Auxiliary alignment structure for debugging robot gun changing disc and gun changing disc

Abstract

The utility model provides an auxiliary alignment structure for debugging a robot gun changing disc and the gun changing disc, and relates to the technical field of auxiliary alignment structures of robot gun changing discs. The auxiliary alignment structure for debugging the gun changing disc of the robot comprises a visible light emitter arranged on a robot end and an arc-shaped marking line arranged on a tool end, and the visible light emitter is used for emitting arc-shaped visible light to the tool end. The arc-shaped marking line and the visible light emitter are configured in the mode that when the robot end and the tool end are coaxial, the arc-shaped marking line and the arc-shaped visible light at least partially coincide. Through the auxiliary alignment structure for debugging the gun changing disc of the robot, accurate butt joint of the robot end and different tool ends can be accurately achieved in the debugging process, the butt joint efficiency is improved, and therefore the robot end or the tool ends can be effectively prevented from being damaged.

Description

Technical Field

[0001] The present application relates to the technical field of auxiliary alignment structures of robot gun changing plates, and in particular to an auxiliary alignment structure and a gun changing plate for debugging a robot gun changing plate. Background Art

[0002] The gun changer, i.e. the robot tool quick changer, can also be called a tool quick changer, quick tool changer, quick changer, etc. The gun changer generally includes a robot end (Master side) and a tool end (Tool side). The robot end is used to be installed on the front arm of the robot, and the tool end is used to be installed on a specific execution tool (for example, spot welding, arc welding, material grabbing, stamping, testing, crimping, assembly and other tools). The tool quick changer can quickly realize the electrical, gas and liquid communication between the robot side and the execution tool. One robot side can be used in conjunction with multiple tool sides according to the actual situation of the user, increasing the flexible manufacturing of the robot production line, increasing the efficiency of the robot production line and reducing production costs.

[0003] At present, after the installation of the relevant robots is completed, it is generally necessary to debug the gun changer, that is, to use the robot end to dock with different tool ends, and the existing debugging method is generally manual control, which makes it difficult to ensure the docking accuracy between the robot end and different tool ends. The debugging efficiency is low, and inaccurate docking may also cause damage to the robot end or the tool end. Utility Model Content

[0004] In order to solve the technical problems in the related art, the present application provides an auxiliary alignment structure and a gun changing plate for debugging a robot. Through the auxiliary alignment structure for debugging a robot gun changing plate of the present application, the robot end can be accurately docked with different tool ends during the debugging process, improving the docking efficiency, thereby effectively avoiding damage to the robot end or the tool end.

[0005] In order to achieve the above objectives, the technical solutions adopted in this application include:

[0006] According to a first aspect of the present application, there is provided an auxiliary alignment structure for debugging a robot gun changing plate, comprising a visible light emitter for setting on a robot end and an arc-shaped marking line for setting on a tool end, wherein the visible light emitter is used to emit arc-shaped visible light to the tool end, and the arc-shaped marking line and the visible light emitter are configured so that when the robot end is coaxial with the tool end, the arc-shaped marking line at least partially overlaps with the arc-shaped visible light.

[0007] Optionally, the circle corresponding to the arc-shaped marking line passes through the positioning pin insertion hole on the tool end.

[0008] Optionally, a central angle β corresponding to the arc-shaped marking line satisfies: 10°≤β≤30°.

[0009] Optionally, the auxiliary alignment structure for debugging the robot's gun changing plate also includes an image acquisition device, an image recognition module and a signal output module, the image acquisition device is used to acquire the image of the arc-shaped marking line, the image recognition module is used to recognize the image of the arc-shaped marking line when it is irradiated with arc-shaped visible light, and the signal output module is used to output corresponding control information according to the recognition result of the image recognition module.

[0010] Optionally, the image acquisition device is used to be arranged on a side of the robot end close to the visible light emitter.

[0011] Optionally, the auxiliary alignment structure for debugging the gun-changing plate of the robot further comprises an image display device, and the image display device is used to display the real-time image acquired by the image acquisition device.

[0012] Optionally, the arc-shaped marking line and the visible light emitter are configured so that when the robot end and the tool end are coaxial, the arc-shaped marking line completely overlaps with the arc-shaped visible light.

[0013] Optionally, the visible light emitter is provided in plurality, the plurality of visible light emitters are arranged at circumferential intervals around the robot end, the arc-shaped marking lines are provided in plurality, and the plurality of arc-shaped marking lines are arranged in one-to-one correspondence with the plurality of visible light emitters.

[0014] According to a second aspect of the present application, a gun changing plate is provided, comprising a robot end, a tool end, and an auxiliary alignment structure for debugging the robot gun changing plate as described in any technical solution in the first aspect of the present application.

