Position detection mechanism and position detection method

Abstract

The invention relates to the technical field of position detection equipment, and provides a position detection mechanism and a position detection method.The position detection mechanism comprises a frame body, a connecting base, a robot, a photoelectric distance detection mechanism and a gripper; the connecting seat is arranged on the frame body; the robot is connected with the connecting base, and the robot can move the frame body in the horizontal direction and / or the vertical direction; the photoelectric distance detection mechanism is used for detecting the distance; the photoelectric distance detection mechanism is arranged on the frame body; the gripper is used for clamping a workpiece; and the gripper is arranged on the frame body.

Description

Technical Field

[0001] The present invention belongs to the technical field of position detection equipment, and more specifically, relates to a position detection mechanism and a position detection method. Background Art

[0002] In modern automobile production, grippers are often needed to grab workpieces. In order to determine the distance between the gripper and the workpiece, a touch proximity switch or a visual camera is usually used to take a photo to confirm the distance. However, if a touch proximity switch is used to determine the distance between the gripper and the workpiece, the travel of the touch switch is limited, and it is difficult to determine the relative distance position at a long distance, and the accuracy of the touch switch is very poor. If a visual camera is used to determine the distance, the ambient light requirements are very high, the control is very complicated, and it is also difficult to determine the relative distance position at a long distance. Summary of the invention

[0003] The object of the present invention is to provide a position detection mechanism to solve the technical problem in the prior art that it is difficult to judge the distance between a gripper and a workpiece.

[0004] To achieve the above object, the technical solution adopted by the present invention is: to provide a position detection mechanism, comprising:

[0005] Frame;

[0006] A connecting seat; the connecting seat is arranged on the frame;

[0007] A robot; the robot is connected to the connecting seat, and the robot can move the frame in the horizontal direction and / or the vertical direction;

[0008] Photoelectric distance detection mechanism; the photoelectric distance detection mechanism is used to detect the distance; the photoelectric distance detection mechanism is arranged on the frame;

[0009] A gripper; the gripper is used to clamp a workpiece; the gripper is arranged on the frame.

[0010] Furthermore, it also includes: a control unit; the control unit can obtain the distance signal of the photoelectric distance detection mechanism and control the robot and the gripper; the control unit is electrically connected to the photoelectric distance detection mechanism, the robot and the gripper respectively.

[0011] Furthermore, it also includes:

[0012] Adsorption mechanism; the adsorption mechanism is used to adsorb the workpiece; the adsorption mechanism is arranged on the frame.

[0013] Furthermore, the adsorption mechanism includes: a suction cup and a vacuum generating device; the suction cup is arranged on the frame, and the suction cup has an adsorption cavity; the adsorption cavity inside each suction cup is connected to the vacuum generating device.

[0014] Furthermore, there are multiple suction cups.

[0015] Furthermore, the gripper comprises:

[0016] A first clamping member; the first clamping member is disposed on the frame;

[0017] Clamping cylinder; the clamping cylinder is arranged on the frame; the clamping cylinder has a telescopic part;

[0018] A second clamping member; the second clamping member is arranged on the telescopic portion, and the second clamping member can cooperate with the first clamping member to clamp the workpiece.

[0019] Further, the number of the first clamping member, the clamping cylinder, and the second clamping member is plural respectively; the plural first clamping members, the plural clamping cylinders, and the plural second clamping members correspond one to one respectively.

[0020] Furthermore, the photoelectric distance detection mechanism includes: an optical distance measuring sensor.

[0021] Furthermore, it also includes: a positioning member and a first photoelectric switch; the positioning member is arranged on the frame, and the positioning member has a V-shaped groove; the first photoelectric switch is arranged on the frame; when the workpiece is stuck in the V-shaped groove, the workpiece can trigger the first photoelectric switch.

[0022] Furthermore, it also includes: a second photoelectric switch; the second photoelectric switch is arranged on the frame; the second photoelectric switch can be triggered when the gripper is 100 mm away from the workpiece horizontally.

[0023] The present invention also provides a position detection method, comprising: the position detection mechanism;

[0024] S1: The robot with the picking gripper stops at the transition point;

[0025] S2: 2 optical distance sensors feed back the detected workpiece distance to the PLC;

[0026] S3: PLC gives instructions to the robot;

[0027] S4: The robot moves with the gripper along the Y direction to a position 100 mm away from the workpiece;

[0028] S5: After the two second photoelectric switches have detected the signal of the workpiece, the robot moves closer to the workpiece with the gripper;

[0029] S6: PLC feeds back instructions to the robot;

[0030] S7: The robot moves along the Z direction with the gripper;

[0031] S8: The workpiece is clamped in the V-shaped groove of the positioning member, and the first photoelectric switch at the positioning member detects the workpiece;

[0032] S9: PLC feeds back instructions to the robot;

[0033] S10: The gripper starts the subsequent clamping, and the suction cup absorbs and removes the object.

