Workpiece positioning system for skip car

Abstract

The utility model relates to a skip car workpiece positioning system which comprises a storage location and a skip car used for bearing workpieces, the skip car can go in and out of the storage location, the front side of the storage location is a workpiece taking side of the storage location, a limiting mechanism used for positioning the skip car is arranged at the storage location, and the skip car workpiece positioning system further comprises at least one visual recognition device. The visual recognition device is arranged on the workpiece taking side and comprises an industrial camera used for recognizing the position of a workpiece on the skip car and a driving electric cylinder used for driving the industrial camera to move front and back, and the industrial camera is connected with a driving sliding block of the driving electric cylinder. The position of the industrial camera can be adjusted according to the position of a workpiece to be grabbed, it is guaranteed that pictures shot by the industrial camera are clear, the industrial camera and the driving electric cylinder are matched to accurately guide the position of the workpiece of any vehicle type, and a robot is guided to quickly and accurately find the position of the workpiece; and the workpiece is prevented from being damaged during grabbing, and the flexibility degree of automobile production is improved.

Description

Technical Field

[0001] The utility model relates to a material car workpiece positioning system, belonging to the technical field of workpiece positioning. Background Art

[0002] With the increasing automation and flexibility of automobile production, there are more and more cases of mixed production lines for multiple models. On the one hand, mixed production lines for multiple models can make rational use of production space, and on the other hand, it will also plan for multiple models to share supporting ancillary equipment, which can reduce the number of supporting ancillary equipment and reduce equipment costs.

[0003] For example, it is common for multiple car models to share one storage space. The workpiece is placed on the car, which is manually pushed to the storage space, and then the robot grabs the workpiece on the car. Because one storage space is suitable for multiple car models, and the position repeatability of the car is poor when the car is manually pushed into the storage space, when the robot grabs the workpiece from the car in the storage space, the position deviation of the car often causes the robot to grab the workpiece inaccurately, resulting in collision or damage to the workpiece. Summary of the invention

[0004] The utility model aims at the deficiencies in the prior art and provides a material cart workpiece positioning system.

[0005] The utility model provides a technical solution to the above-mentioned technical problems as follows: a material cart workpiece positioning system, comprising a storage location and a material cart for carrying workpieces, the material cart being able to enter and exit the storage location, the front side of the storage location being the picking side of the storage location, the storage location being provided with a limiting mechanism for positioning the material cart, and further comprising at least one visual recognition device, the visual recognition device being arranged on the picking side of the storage location, the visual recognition device comprising an industrial camera for identifying the position of the workpiece on the material cart and a driving electric cylinder for driving the industrial camera to move forward and backward, the industrial camera being connected to a driving slider of the driving electric cylinder.

[0006] The beneficial effect of the utility model is that after the material cart carrying the workpiece is in place at the storage location, the industrial camera on the front side of the storage location can automatically identify the precise position of the workpiece on the material cart, and the robot can accurately grab the workpiece and transfer it to other equipment under the guidance of the visual recognition device. The industrial camera is installed on the driving electric cylinder, and the position of the industrial camera can be adjusted. The position of the industrial camera can be adjusted according to the position of the workpiece to be grabbed, so that the industrial camera can maintain a suitable or even optimal working distance from the workpiece to take pictures and identify it, ensuring that the pictures taken by the industrial camera are clear, avoiding the situation where the characteristics of the workpiece cannot be clearly identified due to the distance exceeding the distance of the clear picture taken by the industrial camera, resulting in inaccurate grasping position of the robot's manipulator, the industrial camera and the driving electric cylinder can accurately guide the position of the workpiece of any vehicle model, guide the robot to quickly and accurately find the position of the workpiece, avoid damage to the workpiece during grasping, and improve the flexibility of automobile production.

[0007] On the basis of the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, the material cart includes a frame and a workpiece positioning assembly arranged on the frame for carrying the workpiece, casters are arranged at the bottom of the frame, and a push handle is arranged on the frame.

