Target detecting, positioning and grabbing equipment for automobile welding conveying line

Abstract

The invention relates to the technical field of automobile welding conveying lines, and provides an automobile welding conveying line target detecting, positioning and grabbing device which comprises a welding mechanism, a part conveying line, a grabbing mechanism and a part pretreatment mechanism, and the welding mechanism comprises a welding conveying line and a welding device arranged on one side of the welding conveying line; the grabbing mechanism comprises a first mechanical arm, a grabbing device, a control system and a visual detector, the grabbing device is connected with the free end of the first mechanical arm, the visual detector is arranged on the grabbing device, and the visual detector and the first mechanical arm are both in telecommunication connection with the control system; the part pretreatment mechanism comprises a pretreatment rack, a spraying assembly and a reflection detector, the spraying assembly and the reflection detector are arranged on the pretreatment rack, the pretreatment rack is located on the part conveying line, the spraying assembly is used for spraying an anti-reflection agent, and the reflection detector is used for detecting the reflection intensity of the side frame. The accuracy of welding operation can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of automobile welding and assembly conveyor lines, and in particular to a target detection, positioning and grasping device for automobile welding and assembly conveyor lines. Background Art

[0002] Automobile welding conveyor lines are an indispensable part of the modern automobile manufacturing process, and are mainly used for the precise assembly and welding of various parts of the automobile body. With the development of the automobile industry, the application of automation and intelligent technology in welding lines has become increasingly widespread, significantly improving production efficiency and product quality. Traditional manual welding and assembly methods have gradually been replaced by automated equipment, including robot welding devices, automatic positioning systems, gripping equipment, visual inspection systems, etc.

[0003] Among them, the gripping equipment is responsible for accurately grasping, positioning and placing various body parts to ensure the smooth progress of the welding and assembly process. For example, after grasping the side frame, place the side frame in the installation position of the main frame, wait for the welding device to weld the side frame to the main frame, and then release the side frame. Usually the gripping equipment is equipped with high-resolution CCD sensors and image processing technology to detect the position of the parts in real time to ensure that the grasped parts can be accurately placed in the predetermined position to ensure the accuracy of welding and assembly.

[0004] However, the above method has obvious shortcomings. In particular, when the surface of the component to be grasped has strong reflective properties, the working performance of the traditional visual system will be seriously disturbed, making it difficult to obtain accurate and reliable detection information. This situation not only reduces the accuracy of grasping and positioning, but may also trigger a series of chain reactions, such as missed grasping or wrong placement, which ultimately affects the quality control of the overall welding process. Therefore, how to improve the accuracy of welding operations in such cases has become a key technical problem that needs to be solved urgently. Summary of the invention

[0005] In order to improve the accuracy of welding operations, the present application provides a target detection, positioning and grasping device for an automobile welding conveyor line.

[0006] The present application provides a target detection, positioning and grabbing device for an automobile welding conveyor line, which adopts the following technical solution: An automobile welding conveyor line target detection, positioning and grabbing equipment, comprising: The welding mechanism comprises a welding conveyor line and a welding device arranged on one side of the welding conveyor line, wherein the welding conveyor line is used to transport the main frame to the welding device; A component conveyor line is arranged on one side of the welding conveyor line and is used to transport the side frames; The gripping mechanism comprises a first mechanical arm, a gripping device, a control system and a visual detector, wherein the gripping device is connected to the free end of the first mechanical arm, the visual detector is arranged on the gripping device, the visual detector and the first mechanical arm are evenly connected to the control system by telecommunication, and the first mechanical arm is located between the component conveying line and the welding conveying line and is arranged close to the welding device; The component pretreatment mechanism comprises a pretreatment rack, a spraying assembly arranged on the pretreatment rack and a reflection detector, wherein the pretreatment rack is located on the component conveying line, the spraying assembly is used for spraying anti-reflective agent, and the reflection detector is used for detecting the reflection intensity of the side frame.