[0015] Optionally, the bottom surface of the robot end is inwardly recessed to form a mounting groove for mounting the visible light emitter, and the bottom surface of the visible light emitter is flush with the bottom surface of the robot end.

[0016] Beneficial effects:

[0017] 1. Through the above technical scheme, firstly, since the visible light emitter of the present application can emit arc-shaped visible light to the tool end, the debugging personnel can adjust the position of the robot end by observing the corresponding state of the arc-shaped visible light and the arc-shaped marking line set on the tool end, so that the position of the robot end and the tool end can be accurately corresponded very quickly and accurately (that is, the robot end and the tool end are coaxial), and then the debugging docking of the robot end and the tool end can be realized quickly and accurately.

[0018] Secondly, the technical solution of the present application only requires the installation of a visible light emitter on the robot end and a corresponding arc-shaped marking line on the tool end. The operation is simple, the cost is low, and it is very easy to implement through a simple modification of the existing gun-changing plate structure.

[0019] Among them, the most important thing is that the visible light emitter of the present application emits a segment of arc-shaped visible light to the tool end, which can accurately ensure that the robot end and the tool end are docked in a unique and determined posture. As for straight or point-shaped visible light, when it reaches a corresponding state with the arc-shaped marking line on the tool end, the robot end and the tool end may also have other corresponding postures. In other words, the present application can reliably ensure that the tool end and the robot end are docked in a unique and determined posture through the visible light emitter and arc-shaped marking line set in this way, and can effectively ensure the accuracy and reliability of the docking between the robot end and the tool end.

[0020] 2. Other beneficial effects or advantages of the present application will be described in detail in conjunction with the specific structure in the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor. In addition, it should be understood that the proportional relationship of the various components in the drawings of this specification does not represent the proportional relationship in the actual material selection and design, which is only a schematic diagram of the structure or position, where:

[0022] Figure 1 It is a three-dimensional structural schematic diagram of a gun changing tray provided by an exemplary embodiment of the present application from one perspective;

[0023] Figure 2 is a schematic diagram of a three-dimensional structure of a gun changing plate from another perspective provided by an exemplary embodiment of the present application;

[0024] Figure 3 It is a schematic diagram of the arrangement of an image acquisition device, an image recognition module, a signal output module and an image display device provided by an exemplary embodiment of the present application.

[0025] Description of the reference numerals in the accompanying drawings:

[0026] 100-gun changing plate; 101-robot end; 102-tool end; 1021-positioning pin socket; 1-visible light emitter; 2-arc-shaped marking line; 3-image acquisition device; 4-image recognition module; 5-signal output module; 6-image display device. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0029] In the description of this application, it should be noted that the terms used, such as "top surface" and "bottom surface", refer to the auxiliary alignment structure for debugging the robot gun changing plate of this application, which faces upward when in use as the top surface, and faces downward as the bottom surface; the terms used, such as "first" and "second", are only used to distinguish expressions, and do not indicate or imply that they have differences in importance or order; the terms used, such as "inside" and "outside", refer to the inside and outside of a specific contour. The use of the above terms is only to facilitate a clear and simple description of the technical solution of this application, and cannot be understood as a limitation on this application.

[0030] In order to facilitate relevant technical personnel to have a clearer and more accurate understanding of the technical solution of the present application, the technical problems existing in the existing gun changing plate are explained below by taking the welding device of an automatic welding workshop as an example.

[0031] Taking the welding equipment in an automatic welding workshop as an example, since a certain product may involve the use of different welding gun heads (for example, gooseneck welding guns, pistol welding guns and automatic welding guns), by setting the robot end of the gun changing tray on the robot operating arm and setting the tool end of the gun changing tray on different welding gun heads, the replacement operation of different welding gun heads can be completed in a very short time, which can effectively improve the utilization rate and production efficiency of the robot.

[0032] After the construction of the automatic welding workshop is completed, that is, after the above-mentioned related structures and equipment are installed in place, manual debugging work is required. In the current debugging process, the robot end and different tool ends are generally manually docked through manual observation to achieve manual debugging.

[0033] However, due to the high difficulty of manual operation and the high operating experience required of the debugging personnel, it is difficult for ordinary operators to ensure the accuracy of the docking between the robot end and different tool ends during the debugging process, and multiple dockings are often required, which greatly affects the efficiency of debugging. Moreover, due to inaccurate docking, the robot end and the tool end may collide with each other, which may cause damage to the robot end or the tool end.

