Robot carrying instrument assembly equipment based on visual cooperation

Abstract

The utility model provides robot carrying instrument assembly equipment based on visual cooperation, and relates to the technical field of automobile assembly. Comprising a visual identification system and a carrying system, the carrying system comprises a six-axis mechanical arm and a gripper mechanism arranged at the front end of the six-axis mechanical arm, and the gripper mechanism comprises a cross beam, fixed arms symmetrically and fixedly connected to the two ends of the cross beam, movable arms slidably arranged on the two sides of the cross beam and a stand column; the visual recognition system comprises a rack, sliding rails symmetrically and fixedly connected to the upper side and the lower side of the rack, sliding tables arranged on the sliding rails in a sliding mode, a camera support fixedly connected between the sliding tables and a recognition camera installed on the camera support. According to the utility model, the problem that the instrument panel assembly is damaged due to misoperation because a worker needs to operate a power-assisted mechanical arm to carry the instrument panel assembly when the instrument panel assembly is carried is solved.

Description

Technical Field

[0001] The utility model provides a robot handling instrument assembly device based on vision cooperation, which relates to the technical field of automobile assembly. Background Technique

[0002] The automobile instrument panel assembly, usually called the instrument panel or dashboard, is a key component in an automobile. It generally includes the following main functions and components: instruments, warning lights, display screens, control switches, decorative panels, and sensor interfaces. The design and functions of the assembly will vary with different vehicle models and manufacturers, but the above functions are basically common to all automobile instrument panel assemblies.

[0003] In the automobile general assembly workshop, after the general assembly is completed, the instrument panel assembly will be placed on the conveying roller track. Due to different configurations, instrument panels with different configurations are often placed in different bins on the roller track. Since the volume of the instrument panel assembly is too large, the current situation is that employees operate the assisting robotic arm for handling operations, and due to operation errors, the instrument panel may be damaged. For this reason, we propose a robot handling instrument assembly device based on vision cooperation. Content of the Utility Model

[0004] The technical problem to be solved by the utility model is the problem that when the instrument panel assembly is handled, employees still need to operate the assisting robotic arm for handling operations, and operation errors cause damage to the instrument panel.

[0005] To solve the above technical problem, the technical solution provided by the utility model is: a robot handling instrument assembly device based on vision cooperation, including a vision recognition system and a handling system. The handling system includes a six-axis robotic arm and a gripper mechanism arranged at the front end of the six-axis robotic arm. The gripper mechanism includes a cross beam, fixed arms symmetrically fixed at both ends of the cross beam, moving arms slidably arranged on both sides of the cross beam, and a column. A side bracket is telescopically arranged at the front end of the fixed arm. A positioning pin is fixedly connected to the inner side of the front end of the moving arm. A cylinder three is fixedly connected to the bottom of the column. The telescopic end of the cylinder three is fixedly connected to a cylinder four. The telescopic end of the cylinder four is fixedly connected to a front bracket. The vision recognition system includes a frame, slide rails symmetrically fixed on the upper and lower sides of the frame, a slide table slidably placed on the slide rails, a camera bracket fixed between the slide tables, and an identification camera installed on the camera bracket.

[0006] Preferably, cylinder one is symmetrically fixed on the top of the cross beam. Cylinder one is a rodless cylinder and is provided with a matching slider one. The slider one is fixedly connected to a slider two through a connecting plate. The top end of the column is fixedly connected to the slider two. A guide rail one matching the slider two is fixedly connected to the rear side wall of the cross beam.

[0007] Preferably, cylinders five that cooperate with the moving arms are symmetrically and fixedly connected to the bottom of the cross beam. The telescopic ends of the cylinders five are fixedly connected to sliders three that are fixedly connected to the tops of the moving arms. Guide rails two that cooperate with the sliders three are symmetrically and fixedly connected to the bottom of the cross beam.

[0008] Preferably, a cylinder two is fixedly connected to one end of the fixed arm away from the cross beam, and the side bracket is fixedly connected to the telescopic end of the cylinder two.

[0009] Preferably, a diffuse reflection sensor is also fixedly connected to the inner side of the front end of the moving arm.

[0010] Preferably, the gripper mechanism further includes a rear bracket, and the rear bracket is fixedly connected to the rear end of one of the cylinders four.

[0011] Preferably, the identification camera and the handling system are electrically connected through a controller.

[0012] Advantages of the present utility model:

[0013] By introducing a vision recognition system, the position of the material basket can be accurately judged, the function of accurately placing products can be realized, the number of identification cameras is saved, and the cost is reduced;

[0014] Through the setting of the gripper mechanism, the instrument panel assembly can be accurately grasped without manual assistance, the labor is reduced, the operation error rate is reduced, and thus the product qualification rate is improved. Description of the drawings

[0015] Figure 1 It is a schematic diagram of the overall structure of an instrument assembly handling device based on vision cooperation of the present utility model.