[0007] By adopting the above technical solution, by setting up a component pretreatment mechanism, the reflective performance of the side frame on the component conveyor line is tested. When the reflective intensity of the side frame surface is detected to exceed the threshold, the anti-reflective agent is sprayed on the side frame surface through the spraying component to reduce the reflection effect, effectively reduce the visual system misjudgment caused by reflection, and thus ensure the accuracy of subsequent grasping operations. The side frame processed by the pretreatment device moves close to the grasping mechanism under the action of the component conveyor line; the visual detector scans and locates the position of the side frame, and transmits the position information of the side frame to the control system. The control system controls the grasping device to grasp according to the received position information, and transports the side frame to the main frame on the welding conveyor line, and welds and fixes the side frame to the main frame through the welding device.

[0008] Optionally, the gripping device includes a clamping frame, which includes a supporting frame body and a connecting frame body that are connected to each other, the connecting frame body is fixedly connected to the free end of the first mechanical arm, and a plurality of clamping claws are arranged on one side of the supporting frame body, and the clamping claws can be opened and closed.

[0009] By adopting the above technical solution, the connecting frame is fixedly connected to the free end of the first mechanical arm, so that the first mechanical arm can drive the grasping device to move; a plurality of claws are arranged on one side of the supporting frame, and the claws can be opened and closed to realize the grasping and releasing functions of the claws to grasp the side frame.

[0010] Optionally, the clamp includes a first clamping part and a second clamping part arranged opposite to each other and a driving member, wherein the driving member is used to drive the first clamping part and the second clamping part to move relative to each other; a contact block is provided on a side of the first clamping part close to the second clamping part, and a contact block is also provided on a side of the second clamping part close to the first clamping part, and the contact block is elastic.

[0011] By adopting the above technical solution, the driving member drives the first clamping part and the second clamping part to move relative to each other. When the clamping claw needs to release the claw, the driving member drives the first clamping part and the second clamping part to move away from each other; when the clamping claw needs to grasp, the driving member drives the first clamping part and the second clamping part to move closer to each other. Contact blocks are provided on both the first clamping part and the second clamping part. When the clamping claw grasps the side frame, the contact blocks are in direct contact with the side frame. The contact blocks are elastic, so the contact blocks will deform and fit with the side frame. Since the surface of the side frame is irregular, the contact area between the clamping claw and the side bracket can be increased by setting the contact blocks when grasping the side bracket, making the grasping process more stable and reliable, and effectively avoiding the risk of damage or falling caused by improper clamping force.

[0012] Optionally, a plurality of visual detectors are arranged at intervals on the carrier body.

[0013] By adopting the above technical solution, multiple visual detectors are arranged at intervals on the carrier body, thereby improving the detection accuracy of the side frame position; before the grasping device performs a grasping action, the position information of the side frame is scanned by multiple visual detectors; the scanned position information of the multiple visual detectors is transmitted to the control system, and if there is a certain offset in the position of the side frame, resulting in some visual detectors failing to scan the preset positioning area on the side frame, the control system controls the first robot arm to move, adjust the position of the grasping device, until all visual detectors scan the preset positioning area on the side frame, and then control the grasping device to perform a grasping action, thereby further improving the accuracy and reliability of grasping and positioning.

[0014] Optionally, the spraying assembly includes a spray gun and a material delivery pipe connected to the spray gun; a horizontal hanger is provided on the pretreatment rack, and a plurality of spray guns are arranged at intervals along the horizontal hanger; The spray gun comprises a spray gun body and an electric control switch arranged on the spray gun body, the electric control switch is used to turn on or off the spray gun, and the electric control switch and the reflection detector are both electrically connected to the control system.

[0015] By adopting the above technical solution, the spray assembly includes multiple spray guns arranged at intervals along the horizontal hanger, each spray gun is equipped with an electric control switch and is connected to the control system by telecommunication, making the spray operation more accurate and controllable, and improving the spray efficiency and quality. At the same time, the electric control switch and the reflective detector are connected to the control system by telecommunication, realizing automatic detection and control of the working state of the spray gun, further improving the degree of automation and work efficiency.

[0016] Optionally, a positioning assembly is provided on the component conveying line, and the positioning assembly is located on a side of the pre-processing rack away from the grasping mechanism; The positioning assembly includes a first positioning plate and a second positioning plate that are arranged opposite to each other, and the distance between the first positioning plate and the second positioning plate gradually decreases toward the direction approaching the pre-processing rack.

