Drilling system based on line laser contour sensor detection

Abstract

The utility model relates to a drilling system based on line laser contour sensor detection, which comprises a controller, a line laser contour visual detection device, a vehicle door positioning and limiting mechanism, a drilling mechanism and a robot, the line laser contour visual detection device comprises a fixing frame and a line laser contour sensor, the line laser contour sensor is arranged on the fixing frame, and the drilling mechanism is arranged on the fixing frame. The fixing frame is positioned around the door; the vehicle door is fixed on the vehicle door positioning and limiting mechanism; the drilling mechanism is mounted at the tail end of the robot; the robot is located on one side of the door. Compared with the prior art, the automobile door drilling device has the advantages that automobile door position detection, automobile door position fixing and drilling control are conducted through the line laser outline visual detection device, the automobile door positioning and limiting mechanism, the drilling mechanism and the robot, and automatic drilling of an automobile door is achieved; at least three line laser contour sensors are adopted, and the deviation of the spatial position of the vehicle door is obtained by detecting the changes of the positions of three points of the vehicle door; and the drilling mechanism is provided with a sealing strip limiting block, so that the sealing strip can be fixed and limited.

Description

Technical Field

[0001] The utility model relates to the field of automobile production and processing, in particular to a drilling system based on the detection of a line laser profile sensor. Background Technique

[0002] With the rapid development of the automobile industry, due to the high precision, good stability and high efficiency of robots, robot automation is applied to all aspects of automobile production. At present, in automobile production such as body welding and engine assembly, due to the high mechanical dimension accuracy, fixture positioning is used, and robot automation is widely applied. However, in the general assembly workshop, because the position dimension tolerance of the vehicle is relatively large at this time, it is difficult to position, and the application is less. Most are manual or semi-automatic manual auxiliary assembly equipment.

[0003] After retrieval, the application publication number CN108839024A discloses a vision guidance method applicable to the automatic loading process of automobile doors, specifically discloses: selecting the positioning points of the automobile body and doors according to the characteristics of different vehicle models, and first recording the standard data of the coordinates of each positioning point during the assembly process of the automobile doors; during the actual process of guiding the robot to assemble the doors, the structured light images of the corresponding positioning points on the to-be-assembled body and doors are respectively captured by a vision sensor, and according to the principle of structured light three-dimensional measurement, the coordinate calculation of the positioning points of the actual vehicle body and doors is carried out, and by comparing the standard data, the robot trajectory is corrected to complete the guided assembly process of the doors. However, this existing technology only realizes the assembly of the doors and cannot realize the drilling of the doors.

[0004] In summary, how to design a system that can realize automatic drilling of doors is a technical problem to be solved. Content of the Utility Model

[0005] The purpose of the utility model is to provide a drilling system based on the detection of a line laser profile sensor to overcome the defect that the existing technology cannot realize automatic drilling of doors.

[0006] The purpose of the utility model can be realized by the following technical solutions:

[0007] According to one aspect of the utility model, a drilling system based on the detection of a line laser profile sensor for door drilling is provided. The system includes a controller and a line laser profile vision detection device, a door positioning and limiting mechanism, a drilling mechanism and a robot respectively connected to the controller. The line laser profile vision detection device includes a fixed frame and a line laser profile sensor. The line laser profile sensor is installed on the fixed frame, and the fixed frame is located around the door; the door is fixed on the door positioning and limiting mechanism; the drilling mechanism is installed at the end of the robot; the robot is located on one side of the door.

[0008] As a preferred technical solution, there are at least three line laser profile sensors.

[0009] As a preferred technical solution, there are five line laser profile sensors. One line laser profile sensor is arranged on each side of the car door and on the side far from the ground, and two line laser profile sensors are arranged on the side of the car door close to the ground.

[0010] As a preferred technical solution, the door positioning and limiting mechanism includes a frame, multiple groups of servo modules, a first cylinder and a positioning block. The positioning block is movably installed on the frame and is connected to the output end of the first cylinder. When it extends, it is located in the door positioning hole; the first cylinder is connected to the servo module.

[0011] As a preferred technical solution, the drilling mechanism includes a drilling machine, a second cylinder, a mounting plate, a connecting plate and a sliding plate. The output end of the second cylinder is connected to the sliding plate. The drilling machine is fixed on the sliding plate. The sliding plate is installed on the connecting plate, and the connecting plate is installed at the end of the robot through the mounting plate.

[0012] As a preferred technical solution, the drilling mechanism further includes a sealing strip limiting block installed on the connecting plate. When the drilling machine is at the drilling position, the sealing strip limiting block abuts against the sealing strip of the car door.

[0013] As a preferred technical solution, the sealing strip limiting block is in a groove shape.

[0014] As a preferred technical solution, the sealing strip limiting block has the same profile as the sealing strip.

[0015] As a preferred technical solution, the robot is a six-axis robot.

[0016] As a preferred technical solution, the controller is a programmable logic controller.

