim 1, characterized in that: Included are: A constant temperature and humidity chamber is formed inside the constant temperature and humidity chamber, wherein the constant temperature and humidity chamber has a window portion, and a door body is provided at the window portion to open or close the window portion. The double-clamp switching device and the measuring machine are both arranged in the constant temperature and humidity chamber.

10. A detection method based on the flexible online detection system according to claim 6, characterized in that: The steps include: Acquire incoming material signals from the first material conveying line and the second material conveying line, and determine the incoming material conveying line according to the incoming material signals from the first material conveying line and the second material conveying line; According to the part type of the incoming material conveying line, the transfer robot is controlled to move to the gripper replacement rack to replace the gripper; The transfer robot moves to the first conveyor line or the second conveyor line according to the movement path of the grasped parts pre-stored in the control unit to grasp the parts and transfer the parts to the first fixture or the second fixture; After the first fixture or the second fixture detects that the part is in place, it automatically clamps the part; The measuring machine measures the parts and transmits the measurement results to the control unit; The control unit determines whether the part is qualified based on the measurement results. If the part is unqualified, the part is transferred to the unqualified material line through the transfer robot. If the part is qualified, the part is placed at the initial grasping position, and the cycle is repeated until the parts on the first conveyor line or the second conveyor line are inspected.

Images