[0034] The beneficial effects of the position detection mechanism provided by the present invention are as follows: compared with the prior art, the position detection mechanism provided by the present invention has a connecting seat provided on the frame, and the robot is connected to the connecting seat, so that the robot can move the frame through the connecting seat, and the robot can drive the frame to move in the horizontal direction and / or vertical direction; the photoelectric distance detection mechanism is provided on the frame; the photoelectric distance detection mechanism can move with the movement of the frame, and the user can know the distance between the target workpiece and the photoelectric distance detection mechanism (or the frame) according to the photoelectric distance detection mechanism, which is convenient for the user to adjust the relative distance between the frame and the workpiece through the robot, and it is very convenient for the user to judge the distance between the photoelectric distance detection mechanism (or the frame) and the workpiece through the photoelectric distance detection mechanism; the gripper is provided on the frame; the gripper can move with the movement of the frame, and the user can clamp the required workpiece through the gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A three-dimensional schematic diagram of a position detection mechanism provided by an embodiment of the present invention Figure 1 ;

[0036] Figure 2 for Figure 1 A in the enlarged view;

[0037] Figure 3 for Figure 1 The enlarged view of point B in the figure;

[0038] Figure 4 for Figure 1 The enlarged view of point C in the figure;

[0039] Figure 5 A three-dimensional schematic diagram of a position detection mechanism provided by an embodiment of the present invention Figure 2 ;

[0040] Figure 6 for Figure 5 The enlarged view of D in the figure;

[0041] Figure 7 for Figure 6The enlarged view of F in the figure;

[0042] Figure 8 for Figure 5 Enlarged view of point E in FIG.

[0043] Among them, the reference numerals in the figure are:

[0044] 1-frame; 2-connecting seat; 31-photoelectric distance detection mechanism; 311-first light beam; 32-first photoelectric switch; 321-second light beam; 33-second photoelectric switch; 331-third light beam; 4-gripper; 5-adsorption mechanism; 6-positioning piece; 61-V-groove; 71-first seat body; 72-second seat body; 721-arc hole; 73-third seat body; 74-limiting ring; 741-first notch; 75-pin body; 76-gasket; 761-second notch. DETAILED DESCRIPTION

[0045] It should be noted that the specific embodiments are only used to explain the present invention, and are not used to limit the present invention.

[0046] It should be noted that, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. Among them, A and B can be singular or plural respectively.

[0047] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" or "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element. When an element is referred to as being "fixed on" or "set on" another element, it may be directly on the other element or indirectly on the other element.

[0048] It should be noted that the directions or positional relationships indicated by terms such as “length”, “width”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0049] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0050] It should be noted that the term "plurality" means two or more than two, unless otherwise clearly and specifically defined.

[0051] Please also read Figures 1 to 8 Now, the position detection mechanism provided by the present invention is described. The position detection mechanism includes: a frame 1, a connection seat 2, a robot, a photoelectric distance detection mechanism 31, and a gripper 4; the connection seat 2 is arranged on the frame 1; the robot is connected to the connection seat 2, and the robot can move the frame 1 in the horizontal direction and / or the vertical direction; the photoelectric distance detection mechanism 31 is used to detect the distance; the photoelectric distance detection mechanism 31 is arranged on the frame 1; the gripper 4 is used to clamp the workpiece; the gripper 4 is arranged on the frame 1.

[0052] In this way, a connecting seat 2 is provided on the frame 1, and the robot is connected to the connecting seat 2, so that the robot can move the frame 1 through the connecting seat 2, and the robot can drive the frame 1 to move in the horizontal direction and / or vertical direction; the photoelectric distance detection mechanism 31 is provided on the frame 1; the photoelectric distance detection mechanism 31 can move with the movement of the frame 1, and the user can know the distance between the target workpiece and the photoelectric distance detection mechanism 31 (or the frame 1) according to the photoelectric distance detection mechanism 31, so that the user can adjust the relative distance between the frame 1 and the workpiece through the robot, and it is very convenient for the user to judge the distance between the photoelectric distance detection mechanism 31 (or the frame 1) and the workpiece through the photoelectric distance detection mechanism 31; the gripper 4 is provided on the frame 1; the gripper 4 can move with the movement of the frame 1, and the user can clamp the required workpiece through the gripper 4.