[0009] The beneficial effect of adopting the above further scheme is that the push handle makes it convenient to push the material cart manually, and the casters can assist the material cart to move forward when pushing the material cart, thereby reducing labor intensity, and the part positioning assembly can realize the support and positioning of the workpiece. The workpieces can be placed in batches through the part positioning assembly to ensure the positioning accuracy of the workpieces on the material cart.

[0010] Furthermore, the workpiece positioning assembly includes a hanger, a plurality of hanger rods and a support rod arranged on the hanger, the lower part of the hanger is connected to the frame, and the hanger rods and the support rods are provided with positioning grooves for positioning the workpiece.

[0011] The beneficial effect of adopting the above further scheme is that workpieces such as car door knockers can be hung on the hanging rod and supported by the support rod to ensure that the workpiece is stably placed on the material cart. This not only facilitates the placement of the workpiece on the material cart, but also facilitates the subsequent robot to pick up the workpiece; the positioning groove can ensure the distance between adjacent workpieces to avoid collisions between adjacent workpieces due to being too close.

[0012] Furthermore, a pair of storage space guards are provided at the storage space, the left side of the storage space is the entrance and exit side for the material vehicle to enter and exit, the limiting mechanism includes a fixed limiting buffer mechanism, the fixed limiting buffer mechanism includes a fixed limiting buffer block, and the fixed limiting buffer block is arranged on the right side of the storage space.

[0013] The beneficial effect of adopting the above further scheme is that after the trolley carrying the workpiece enters the storage location from the left entrance and exit side and moves forward until the trolley frame hits the fixed limit buffer block, the trolley is in place at the storage location, ensuring the accuracy of the trolley in place at the storage location.

[0014] Furthermore, the limiting mechanism also includes a movable limiting mechanism, which includes a movable limiting block and a clamping cylinder for driving the movable limiting block to move. The trolley is stably positioned under the action of the fixed limiting buffer block and the movable limiting block.

[0015] The beneficial effect of adopting the above further scheme is that a movable limit block is also provided, that is, after the outer side of the frame of the material cart touches the fixed limit buffer block, the clamping cylinder is actuated, and the movable limit block can act on the frame from the inner side of the frame. The cooperation of the two further ensures the accuracy of the material cart in place and the positioning stability of the material cart when grabbing the workpiece. Under the action of the fixed limit buffer block and the movable limit block, the material cart can be stably positioned in the storage position waiting for the robot's manipulator to grab the workpiece. The connection between the movable limit block and the clamping cylinder can be specifically that the movable limit block is installed on the pressure arm, and the pressure arm is provided with a pressure arm shaft, and the pressure arm shaft is rotatably arranged on the shell, and the shell is installed on the cylinder body of the clamping cylinder. The piston rod of the clamping cylinder is connected to the pressure arm shaft through the connecting block. The pressure arm shaft can rotate under the telescopic action of the clamping cylinder, and the pressure arm rotates accordingly. The movable limit block can rotate the clamping frame or rotate to release the frame to avoid interfering with the entry and exit of the material cart.

[0016] Furthermore, a pair of storage location ribs form a conical guide structure on the inlet and outlet sides.

[0017] The beneficial effect of adopting the above further solution is that the cone-shaped guide structure with a trumpet shape at the inlet and outlet positions of the storage space retaining edge can roughly guide the material vehicle that is about to enter the storage space.

[0018] Furthermore, the storage location is also provided with side guide wheels and support wheels for guiding and supporting the frame of the material cart, and the side guide wheels and support wheels are respectively arranged on the bottom plate through the wheel frame.

[0019] The beneficial effect of adopting the above further scheme is that the supporting wheels are supported at the bottom of the frame, and the side guide wheels can act on the front and rear sides of the frame, thereby playing a guiding and supporting role for the material cart entering the storage location, thereby improving the positioning accuracy and stability of the material cart in the storage location, and the contact between the wheel and the frame is rolling friction with little noise.

[0020] Furthermore, an adjustment plate is provided on the bottom plate, and the wheel frames of the side guide wheels and the supporting wheels are arranged on the adjustment plate.

[0021] The beneficial effect of adopting the above further scheme is that the side guide wheels and the support wheels are all installed on the adjustment plate, which further improves the positioning accuracy of the material car. Specifically, the adjustment plate is installed on the base plate by adjusting bolts.