[0017] By adopting the above technical solution, a positioning assembly is set on the component conveyor line, and the distance between the first positioning plate and the second positioning plate gradually decreases towards the direction approaching the pretreatment rack, thereby effectively guiding the side frame to move accurately to the bottom of the spraying assembly, reducing deviation, improving the accuracy of subsequent reflection detection and the accuracy of anti-reflective agent spraying, and thereby improving the reliability of the entire welding operation.

[0018] Optionally, an infrared drying lamp is further provided on the pre-processing rack, and the infrared drying lamp is located on a side of the pre-processing rack close to the grabbing mechanism.

[0019] By adopting the above technical solution, the infrared drying lamp installed on the pre-treatment rack can quickly dry the side frame after spraying the anti-reflective agent, shorten the processing time, and improve production efficiency. Ensure that the sprayed anti-reflective agent is fully dried before being grabbed, avoid affecting the grabbing effect due to the undried anti-reflective agent, and further ensure the smooth progress of the welding and assembly process.

[0020] Optionally, a protective cover is fixed in the pretreatment frame, the spraying assembly is located in the protective cover, a feed port and a discharge port are opened on the protective cover, and the feed port and the discharge port are arranged relative to each other.

[0021] By adopting the above technical solution, the spraying assembly is arranged in a protective cover made of light-transmitting material, and relative feed ports and discharge ports are arranged on the protective cover for the side frame to enter and exit. The protective cover can effectively prevent the diffusion of spray during the spraying of anti-reflective agent and avoid polluting the working environment.

[0022] Optionally, the welding device includes a second robotic arm and a welding gun, and the welding gun is fixedly connected to the free end of the second robotic arm.

[0023] By adopting the above technical solution, the welding gun is fixedly connected to the free end of the second robotic arm, which enables flexible positioning and precise control of the welding gun during the welding process, thereby improving the automation level and welding accuracy of the welding operation.

[0024] Optionally, the reflective detector includes a light source emitter and a reflectivity meter, and the reflectivity meter is electrically connected to the control system.

[0025] By adopting the above technical solution, the reflective detector includes a light source emitter and a reflectivity meter, and the reflectivity meter is connected to the control system by telecommunication, so that the reflective intensity of the side frame surface can be accurately detected and the reflective intensity information can be transmitted to the control system to control the operating state of the paint spraying component, thereby effectively avoiding the interference of strong reflections on the visual detector and improving the accuracy of grasping and welding.

[0026] In summary, the present application includes at least one of the following beneficial effects: 1. By setting up a component pretreatment mechanism, spraying anti-reflective agent on the spray assembly, and detecting the reflective intensity of the side frame with a reflective detector, the problem of inaccurate visual system detection caused by the surface of reflective components is effectively solved, and the accuracy of welding and assembly is improved; 2. The visual detector and the first robot arm in the grasping mechanism are both connected to the control system by telecommunication, which can detect and adjust the grasping action in real time to ensure that the parts are accurately placed in the predetermined position, thereby improving the stability and reliability of the entire process; 3. The spraying components and reflective detector on the pretreatment rack are connected to the control system through communication, and the anti-reflective agent is automatically sprayed according to the reflection intensity, which further enhances the adaptability and accuracy of the system in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the target detection, positioning and grabbing equipment for the automobile welding conveyor line according to the embodiment of the present application; Figure 2 It is a structural schematic diagram of the grabbing mechanism of an embodiment of the present application; Figure 3 It is a schematic diagram of the structure inside the protective cover of the embodiment of the present application; Figure 4 It is a schematic diagram of the structure of a component preprocessing mechanism of a display reflection detector according to an embodiment of the present application; Explanation of reference numerals: 1. welding mechanism; 11. welding assembly conveyor line; 12. welding device; 121. second mechanical arm; 122. welding gun; 2. component conveyor line; 3. first mechanical arm; 4. grasping device; 41. clamping frame; 411. carrying frame; 412. connecting frame; 42. clamping claw; 421. first clamping part; 422. second clamping part; 423. driving member; 43. contact block; 5. visual detector; 6. component pre-treatment Treatment mechanism; 61, pretreatment rack; 62, spraying assembly; 621, spray gun; 6211, spray gun body; 6212, electric control switch; 622, feed pipe; 623, horizontal hanger; 63, reflection detector; 631, light source transmitter; 632, reflectivity meter; 64, infrared drying lamp; 65, protective cover; 651, feed inlet; 652, discharge outlet; 7, positioning assembly; 71, first positioning plate; 72, second positioning plate. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-4 This application is described in further detail.