[0053] In one embodiment, the robot is: a mechanical arm. In one embodiment, the robot is: an industrial robot.

[0054] In one embodiment, the photoelectric distance detection mechanism 31 may be: a laser rangefinder or a photoelectric switch.

[0055] In one embodiment, the workpiece is a side outer panel of an automobile.

[0056] For further information, see Figures 1 to 8As a specific embodiment of the position detection mechanism provided by the present invention, it also includes: a control unit; the control unit can obtain the distance signal of the photoelectric distance detection mechanism 31 and control the robot and the gripper 4; the control unit is electrically connected to the photoelectric distance detection mechanism 31, the robot and the gripper 4 respectively. In this way, the control unit can control the robot to change the position of the frame 1 according to the distance obtained by the photoelectric distance detection mechanism 31, and the control unit can also control the gripper 4 to clamp the workpiece.

[0057] In one embodiment, the control unit is: a PLC (PLC: Programmable Logic Controller).

[0058] For further information, see Figures 1 to 8 As a specific implementation of the position detection mechanism provided by the present invention, it also includes: an adsorption mechanism 5; the adsorption mechanism 5 is used to adsorb the workpiece; the adsorption mechanism 5 is arranged on the frame 1.

[0059] For further information, see Figures 1 to 8 As a specific embodiment of the position detection mechanism provided by the present invention, the adsorption mechanism 5 includes: a suction cup and a vacuum generating device; the suction cup is arranged on the frame 1, and the suction cup has an adsorption cavity; the adsorption cavity inside each suction cup is connected to the vacuum generating device. In this way, the suction cup can be adsorbed on the workpiece to keep the workpiece stable.

[0060] For further information, see Figures 1 to 8 As a specific implementation of the position detection mechanism provided by the present invention, the number of suction cups is multiple. In this way, multiple suction cups can improve the ability to absorb workpieces.

[0061] For further information, see Figures 1 to 8 As a specific embodiment of the position detection mechanism provided by the present invention, the gripper 4 includes: a first clamping member, a clamping cylinder, and a second clamping member; the first clamping member is arranged on the frame 1; the clamping cylinder is arranged on the frame 1; the clamping cylinder has a telescopic portion; the second clamping member is arranged on the telescopic portion, and the second clamping member can cooperate with the first clamping member to clamp the workpiece. In this way, the clamping cylinder can push the first clamping member to move, and the first clamping member and the second clamping member can move relative to each other to clamp the workpiece.

[0062] For further information, see Figures 1 to 8 As a specific embodiment of the position detection mechanism provided by the present invention, the number of the first clamping member, the clamping cylinder, and the second clamping member are multiple; the multiple first clamping members, the multiple clamping cylinders, and the multiple second clamping members correspond to each other. In this way, the multiple first clamping members and the multiple second clamping members cooperate with each other to clamp different parts of the workpiece.

[0063] For further information, see Figures 1 to 8As a specific implementation of the position detection mechanism provided by the present invention, the photoelectric distance detection mechanism 31 includes: an optical distance measuring sensor.

[0064] In one embodiment, the optical distance measuring sensor is a laser distance measuring device.

[0065] For further information, see Figures 1 to 8 As a specific embodiment of the position detection mechanism provided by the present invention, it also includes: a positioning member 6 and a first photoelectric switch 32; the positioning member 6 is arranged on the frame 1, and the positioning member 6 has a V-shaped groove 61; the first photoelectric switch 32 is arranged on the frame 1; when the workpiece is stuck in the V-shaped groove 61, the workpiece can trigger the first photoelectric switch 32. In this way, the workpiece can be stuck in the V-shaped groove 61 to position more accurately, and the user can judge whether the workpiece is stuck in the V-shaped groove 61 through the first photoelectric switch 32.

[0066] In one embodiment, the V-shaped groove 61 is an annular groove.

[0067] For further information, see Figures 1 to 8 As a specific embodiment of the position detection mechanism provided by the present invention, it also includes: a second photoelectric switch 33; the second photoelectric switch 33 is arranged on the frame 1; the second photoelectric switch 33 can be triggered when the gripper 4 is 100 mm away from the workpiece horizontally. In this way, the user can judge whether the workpiece is close to the distance of 100 mm through the second photoelectric switch 33, which is convenient for subsequent operations.