[0022] Furthermore, the cylinder body of the driving electric cylinder is installed on the material taking side of the storage location through a bottom bracket.

[0023] The beneficial effect of adopting the above further solution is that a suitable height of the bottom bracket can be selected according to the height of the workpiece, so that the industrial camera can clearly capture the features of the workpiece.

[0024] Furthermore, the industrial camera is connected to the driving slider via a connecting bracket.

[0025] The beneficial effect of adopting the above further solution is that the industrial camera can be installed on the driving electric cylinder by connecting the bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of the utility model;

[0027] Figure 2 This is a schematic diagram of the visual recognition device and storage location structure of the utility model;

[0028] Figure 3 It is a structural schematic diagram of the material car of the utility model;

[0029] In the figure, 1. storage position; 101. storage position side guard; 102. bottom plate; 103. leveling plate; 104. side guide wheel; 105. support wheel; 106. fixed limit buffer block; 107. movable limit block; 108. clamping cylinder; 109. pressing arm; 2. material cart; 201. frame; 202. casters; 203. push handle; 204. hanging rack; 205. hanging rod; 206. support rod; 207. positioning slot; 3. industrial camera; 4. driving electric cylinder; 5. bottom bracket; 6. connecting bracket; 7. workpiece. DETAILED DESCRIPTION

[0030] The principles and features of the present invention are described below in conjunction with examples. The examples are only used to explain the present invention and are not used to limit the scope of the present invention.

[0031] like Figure 1-Figure 3 As shown, a material cart workpiece positioning system includes a storage location 1 and a material cart 2 for carrying a workpiece 7, the material cart 2 can enter and exit the storage location 1, the front side of the storage location 1 is the picking side of the storage location 1, the storage location 1 is provided with a limiting mechanism for positioning the material cart 2, and also includes at least one visual recognition device, the visual recognition device is arranged on the picking side of the storage location 1, the visual recognition device includes an industrial camera 3 for identifying the position of the workpiece 7 on the material cart 2 and a driving electric cylinder 4 for driving the industrial camera 3 to move forward and backward, and the industrial camera 3 is connected to the driving slider of the driving electric cylinder 4.

[0032] The material cart 2 includes a frame 201 and a positioning assembly for carrying the workpiece 7, which is arranged on the frame 201. A caster 202 is arranged at the bottom of the frame 201, and a push handle 203 is arranged on the frame 201. The push handle 203 facilitates manual pushing of the material cart 2. When pushing the material cart 2, the caster 202 can assist the material cart 2 to move forward, reducing labor intensity. The positioning assembly can realize the support and positioning of the workpiece 7. The workpiece 7 can be placed in batches through the positioning assembly to ensure the positioning accuracy of the workpiece 7 on the material cart 2.

[0033] The workpiece positioning assembly includes a hanger 204, a plurality of hanging rods 205 and a support rod 206 arranged on the hanger 204, the lower part of the hanger 204 is connected to the frame 201, and the hanging rods 205 and the support rods 206 are provided with positioning grooves 207 for positioning the workpiece 7. The workpiece 7, such as a car door knocker, can be hung on the hanging rod 205, and supported by the support rod 206 to ensure that the workpiece 7 is stably placed on the material cart 2, which is not only convenient for placing the workpiece 7 on the material cart 2, but also convenient for the subsequent robot to take the workpiece; the positioning groove 207 can ensure the distance between adjacent workpieces 7, and avoid collision between adjacent workpieces 7 due to being too close.

[0034] A pair of storage position retaining edges 101 are provided at the storage position 1, and the left side of the storage position 1 is the inlet and outlet side for the material cart 2 to enter and exit. The limiting mechanism includes a fixed limiting buffer mechanism, and the fixed limiting buffer mechanism includes a fixed limiting buffer block 106, and the fixed limiting buffer block 106 is arranged on the right side of the storage position 1. After the material cart 2 carrying the workpiece 7 enters the storage position 1 from the left inlet and outlet side and moves forward until the frame 201 of the material cart 2 hits the fixed limiting buffer block 106, the material cart 2 of the storage position 1 is in place, ensuring the accuracy of the material cart 2 in the storage position 1.