[0029] Reference Figure 1 The target detection, positioning and grasping device for the automobile welding conveyor line provided in the embodiment of the present application includes a welding mechanism 1, a component conveyor line 2 and a grasping mechanism. The welding mechanism 1 includes a welding conveyor line 11 and a welding device 12 arranged on one side of the welding conveyor line 11. The welding device 12 includes a second mechanical arm 121 and a welding gun 122. The base of the second mechanical arm 121 is fixed on one side of the welding conveyor line 11, and the free end of the second mechanical arm 121 at one end of the welding gun 122 is fixedly connected. The welding conveyor line 11 is specifically configured as a chain conveyor, and the main frame can be moved toward the direction close to the welding device 12 through the welding conveyor line 11.

[0030] Reference Figure 1 and Figure 2 , the component conveyor line 2 is arranged on the side of the welding mechanism away from the welding conveyor line 11, and is parallel to the welding conveyor line 11; in this embodiment, the component conveyor line 2 and the welding conveyor line 11 are both configured as roller conveyors. The gripping mechanism is located and includes a first robotic arm 3, a gripping device 4, a control system (not shown in the figure) and a visual detector 5. The base of the first robotic arm 3 is fixed between the component conveyor line 2 and the welding conveyor line 11, and is arranged close to the welding device 12. The gripping device 4 includes a gripping frame 41, and the gripping frame 41 includes a supporting frame body 411 and a connecting frame body 412 connected to each other. The connecting frame body 412 is fixedly connected to the free end of the first robotic arm 3. A plurality of clamps 42 are arranged on one side of the supporting frame body 411. In this embodiment, four clamps 42 are arranged at intervals. The clamping jaw 42 includes a first clamping portion 421, a second clamping portion 422 and a driving member 423. The first clamping portion 421 and the second clamping portion 422 are arranged opposite to each other. In this embodiment, the clamping jaw 42 is specifically arranged as a pneumatic clamping jaw 42. The cylinder in the pneumatic clamping jaw 42 is the driving member 423. The two pneumatic fingers in the pneumatic clamping jaw 42 are the first clamping portion 421 and the second clamping portion 422. A contact block 43 is fixed to one side of the first clamping portion 421 close to the second clamping portion 422. A contact block 43 is also fixed to one side of the second clamping portion 422 close to the first clamping portion 421. The contact block 43 is supported by an elastic material, such as rubber or polyurethane material, to enhance the friction during clamping and reduce the possibility of damaging the side frame. The provision of the contact block 43 improves the stability of the grasping mechanism when grasping the component, and further enhances the grasping accuracy.

[0031] Reference Figure 2, the visual detector 5 is fixed on the carrier body 411, and multiple visual detectors 5 are arranged on the carrier body 411 at intervals to form a multiple redundant detection mechanism. Each visual detector 5 has an independent camera lens and a processor. In this embodiment, the visual detector 5 is specifically configured as a CCD sensor, and two CCD sensors are arranged on the carrier body 411 at intervals. The CCD sensor and the first mechanical arm 3 are both connected to the control system by telecommunication. Before the grasping device 4 performs the grasping action, the first mechanical arm 3 drives the clamping frame 41 to move above the component conveying line 2, so that the scanning end of the CCD sensor is set toward the component conveying line 2. When the component conveying line 2 transports the side frame to the bottom of the carrier body 411, the two CCD sensors scan the position information of the side frame; and the scanned position information of each CCD sensor is transmitted to the control system; when all CCD sensors scan the preset positioning area on the side frame, the control module controls the first mechanical arm 3 and the grasping device 4 to move to accurately grasp the side frame.

[0032] When the surface of the component to be grasped has strong reflective properties, it will affect the normal operation of the CCD sensor, making it difficult to obtain accurate and reliable detection information. In order to solve this problem, a component pre-processing mechanism 6 is provided on the component conveying line 2.