[0068] In one embodiment, the detection light beam emitted by the photoelectric distance detection mechanism 31 is: a first light beam 311 .

[0069] In one embodiment, the detection light beam emitted by the first photoelectric switch 32 is: a second light beam 321 .

[0070] In one embodiment, the detection light beam emitted by the second photoelectric switch 33 is: a third light beam 331 .

[0071] In one embodiment, the second photoelectric switch 33 is a laser rangefinder.

[0072] In one embodiment, the positioning member 6 is provided with an assembly hole, and the frame 1 is provided with a pin body 75 that is inserted into the assembly hole. In one embodiment, a limiting ring 74 is sleeved on the pin body 75. In one embodiment, the outer surface of the pin body 75 has an external thread, and the inner wall of the limiting ring 74 has an internal thread, and the limiting ring 74 is threadedly connected to the pin body 75. In this way, the positioning member 6 can be locked or loosened by rotating the limiting ring 74. In one embodiment, the positioning member 6 is clamped between the limiting ring 74 and the frame 1. In one embodiment, the limiting ring 74 is threadedly connected to the pin body 75.

[0073] In one embodiment, a plurality of first notches 741 are provided at the edge of the limiting ring 74. Thus, the stress at the edge of the limiting ring 74 can be released through the first notches 741. In one embodiment, a gasket 76 is clamped between the limiting ring 74 and the positioning member 6. In one embodiment, a second notch 761 is provided at the edge of the gasket 76. Thus, the stress at the edge of the gasket 76 can be released through the second notch 761. In one embodiment, the edge of the second notch 761 is bent toward the limiting ring 74. In one embodiment, the number of the first notches 741 is multiple, and the multiple first notches 741 are arranged along the edge of the limiting ring 74. Thus, the stress at the edge of the limiting ring 74 can be dispersed through the multiple first notches 741. In one embodiment, the number of the second notches 761 is multiple, and the multiple second notches 761 are arranged along the edge of the gasket 76. Thus, the stress at the edge of the gasket 76 can be dispersed through the multiple second notches 761. In one embodiment, the gasket 76 between two adjacent second notches 761 is bent toward the limiting ring 74, and the gasket 76 between two adjacent second notches 761 abuts against the limiting ring 74. In this way, when the limiting ring 74 squeezes the gasket 76, the gasket 76 can release stress through the bent portion. In one embodiment, the gasket 76 between two adjacent second notches 761 is wavy. In this way, the gasket 76 is easily released from stress, and the wavy gasket 76 has a buffer space between the crests and troughs.

[0074] In one embodiment, the gasket 76 is axially symmetrical. In one embodiment, if the above-mentioned axis of symmetry is set vertically, in the axial section of the gasket 76, the trajectory of the upper surface of the wavy gasket 76 is located on y=sin(x)+2, and the thickness of the gasket 76 is: h=cos(x)+1.5 (Note: x is the value of the horizontal coordinate, and the above-mentioned axis of symmetry is the vertical coordinate). In this way, the side surface of the gasket 76 is sinusoidal, which is convenient for the gasket 76 to release stress during the extrusion process. The space between the crest and the trough can provide a deformation space. The thickness of the gasket 76 varies in a cosine manner, and the thickness in the radial direction of the gasket 76 will change, so that the deformation capacity at different positions is different, so that the stress can have different stress release states at different radial positions during the transmission process, avoiding the single accumulation of stress at a certain position. In one embodiment, the side surface of the gasket 76 is in a smooth state, which is convenient for the stress to be transmitted along the smooth surface.

[0075] In one embodiment, an L-shaped third seat body 73 is disposed on the frame body 1, and the pin body 75 is disposed on the third seat body 73. In this way, the L-shaped third seat body 73 is convenient for releasing stress.

[0076] In one embodiment, a first seat body 71 is disposed on the frame body 1, and the cross section of the first seat body 71 is T-shaped. In one embodiment, a second seat body 72 is rotatably disposed on the first seat body 71, and a second photoelectric switch is disposed on the second seat body 72. In one embodiment, an arc-shaped hole 721 is provided on the second seat body 72, and a fastening screw fixed to the first seat body 71 is passed through the arc-shaped hole 721; after loosening the fastening screw, the second seat body 72 can rotate relative to the first seat body 71, and the fastening screw can slide along the arc-shaped hole 721; after tightening the fastening screw, the fastening screw can fix the second seat body 72.