[0034] In view of this, the present application provides a new solution, namely, an auxiliary alignment structure for debugging the robot's gun changing plate. Through this auxiliary alignment structure, ordinary operators can quickly and accurately perform manual debugging and docking, which can not only effectively ensure the debugging efficiency, but also effectively avoid possible damage to the robot end and the tool end during the debugging process.

[0035] The technical solution of the present application is described in detail below with reference to the accompanying drawings.

[0036] Example 1

[0037] like Figures 1 to 3 As shown, according to the first aspect of the present application, this embodiment provides an auxiliary alignment structure for debugging a robot gun changing plate, including a visible light emitter 1 for being set on a robot end 101 and an arc-shaped marking line 2 for being set on a tool end 102, the visible light emitter 1 is used to emit arc-shaped visible light to the tool end 102, and the arc-shaped marking line 2 and the visible light emitter 1 are configured so that when the robot end 101 is coaxial with the tool end 102, the arc-shaped marking line 2 at least partially overlaps with the arc-shaped visible light.

[0038] Through the above technical scheme, firstly, since the visible light emitter 1 of the present application can emit arc-shaped visible light to the tool end 102, the debugging personnel can adjust the position of the robot end 101 by observing the corresponding state of the arc-shaped visible light and the arc-shaped marking line 2 set on the tool end 102, so that the positions of the robot end 101 and the tool end 102 can be accurately corresponded (that is, the robot end 101 and the tool end 102 are coaxial) very quickly and accurately, and then the debugging and docking of the robot end 101 and the tool end 102 can be realized quickly and accurately.

[0039] Secondly, the technical solution of the present application only requires the installation of a visible light emitter 1 on the robot end 101 and a corresponding arc-shaped marking line 2 on the tool end 102. The operation is simple, the cost is low, and it is very easy to implement by simply modifying the existing gun changing plate 100 structure.

[0040] Among them, the most important thing is that the visible light emitter 1 of the present application emits a segment of arc-shaped visible light to the tool end 102, which can accurately ensure that the robot end 101 and the tool end 102 are docked in a unique and determined posture. As for the straight line or point-shaped visible light, when it reaches a corresponding state with the arc-shaped marking line 2 on the tool end 102, the robot end 101 and the tool end 102 may also have other corresponding postures. In other words, the present application can reliably ensure that the tool end 102 and the robot end 101 are docked in a unique and determined posture through the visible light emitter 1 and the arc-shaped marking line 2 set in this way, and can effectively ensure the accuracy and reliability of the docking between the robot end 101 and the tool end 102.

[0041] In the above technical solution, it can be understood that

[0042] First, the visible light emitter 1 of the present application can emit visible light of any color that is easy to observe, such as red, green, blue, etc., and the present application does not make any specific limitation on this.

[0043] Second, the arc-shaped marking line 2 of the present application can be drawn separately (for example, drawn directly on the tool end 102 using paint or other materials), or can be directly formed on the tool end 102 (for example, when manufacturing the tool end 102, the arc-shaped marking line 2 with clear boundaries is formed at the same time), or can be directly processed on the tool end 102 (for example, the arc-shaped marking line 2 is carved out on the formed tool end 102 using a tool alone), and the present application does not make specific restrictions on this.

[0044] The working principle / working process of the present application can be as follows: when manual debugging of the gun changing plate 100 is required, the robot end 101 can be first moved to approximately above the tool end 102, and then the visible light emitter 1 is turned on. The operator observes the irradiation of visible light at the arc-shaped marking line 2 on the tool end 102, and fine-tunes the position of the robot end 101 until the arc-shaped visible light emitted by the visible light emitter 1 corresponds to the arc-shaped marking line 2. Then, the robot end 101 can be controlled to move vertically downward to dock with the tool end 102.

[0045] In one embodiment of the present application, Figure 1 As shown, the circle corresponding to the arc-shaped marking line 2 of the present application can pass through the positioning pin insertion hole 1021 on the tool end 102. In this way, the arc-shaped marking line 2 set in this way is closer to the outside and larger, which is convenient for operators to observe from a safe distance. At the same time, the existing gun changing tray 100 (including the tool end 102 and the robot end 101) generally has a large free area here, so as to facilitate the setting of the arc-shaped marking line 2 and the corresponding visible light emitter 1.