[0033] Reference Figure 2 and Figure 3 The component pretreatment mechanism 6 includes a pretreatment rack 61, a spray assembly 62 and a reflective detector 63. The pretreatment rack 61 is located on the component conveyor line 2. A protective cover 65 is arranged outside the pretreatment rack 61 and fixedly connected. A feed port 651 is provided on one side of the protective cover 65, and a discharge port 652 is provided on the other side. The feed port 651 and the discharge port 652 are arranged opposite to each other for the side frame to pass through. A horizontal hanger 623 is fixed inside the pretreatment rack 61, and the horizontal hanger 623 is located inside the protective cover 65. The spray assembly 62 includes a spray gun 621 and a feed pipe 622 connected to the spray gun 621. The anti-reflective paint is passed into the spray gun 621 through the feed pipe 622 to feed the spray gun 621. A plurality of spray guns 621 are arranged at intervals along the horizontal hanger 623, and a plurality of feed pipes 622 are also arranged, and the feed pipes 622 are arranged one by one with the spray gun 621. The spray gun 621 includes a spray gun body 6211 and an electric switch 6212 disposed on the spray gun body 6211, and the electric switch 6212 is used to turn on or off the spray gun 621. The electric switch 6212 is connected to the control system by telecommunication, and can automatically start or stop spraying when needed. In this embodiment, the spray gun 621 is specifically provided with four, and the electric switch 6212 is specifically provided as a solenoid valve.

[0034] Reference Figure 3In order to prevent the side frame from deflecting when it moves to the bottom of the spray assembly 62, a positioning assembly 7 is provided on the component conveying line 2, and the positioning assembly 7 is located on the side of the pre-processing frame 61 away from the gripping mechanism; the positioning assembly 7 includes a first positioning plate 71 and a second positioning plate 72 that are arranged opposite to each other, and the distance between the first positioning plate 71 and the second positioning plate 72 gradually decreases toward the direction close to the pre-processing frame 61. The side frame is guided to accurately move along the feed port 651 to the bottom of the spray assembly 62, reducing the deflection, which helps the spray assembly 62 to fully spray the surface of the side frame.

[0035] Reference Figure 4 , the reflective detector 63 is located on the side of the pre-processing rack 61 away from the gripping mechanism, and the reflective detector 63 is located outside the protective cover 65. The reflective detector 63 includes a light source emitter 631 and a reflectivity meter 632, both of which are fixed on the pre-processing rack 61. The reflectivity meter 632 is connected to the control system by telecommunication. The light source emitter 631 is used to emit a stable light source to the side frame on the component conveying line 2, and the reflectivity meter 632 is used to measure the intensity of the reflected light. The reflectivity meter 632 transmits the reflective intensity information to the control system. If the reflective intensity exceeds the threshold, the control system controls the solenoid valve to open, triggering the spray assembly 62 to start working, spraying the anti-reflective agent on the surface of the side frame to reduce the reflection effect.

[0036] Reference Figure 2 The pre-treatment rack 61 is also fixed with an infrared drying lamp 64, which is located on one side of the pre-treatment rack 61 close to the grabbing mechanism and outside the protective cover 65. When the side frame is transported out of the protective cover 65 along the discharge port 652, the infrared drying lamp 64 performs heat treatment on the surface of the side frame to accelerate the curing speed of the anti-reflective agent after spraying.

[0037] The implementation principle of this embodiment is: through the reasonable configuration of the welding mechanism 1, the component conveying line 2, the grasping mechanism and the component pretreatment mechanism 6, this solution solves the problems of inaccurate positioning and grasping caused by the reflection of the surface of the component to be grasped in the prior art, and significantly improves the grasping accuracy and the overall quality of the welding operation.