[0077] See also Figures 1 to 8 ,The present invention also provides a position detection method, comprising: a position detection mechanism;

[0078] S1: The robot with the picking gripper 4 stops at the transition point;

[0079] S2: Two photoelectric distance detection mechanisms 31 feed back the detected workpiece distance to the PLC (PLC: Programmable Logic Controller);

[0080] S3: PLC gives instructions to the robot;

[0081] S4: The robot with gripper 4 moves along the Y direction (Y direction: horizontal direction) to a position 100 mm away from the workpiece;

[0082] S5: After the two second photoelectric switches 33 have detected the signal of the workpiece, the robot brings the gripper 4 closer to the workpiece;

[0083] S6: PLC feeds back instructions to the robot;

[0084] S7: the robot moves with the gripper 4 along the Z direction (Z direction: vertical direction);

[0085] S8: The workpiece is clamped in the V-shaped groove 61 of the positioning member 6, and the first photoelectric switch 32 at the positioning member 6 detects the workpiece;

[0086] S9: PLC feeds back instructions to the robot;

[0087] S10: The gripper 4 starts the subsequent clamping, and the suction cup absorbs and removes the object.

[0088] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A position detection mechanism, characterized in that: include: Frame; A connecting seat; the connecting seat is arranged on the frame; A robot; the robot is connected to the connecting seat, and the robot can move the frame in the horizontal direction and / or the vertical direction; Photoelectric distance detection mechanism; the photoelectric distance detection mechanism is used to detect the distance; the photoelectric distance detection mechanism is arranged on the frame; A gripper; the gripper is used to clamp a workpiece; the gripper is arranged on the frame.

2. The position detection mechanism according to claim 1, characterized in that: Also includes: A control unit; the control unit can obtain the distance signal of the photoelectric distance detection mechanism and control the robot and the gripper; the control unit is electrically connected to the photoelectric distance detection mechanism, the robot and the gripper respectively.

3. The position detection mechanism according to claim 1, characterized in that: Also includes: Adsorption mechanism; The adsorption mechanism is used to adsorb the workpiece; The adsorption mechanism is arranged on the frame.

4. The position detection mechanism according to claim 3, characterized in that: The adsorption mechanism comprises: a suction cup and a vacuum generating device; the suction cup is arranged on the frame, and the suction cup has an adsorption cavity; the adsorption cavity inside each suction cup is connected to the vacuum generating device.

5. The position detection mechanism according to claim 1, characterized in that: The gripper comprises: A first clamping member; the first clamping member is disposed on the frame; Clamping cylinder; the clamping cylinder is arranged on the frame; the clamping cylinder has a telescopic part; A second clamping member; the second clamping member is arranged on the telescopic portion, and the second clamping member can cooperate with the first clamping member to clamp the workpiece.

6. The position detection mechanism according to claim 5, characterized in that: The number of the first clamping members, the number of the clamping cylinders, and the number of the second clamping members are respectively plural; the plural first clamping members, the plural clamping cylinders, and the plural second clamping members correspond to each other one by one.

7. The position detection mechanism according to claim 1, characterized in that: The photoelectric distance detection mechanism includes: an optical distance measuring sensor.

8. The position detection mechanism according to any one of claims 1 to 7, characterized in that: Also includes: A positioning member and a first photoelectric switch; the positioning member is arranged on the frame, and the positioning member has a V-shaped groove; the first photoelectric switch is arranged on the frame; when the workpiece is stuck in the V-shaped groove, the workpiece can trigger the first photoelectric switch.

9. The position detection mechanism according to claim 8, characterized in that: Also includes: A second photoelectric switch; the second photoelectric switch is arranged on the frame; the second photoelectric switch can be triggered when the gripper is 100 mm away from the workpiece horizontally.

10. A position detection method, characterized in that: include: The position detection mechanism as claimed in claim 9; S1: the robot and the gripper stop at a transition point; S2: The two optical distance measuring sensors feed back the detected workpiece distance to the PLC; S3: PLC gives instructions to the robot; S4: the robot moves with the gripper along the Y direction to a position 100 mm away from the workpiece; S5: After the two second photoelectric switches have detected signals of the workpiece, the robot moves closer to the workpiece with the gripper; S6: PLC feedback instructions to the robot; S7: the robot moves along the Z direction with the gripper; S8: The workpiece is clamped in the V-shaped groove of the positioning member, and the first photoelectric switch at the positioning member detects the workpiece; S9: the PLC feeds back instructions to the robot; S10: The gripper starts subsequent clamping, and the suction cup performs an adsorption and picking-up action.

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