[0046] In one embodiment of the present application, the central angle β corresponding to the arc-shaped marking line 2 of the present application can satisfy: 10°≤β≤30°. In this way, the arc-shaped marking line 2 set in this way not only has a more obvious curvature, which is convenient for operators to observe and judge, but also has a shorter arc length, so as to be set on the existing gun-changing tray 100 (the tool end 102 of the existing gun-changing tray 100 has a certain idle area at the circumference corresponding to the positioning pin insertion hole 1021, which can facilitate the setting of the arc-shaped marking line 2. At the same time, the robot end 101 of the existing gun-changing tray 100 also has a certain idle area at the circumference corresponding to the positioning pin, which can facilitate the setting of the visible light emitter 1). Among them, for the lower limit value, that is, when β is set to 10°, it can ensure that the arc-shaped marking line 2 has a more obvious curvature, and it can also effectively achieve the shortest arc length of the arc-shaped marking line 2, so that it can be applicable to most existing gun-changing trays 100. For the upper limit value, that is, when β is set to 30°, it can ensure that the arc length of the arc-shaped marking line 2 is the longest and can also effectively make the curvature of the arc-shaped marking line 2 more obvious for easy observation by operators.

[0047] In one embodiment of the present application, Figures 1 to 3 As shown, the auxiliary alignment structure for debugging the robot gun changing plate of the present application can also include an image acquisition device 3, an image recognition module 4 and a signal output module 5, the image acquisition device 3 is used to acquire the image of the arc-shaped marking line 2, the image recognition module 4 is used to recognize the image of the arc-shaped marking line 2 when it is irradiated with arc-shaped visible light, and the signal output module 5 is used to output corresponding control information according to the recognition result of the image recognition module 4.

[0048] Thus, through this implementation, the manual debugging operation can be assisted by the image recognition module 4 and the signal output module 5, so as to improve the accuracy and speed of the manual debugging operation. Among them, the image recognition module 4 determines the docking state at this time by recognizing the image of the arc-shaped marking line 2 when it is illuminated by the arc-shaped visible light, and the signal output module 5 can output the control information required for debugging to accurate docking according to the docking state at this time.

[0049] It is understandable that, since the corresponding image recognition algorithm is widely used in the art, it will not be described in detail in this application.

[0050] In one embodiment of the present application, Figure 1 and Figure 2 As shown, the image acquisition device 3 of the present application is used to be arranged on the side of the robot end 101 close to the visible light emitter 1. In this way, through the image acquisition device 3 arranged in this way, the image acquisition at the arc-shaped marking line 2 can be realized more accurately and conveniently.

[0051] In one embodiment of the present application, Figure 3 As shown, the auxiliary alignment structure for debugging the robot gun changing plate of the present application may also include an image display device 6, which is used to display the real-time image collected by the image acquisition device 3. In this way, the operator can manually perform the debugging operation through the real-time image displayed by the display device at a safe distance, which is not only conducive to ensuring the safety of the operator, but also conducive to improving the convenience of the debugging operation.

[0052] It can be understood that, in the present application, the arc-shaped marking line 2 of the present application may not completely overlap with the visible light emitter 1. For example, the visible light emitted by the visible light emitter 1 may be slightly larger than the range of the arc-shaped marking line 2 (for example, the curvature of the arc-shaped visible light is larger than the curvature of the arc-shaped marking line 2, and when the arc-shaped visible light is irradiated on the tool end 102, one end of the arc-shaped visible light is aligned with one end of the arc-shaped marking line), or slightly smaller than the range of the arc-shaped marking line 2 (for example, the curvature of the arc-shaped visible light is smaller than the curvature of the arc-shaped marking line 2, and when the arc-shaped visible light is irradiated on the tool end 102, one end of the arc-shaped visible light is aligned with one end of the arc-shaped marking line).

[0053] Of course, the arc-shaped marking line 2 of the present application may also completely overlap with the visible light emitter 1. For example, in one embodiment of the present application, the arc-shaped marking line 2 and the visible light emitter 1 of the present application are configured so that when the robot end 101 and the tool end 102 are coaxial, the arc-shaped marking line 2 completely overlaps with the arc-shaped visible light.

[0054] If the existing gun changing tray 100 has a smaller setting space, for example, the tool end 102 has a smaller setting space for the arc-shaped marking line 2, or the robot end 101 has a smaller setting space for the visible light emitter 1, the size of the visible light emitter 1 and the arc-shaped marking line 2 can be set smaller to adapt to the gun changing tray 100. However, since the size of the arc-shaped marking line 2 is set smaller, it may be difficult for the operator to accurately judge the correspondence between the arc-shaped visible light and the arc-shaped marking line 2.

[0055] In view of this, in one embodiment of the present application, the visible light emitter 1 of the present application can be set to be multiple, and the multiple visible light emitters 1 are arranged at intervals around the robot end 101, and the arc-shaped marking lines 2 are set to be multiple (it can be understood that), and the multiple arc-shaped marking lines 2 are arranged in a one-to-one correspondence with the multiple visible light emitters 1. In this way, through the multiple visible light emitters 1 and the arc-shaped marking lines 2, it is convenient for the operator to quickly and accurately determine the corresponding status of the arc-shaped visible light and the arc-shaped marking lines 2.