[0038] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A target detection, positioning and grabbing device for automobile welding conveyor line, characterized in that: include: A welding mechanism (1) comprises a welding conveyor line (11) and a welding device (12) arranged on one side of the welding conveyor line (11), wherein the welding conveyor line (11) is used to transport a main frame to the welding device (12); A component conveyor line (2) is arranged on one side of the welding conveyor line (11) and is used to transport the side frame; A gripping mechanism, comprising a first mechanical arm (3), a gripping device (4), a control system and a visual detector (5), wherein the gripping device (4) is connected to a free end of the first mechanical arm (3), the visual detector (5) is arranged on the gripping device (4), the visual detector (5) and the first mechanical arm (3) are evenly connected to the control system by telecommunication, and the first mechanical arm (3) is located between the component conveyor line (2) and the welding assembly conveyor line (11), and is arranged close to the welding device (12); The component pretreatment mechanism (6) comprises a pretreatment frame (61), a spraying assembly (62) and a reflective detector (63) arranged on the pretreatment frame (61), wherein the pretreatment frame (61) is located on the component conveyor line (2), the spraying assembly (62) is used for spraying an anti-reflective agent, and the reflective detector (63) is used for detecting the reflective intensity of the side frame.

2. According to claim 1, a target detection, positioning and grabbing device for automobile welding conveyor line, characterized in that: The gripping device (4) comprises a gripping frame (41), the gripping frame (41) comprising a supporting frame body (411) and a connecting frame body (412) connected to each other, the connecting frame body (412) being fixedly connected to the free end of the first mechanical arm (3), and a plurality of clamping claws (42) being arranged on one side of the supporting frame body (411), the clamping claws (42) being openable and closable.

3. The target detection, positioning and grabbing equipment for automobile welding conveyor line according to claim 2 is characterized in that: The clamping claw (42) comprises a first clamping portion (421) and a second clamping portion (422) which are arranged opposite to each other, and a driving member (423), wherein the driving member (423) is used to drive the first clamping portion (421) and the second clamping portion (422) to move relative to each other; A contact block (43) is provided on one side of the first clamping portion (421) close to the second clamping portion (422), and a contact block (43) is also provided on one side of the second clamping portion (422) close to the first clamping portion (421); the contact block (43) is elastic.

4. The target detection, positioning and grabbing equipment for automobile welding conveyor line according to claim 3 is characterized in that: A plurality of visual detectors (5) are arranged at intervals on the support frame (411).

5. The target detection, positioning and grabbing equipment for automobile welding conveyor line according to claim 3 is characterized in that: The spraying assembly (62) comprises a spray gun (621) and a material conveying pipe (622) connected to the spray gun (621); a horizontal hanger (623) is provided on the pretreatment frame (61), and a plurality of the spray guns (621) are arranged at intervals along the horizontal hanger (623); The spray gun (621) comprises a spray gun body (6211) and an electric control switch (6212) arranged on the spray gun body (6211), wherein the electric control switch (6212) is used to turn on or off the spray gun (621), and the electric control switch (6212) and the reflection detector (63) are both electrically connected to the control system.

6. The target detection, positioning and grabbing equipment for automobile welding conveyor line according to claim 5 is characterized in that: The component conveying line (2) is provided with a positioning assembly (7), and the positioning assembly (7) is located on a side of the pre-processing rack (61) away from the grasping mechanism; The positioning assembly (7) comprises a first positioning plate (71) and a second positioning plate (72) which are arranged opposite to each other, and the distance between the first positioning plate (71) and the second positioning plate (72) gradually decreases towards a direction approaching the pre-processing frame (61).

7. The target detection, positioning and grabbing equipment for automobile welding conveyor line according to claim 1 is characterized in that: The pre-processing frame (61) is also provided with an infrared drying lamp (64), and the infrared drying lamp (64) is located on a side of the pre-processing frame (61) close to the grabbing mechanism.

8. The target detection, positioning and grabbing equipment for automobile welding conveyor line according to claim 1 is characterized in that: A protective cover (65) is fixed on the pretreatment frame (61), the spraying assembly (62) is located in the protective cover (65), and a feed port (651) and a discharge port (652) are provided on the protective cover (65), and the feed port (651) and the discharge port (652) are arranged opposite to each other.

9. The target detection, positioning and grabbing equipment for automobile welding conveyor line according to claim 1 is characterized in that: The welding device (12) comprises a second mechanical arm (121) and a welding gun (122); the welding gun (122) is fixedly connected to the free end of the second mechanical arm (121).

10. The target detection, positioning and grabbing equipment for automobile welding conveyor line according to claim 1, characterized in that: The reflective detector (63) comprises a light source emitter (631) and a reflectivity meter (632), and the reflectivity meter (632) is connected to the control system via telecommunication.

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