[0035] The limiting mechanism also includes a movable limiting mechanism, which includes a movable limiting block 107 and a clamping cylinder 108 for driving the movable limiting block 107 to move. The material cart 2 is stably positioned under the action of the fixed limiting buffer block 106 and the movable limiting block 107. The movable limiting block 107 is also provided, that is, after the outer side of the frame 201 of the material cart 2 touches the fixed limiting buffer block 106, the clamping cylinder 108 is actuated, and the movable limiting block 107 can act on the frame 201 from the inner side of the frame 201. The cooperation of the two further ensures the positioning accuracy of the material cart 2 and the positioning stability of the material cart 2 when grabbing the workpiece 7. The material cart 2 can be stably positioned in the storage position 1 under the action of the fixed limiting buffer block 106 and the movable limiting block 107, waiting for the robot's manipulator to grab the workpiece 7. The connection between the movable limit block 107 and the clamping cylinder 108 can be specifically that the movable limit block 107 is installed on the clamping arm 109, and the clamping arm 109 is provided with a clamping arm 109 shaft, and the clamping arm 109 shaft is rotatably set on the shell, and the shell is installed on the cylinder body of the clamping cylinder 108. The piston rod of the clamping cylinder 108 is connected with the clamping arm 109 shaft through a connecting block. The clamping arm 109 shaft can rotate under the telescopic action of the clamping cylinder 108, and the clamping arm 109 rotates accordingly. The movable limit block 107 can rotate the clamping frame 201 or rotate and release the frame 201 to avoid interfering with the entry and exit of the material cart 2.

[0036] A pair of the storage position ribs 101 form a conical guide structure at the inlet and outlet sides. The conical guide structure at the inlet and outlet positions of the storage position ribs 101 is flared and can roughly guide the material vehicle 2 that is about to enter the storage position 1.

[0037] The storage location 1 is also provided with a side guide wheel 104 and a support wheel 105 for guiding and supporting the frame 201 of the material cart 2. The side guide wheel 104 and the support wheel 105 are respectively arranged on the bottom plate 102 through the wheel frame. The support wheel 105 is supported at the bottom of the frame 201, and the side guide wheel 104 can act on the front and rear sides of the frame 201, and play a guiding and supporting role for the material cart 2 entering the storage location 1, thereby improving the positioning accuracy and stability of the material cart 2 in the storage location 1, and the contact between the wheel and the frame 201 is rolling friction with low noise.

[0038] The bottom plate 102 is also provided with an adjustment plate 103, and the wheel frames of the side guide wheels 104 and the support wheels 105 are arranged on the adjustment plate 103. The side guide wheels 104 and the support wheels 105 are both installed on the adjustment plate 103 to further improve the positioning accuracy of the material vehicle 2. Specifically, the adjustment plate 103 is installed on the bottom plate 102 by adjusting bolts.

[0039] The cylinder body of the driving electric cylinder 4 is installed on the material-retrieving side of the storage location 1 through the bottom bracket 5. The height of the bottom bracket 5 can be selected appropriately according to the height of the workpiece 7, so that the industrial camera 3 can clearly capture the features of the workpiece 7.

[0040] The industrial camera 3 is connected to the driving slide block via a connecting bracket 6. The industrial camera 3 is installed on the driving electric cylinder 4 via the connecting bracket 6.

[0041] The recognition distance of the industrial camera 3 is within a certain range. For example, pictures taken within 2 meters are clear. However, when the industrial camera 3 is more than 2 meters away from the workpiece 7, the pictures may be blurred, which will have a certain impact on the accuracy of the position recognition of the workpiece 7. Therefore, the position of the industrial camera 3 can be adjusted by driving the electric cylinder 4 to accurately identify the position of the next workpiece 7 so that the robot can accurately grasp the workpiece 7.