[0056] Taking a specific implementation as an example, for example, if a certain tool end 102 is provided with more docking interfaces, the gaps between the multiple docking joints will be smaller, making it difficult to set longer marking lines. In this case, shorter marking lines can be set between the multiple docking joints to facilitate the operator to observe quickly and accurately.

[0057] According to the second aspect of the present application, Figures 1 to 3 As shown, the present application further provides a gun changing plate 100, comprising a robot end 101, a tool end 102, and an auxiliary alignment structure for debugging a robot gun changing plate as in any technical solution in the first aspect of the present application.

[0058] In this way, through the gun changing plate 100 of the present application, ordinary operators can quickly and accurately perform manual debugging and docking, which can not only effectively ensure the debugging efficiency, but also effectively avoid possible damage to the robot end 101 and the tool end 102 during the debugging process.

[0059] In one embodiment of the present application, the bottom surface of the robot end 101 of the present application is recessed inward to form a mounting groove for mounting the visible light emitter 1 , and the bottom surface of the visible light emitter 1 is flush with the bottom surface of the robot end 101 .

[0060] In this way, through the installation groove set in this way, not only can the installation of the visible light emitter 1 be completed effectively and reliably, but also the visible light emitter 1 can be effectively prevented from interfering with the docking process between the robot end 101 and the tool end 102.

[0061] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An auxiliary alignment structure for debugging a robot gun changer, characterized in that: The invention comprises a visible light emitter (1) for being arranged on a robot end (101) and an arc-shaped marking line (2) for being arranged on a tool end (102), wherein the visible light emitter (1) is used to emit arc-shaped visible light to the tool end (102), and the arc-shaped marking line (2) and the visible light emitter (1) are configured such that when the robot end (101) and the tool end (102) are coaxial, the arc-shaped marking line (2) and the arc-shaped visible light at least partially overlap.

2. The auxiliary alignment structure for debugging a robot gun changing plate according to claim 1, characterized in that: The circle corresponding to the arc-shaped marking line (2) passes through the positioning pin insertion hole (1021) on the tool end (102).

3. The auxiliary alignment structure for debugging a gun changing plate of a robot according to claim 2, characterized in that: The central angle β corresponding to the arc-shaped marking line (2) satisfies: 10°≤β≤30°.

4. The auxiliary alignment structure for debugging a gun changing plate of a robot according to claim 1, characterized in that: The auxiliary alignment structure for debugging a robot gun changing plate further comprises an image acquisition device (3), an image recognition module (4) and a signal output module (5); the image acquisition device (3) is used to acquire an image of the arc-shaped marking line; the image recognition module (4) is used to recognize an image of the arc-shaped marking line when it is irradiated by arc-shaped visible light; and the signal output module (5) is used to output corresponding control information according to a recognition result of the image recognition module (4).

5. The auxiliary alignment structure for debugging a gun changing plate of a robot according to claim 4, characterized in that: The image acquisition device (3) is used to be arranged on the side of the robot end (101) close to the visible light emitter (1).

6. The auxiliary alignment structure for debugging a gun-changing plate of a robot according to claim 4, characterized in that: The auxiliary alignment structure for debugging the robot gun changing plate also includes an image display device (6), and the image display device (6) is used to display the real-time image collected by the image collection device (3).

7. The auxiliary alignment structure for debugging a gun-changing plate of a robot according to claim 1, characterized in that: The arc-shaped marking line (2) and the visible light emitter (1) are configured so that when the robot end (101) and the tool end (102) are coaxial, the arc-shaped marking line (2) and the arc-shaped visible light completely overlap.

8. The auxiliary alignment structure for debugging a gun changing plate of a robot according to any one of claims 1 to 7, characterized in that: The plurality of visible light emitters (1) are arranged at circumferential intervals around the robot end (101); the plurality of arc-shaped marking lines (2) are arranged in a one-to-one correspondence with the plurality of visible light emitters (1).

9. A gun changing tray, characterized in that: It comprises a robot end (101), a tool end (102), and an auxiliary alignment structure for debugging a robot gun changing plate as claimed in any one of claims 1 to 8.

10. The gun changing tray according to claim 9, characterized in that: The bottom surface of the robot end (101) is inwardly recessed to form a mounting groove for mounting the visible light emitter (1), and the bottom surface of the visible light emitter (1) is flush with the bottom surface of the robot end (101).

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