[0016] Figure 2 It is a schematic diagram of the gripper mechanism structure of an instrument assembly handling device based on vision cooperation of the present utility model Figure 1 。

[0017] Figure 3 It is a schematic diagram of the gripper mechanism structure of an instrument assembly handling device based on vision cooperation of the present utility model Figure 2 。

[0018] Figure 4 It is a schematic diagram of the vision recognition system structure of an instrument assembly handling device based on vision cooperation of the present utility model.

[0019] (1. Visual recognition system; 2. Six-axis robotic arm; 3. Gripper mechanism; 4. Cross beam; 5. Cylinder 1; 6. Slide block 1; 7. Connecting plate; 8. Fixed arm; 9. Cylinder 2; 10. Side bracket; 11. Positioning pin; 12. Moving arm; 13. Front bracket; 14. Rear bracket; 15. Guide rail 1; 16. Slide block 2; 17. Column; 18. Cylinder 3; 19. Cylinder 4; 20. Cylinder 5; 21. Guide rail 2; 22. Slide block 3; 23. Slide rail; 24. Slide table; 25. Camera bracket; 26. Recognition camera; 27. Machine frame; 28. Diffuse reflection sensor) Detailed implementation manner

[0020] The preferred embodiments of the present utility model will be described in detail below in conjunction with the accompanying drawings.

[0021] Referring to Figures 1 to 4 , the present utility model provides a robot handling instrument assembly device based on vision cooperation, including a visual recognition system 1 and a handling system. The handling system includes a six-axis robotic arm 2 and a gripper mechanism 3 arranged at the front end of the six-axis robotic arm 2. Since the product material box is placed on the roller track and there is a gap between the roller track and the material box, the handling system cannot accurately place the product into the material box through fixed points. On this basis, the visual recognition system 1 is introduced. The visual recognition system 1 takes pictures to identify the feature points of the material box, calculates the accurate position of the material box, and sends this position information to the handling system, so as to realize the function of accurately placing the product.

[0022] Furthermore, the visual recognition system 1 includes a machine frame 27, slide rails 23 symmetrically fixed on the upper and lower sides of the machine frame 27, a slide table 24 slidably placed on the slide rails 23, a camera bracket 25 fixed between the slide tables 24, and a recognition camera 26 installed on the camera bracket 25. Specifically, the slide rails 23, the slide table 24, and the recognition camera 26 all adopt existing technologies, so their specific structures and principles will not be elaborated here. Since the instrument assembly product is too large and the material boxes for each product placement are different, the requirement for the field of view of the recognition camera 26 becomes very high. Although this problem can be solved by increasing the number of recognition cameras 26, due to the high cost of the recognition cameras 26, on this basis, we propose the visual recognition system 1 of this application. Read which number of material box needs to be placed this time from the customer system. The slide table 24 drives the camera bracket 25 to move above the material box, and the recognition camera 26 takes pictures and reads and calculates the position of the material box. After completion, the slide table 24 drives the camera bracket 25 to move back to the original position, and the handling system that receives the material basket information accurately places the product into the corresponding material box, and the process ends.

[0023] Furthermore, the gripping mechanism 3 includes a cross beam 4, fixed arms 8 symmetrically fixed at both ends of the cross beam 4, movable arms 12 and columns 17 slidably arranged on both sides of the cross beam 4, and one end of the fixed arm 8 away from the cross beam 4 is fixedly connected to a cylinder 29, and the telescopic end of the cylinder 29 is fixedly connected to a side bracket 10. Specifically, the side bracket 10 can be driven to move forward and backward by the telescopic movement of the cylinder 29.

[0024] Furthermore, the bottom of the cross beam 4 is symmetrically fixed with a cylinder 5 20 that matches the moving arm 12, the telescopic end of the cylinder 5 20 is fixed with a slider 3 22 that is fixed with the top of the moving arm 12, the bottom of the cross beam 4 is symmetrically fixed with a guide rail 21 that matches the slider 3 22, and the inner side of the front end of the moving arm 12 is fixed with a positioning pin 11. Specifically, the cross section of the guide rail 21 is an I-shaped, and the slider 3 22 is limited by the guide rail 21 so that it can only move along the length direction of the guide rail 21. The cylinder 5 20 can be extended and retracted to drive the slider 3 22 to move along the guide rail 21, and the slider 3 22 drives the moving arm 12 to move left and right, so that it is clamped into the hole on the instrument assembly through the positioning pin 11.

[0025] Furthermore, a cylinder 15 is symmetrically fixed to the top of the cross beam 4. The cylinder 15 is a rodless cylinder and is provided with a matching slider 16. The slider 16 is fixed to the slider 2 16 through the connecting plate 7. The top of the column 17 is fixed to the slider 2 16. The rear side wall of the cross beam 4 is fixed to the guide rail 15 that matches the slider 2 16. Specifically, the cylinder 15 can drive the slider 16 to move left and right. The slider 16 drives the slider 2 16 to move synchronously through the connecting plate 7. The slider 2 16 drives the column 17 to move left and right. The cross section of the guide rail 15 is also I-shaped. The guide rail 15 plays a role in guiding and limiting the slider 2 16.