[0042] When grabbing the parts, the driving electric cylinder 4 is in the initial position, the industrial camera 3 locks the precise position of workpiece 1, and the robot picks up the parts at the locked position. After that, the driving electric cylinder 4 can move along the sliding direction to lock the precise position of workpiece 7 2. The robot picks up workpiece 2 at the locked position, and so on. The workpiece 7 on the material cart 2 is transferred under the joint guidance of the industrial camera 3 and the driving electric cylinder 4. When the robot picks up the parts, in order to avoid the industrial camera interfering with the robot's industrial camera, the driving electric cylinder can also be used to move the industrial camera forward. In short, the cooperation of the industrial camera 3 and the driving electric cylinder 4 can accurately guide the position of the workpiece 7 of any vehicle model, guide the robot to quickly and accurately find the precise position of the workpiece 7, avoid damage to the workpiece 7 during grabbing, and improve the flexibility of automobile production.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A workpiece positioning system for a feeder, characterized in that: The invention comprises a storage location (1) and a material cart (2) for carrying a workpiece (7), wherein the material cart (2) can enter and exit the storage location (1), wherein the front side of the storage location (1) is a side for picking up workpieces of the storage location (1), wherein a limiting mechanism for positioning the material cart (2) is provided at the storage location (1), and further comprises at least one visual recognition device, wherein the visual recognition device is arranged on the side for picking up workpieces of the storage location (1), wherein the visual recognition device comprises an industrial camera (3) for identifying the position of the workpiece (7) on the material cart (2) and a driving electric cylinder (4) for driving the industrial camera (3) to move forward and backward, wherein the industrial camera (3) is connected to a driving slider of the driving electric cylinder (4).

2. The workpiece positioning system of the feeder according to claim 1, characterized in that: The material cart (2) comprises a frame (201) and a workpiece positioning assembly arranged on the frame (201) for carrying a workpiece (7); casters (202) are arranged at the bottom of the frame (201); and a push handle (203) is arranged on the frame (201).

3. The workpiece positioning system of the feeder according to claim 2, characterized in that: The workpiece positioning assembly comprises a hanger (204), a plurality of hanger rods (205) and a support rod (206) arranged on the hanger (204); the lower part of the hanger (204) is connected to the vehicle frame (201); and the hanger rods (205) and the support rods (206) are provided with positioning grooves (207) for positioning the workpiece (7).

4. The workpiece positioning system for a feeder according to claim 1, 2 or 3, characterized in that: A pair of storage space retaining edges (101) are provided at the storage space (1); the left side of the storage space (1) is an inlet and outlet side for the material vehicle (2) to enter and exit; the limiting mechanism comprises a fixed limiting buffer mechanism; the fixed limiting buffer mechanism comprises a fixed limiting buffer block (106); and the fixed limiting buffer block (106) is arranged on the right side of the storage space (1).

5. The workpiece positioning system for a feeder according to claim 4, characterized in that: The limiting mechanism also includes a movable limiting mechanism, which includes a movable limiting block (107) and a clamping cylinder (108) for driving the movable limiting block (107) to move. The trolley (2) is stably positioned under the action of the fixed limiting buffer block (106) and the movable limiting block (107).

6. The workpiece positioning system for a feeder vehicle according to claim 4, characterized in that: A pair of storage location ribs (101) form a conical guide structure on the inlet and outlet sides.

7. The workpiece positioning system for a feeder vehicle according to claim 1, 2 or 3, characterized in that: The storage location (1) is also provided with side guide wheels (104) and support wheels (105) for guiding and supporting the frame (201) of the material vehicle (2); the side guide wheels (104) and support wheels (105) are respectively arranged on the bottom plate (102) through wheel frames.

8. The workpiece positioning system of the skip according to claim 7, characterized in that: The bottom plate (102) is also provided with an adjustment plate (103), and the wheel frames of the side guide wheels (104) and the support wheels (105) are arranged on the adjustment plate (103).

9. The workpiece positioning system for a feeder vehicle according to claim 1, 2 or 3, characterized in that: The cylinder body of the driving electric cylinder (4) is installed on the material taking side of the storage location (1) through a bottom bracket (5).

10. The workpiece positioning system of a skip according to claim 1, 2 or 3, characterized in that: The industrial camera (3) is connected to the driving slider via a connecting bracket (6).

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