[0026] Furthermore, a cylinder 3 18 is fixedly connected to the bottom of the column 17, a cylinder 4 19 is fixedly connected to the telescopic end of the cylinder 3 18, a front bracket 13 is fixedly connected to the telescopic end of the cylinder 4 19, and a rear bracket 14 is also fixedly connected to the rear end of one of the cylinders 4 19. Specifically, the cylinder 3 18 can push the cylinder 4 19 forward, and the cylinder 4 19 can further push the front bracket 13, and the steering column of the steering wheel is dragged by the front bracket 13.

[0027] Furthermore, a diffuse reflection sensor 28 is fixedly connected to the inner side of the front end of the moving arm 12. Specifically, the diffuse reflection sensor 28 is used to monitor whether there is a product on the gripper mechanism 3.

[0028] Furthermore, the recognition camera 26 is electrically connected to the handling system via a controller.

[0029] Working principle: The six-axis robotic arm 2 starts, and grabs the instrument assembly through the gripper mechanism 3. When grabbing, the second cylinder 9 and the fifth cylinder 20 start, driving the side bracket 10 and the positioning pin 11 to insert into the corresponding holes on the instrument assembly. Then, the first cylinder 5, the third cylinder 18, and the fourth cylinder 19 are started to drive the front bracket 13 to hold the steering column of the steering wheel. At this time, it is detected whether each cylinder is in place. If in place, the six-axis robotic arm 2 moves to pick up the instrument panel assembly from the work station and move it to the waiting position.

[0030] The vision recognition system 1 reads from the customer system which material box needs to be placed this time. The sliding table 24 drives the camera bracket 25 to move above the material box, and takes pictures and reads and calculates the position of the material box through the recognition camera 26. After completion, the sliding table 24 drives the camera bracket 25 back to the original position. The handling system that receives the material box information accurately places the product into the corresponding material box, and the process ends.

[0031] The above describes the present utility model and its implementation manners. Such description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present utility model, and the actual structure is not limited thereto. All in all, if those of ordinary skill in the art are inspired by it and without departing from the gist of the creation of the present utility model, without creative design, structures and embodiments similar to the technical solution are all within the protection scope of the present utility model.

Claims

1. A robot-assisted instrument assembly device based on visual coordination, characterized in that: It includes a visual recognition system and a transportation system, the transportation system includes a six-axis robot and a gripper mechanism arranged at the front end of the six-axis robot, the gripper mechanism includes a crossbeam, fixed arms symmetrically fixed at both ends of the crossbeam, movable arms and columns slidably arranged on both sides of the crossbeam, the front end of the fixed arm is telescopically provided with a side bracket, the inner side of the front end of the movable arm is fixed with a positioning pin, the bottom of the column is fixed with a cylinder three, the telescopic end of the cylinder three is fixed with a cylinder four, and the telescopic end of the cylinder four is fixed with a front bracket, the visual recognition system includes a frame, slide rails symmetrically fixed to the upper and lower sides of the frame, a slide table slidably placed on the slide rails, a camera bracket fixed between the slide tables, and an identification camera installed on the camera bracket.

2. The robot-assisted instrument assembly device based on visual coordination according to claim 1 is characterized in that: A cylinder 1 is symmetrically fixed to the top of the crossbeam. The cylinder 1 is a rodless cylinder and is provided with a matching slider 1. The slider 1 is fixed to the slider 2 via a connecting plate. The top of the column is fixed to the slider 2. The rear side wall of the crossbeam is fixed to a guide rail 1 matching the slider 2.

3. The robot-assisted instrument assembly device based on visual coordination according to claim 1 is characterized in that: The bottom of the crossbeam is symmetrically fixed with a cylinder five that matches the moving arm, the telescopic end of the cylinder five is fixed with a slider three that is fixed with the top of the moving arm, and the bottom of the crossbeam is symmetrically fixed with a guide rail two that matches the slider three.

4. The robot-assisted instrument assembly device based on visual coordination according to claim 1 is characterized in that: One end of the fixed arm away from the cross beam is fixedly connected to the second cylinder, and the side bracket is fixedly connected to the telescopic end of the second cylinder.

5. The robot-assisted instrument assembly device based on visual coordination according to claim 1 is characterized in that: A diffuse reflection sensor is also fixedly connected to the inner side of the front end of the movable arm.

6. The robot-assisted instrument assembly device based on visual coordination according to claim 1 is characterized in that: The gripping mechanism also includes a rear bracket, which is fixedly connected to the rear end of one of the cylinders four.

7. The robot-assisted instrument assembly device based on visual coordination according to claim 1 is characterized in that: The recognition camera is electrically connected to the handling system via a controller.

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