[0017] Compared with the prior art, the present utility model has the following beneficial effects:

[0018] 1) The present utility model realizes the automatic drilling of the car door through the line laser profile vision detection device, the door positioning and limiting mechanism, the drilling mechanism and the robot for door position detection, door position fixation and control of drilling.

[0019] 2) The line laser profile vision detection device of the present utility model uses at least three line laser profile sensors. By detecting the changes in the positions of three points on the car door, the offset of the spatial position of the car door is obtained; by using five line laser profile sensors arranged around the car door, the error can be reduced and different types of car doors can be adapted.

[0020] 3) The door positioning and limiting mechanism of the present utility model adjusts the position of the positioning block through multiple servo modules and the first cylinder to adapt to different types of doors.

[0021] 4) The position of the drilling mechanism of the present utility model is adjustable to adapt to different types of doors; a sealing strip limiting block is provided, which can fix and limit the sealing strip to prevent the sealing strip from being torn off or displaced due to drilling; the shape of the sealing strip limiting block is a groove shape, which is the same as the contour of the sealing strip, and the limiting of the sealing strip is more stable and reliable. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the overall structure of a drilling system based on a line laser profile sensor detection according to the present utility model;

[0023] Figure 2 It is a schematic diagram of the overall structure of the drilling mechanism of the present utility model;

[0024] Figure 3 It is a schematic diagram of the structure of the door sealing strip;

[0025] As shown in the figure by the reference numerals:

[0026] 1. Door, 21. Line laser profile sensor, 31. Frame, 32. Servo module, 4. Drilling mechanism, 41. Drilling machine, 42. Second cylinder, 43. Mounting plate, 44. Connecting plate, 45. Sliding plate, 46. Sealing strip limiting block, 5. Robot. Detailed Embodiment

[0027] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0028] With the popularization of vision detection, machine 5 vision is playing its respective functional characteristics, providing vision for machine 5 guidance, completely enabling the equipment to achieve full automation, eliminating the need for manual installation confirmation, and vision achieving higher-precision detection guidance. The position detection of the door 1 requires three-dimensional spatial pose, so a 2D / 3D line laser profile sensor 21 that can be fixedly detected is selected.

[0029] Such as Figure 1As shown in the figure, the utility model provides a drilling system based on the detection of a line laser profile sensor, which includes a controller, a line laser profile vision detection device, a door positioning mechanism, a drilling mechanism 4, and a robot 5. The controller is a programmable logic controller (PLC). The line laser profile vision detection device is used as the vision detection method. The line laser profile vision detection device can be fixedly installed, and the position detection can be completed within 2 s, saving the beat, having stable detection, transmitting information to the robot 5, and the robot 5 automatically updates the trajectory, which will greatly improve the automation degree of the equipment, the installation quality, and save manpower.

[0030] The line laser profile vision detection device is connected to the controller and includes at least three line laser profile sensors 21 and a fixing frame. The line laser profile sensors 21 are installed on the fixing frame, and the fixing frame is located around the door 1. The line laser irradiates the outer contour of the door 1 from different directions, detects the values of several characteristic position points X and Z of the door 1, and multiple groups of points form the contour position value of the door 1. The position of the door 1 is calibrated and recognized as the standard position, and the offset is calculated after the subsequent incoming door 1 is detected. The detection principle of the line laser profile vision detection device is that at least three points form the spatial position of an object. By detecting the position changes of three points of the object, the spatial position offset of the object can be obtained. Five line laser profile sensors 21 can be selected, with one arranged above, on the left and on the right of the door 1 respectively, and two arranged below. The reasons for increasing to five detectors are as follows: 1) One more test point can reduce errors and prevent large detection errors caused by excessive object offset at other positions; 2) Since the detector is fixed, the detection position at a certain place of some vehicle models may not obtain valid values due to shape and appearance problems. Therefore, at least 4 valid detection values are guaranteed for each detection. Of course, more detectors can also be used to reduce errors. When 4 valid detection values are detected in this system, the accuracy can meet the process requirements of ±0.05.

[0031] The door positioning mechanism is connected to the controller and includes a frame 31, multiple servo modules 32, a first cylinder, and a positioning block. The positioning block is movably installed on the frame 31 and is connected to the output end of the first cylinder. When it extends, it is located in the positioning hole of the door 1; the first cylinder is connected to the servo module 32. During drilling, the door 1 is fixed on the door positioning mechanism. After the door 1 is transported by the hanging bracket, the door positioning mechanism extends the positioning block to fix the position of the door 1 and can set parameters to be compatible with multiple vehicle models;

[0032] The drilling mechanism 4 is connected to the controller and includes a drilling machine 41, a second cylinder 42, a mounting plate 43, a connecting plate 44, a sliding plate 45, and a sealing strip limiting block 46. The drilling mechanism 4 is fixed to the end flange of the robot 5 by the mounting plate 43. The connecting plate 44 is used to mount and connect the sliding plate 45, the drilling machine 41, the sealing strip limiting block 46, and the cylinder. The output end of the second cylinder 42 is connected to the sliding plate 45. The drilling machine 41 is fixed on the sliding plate 45. The sliding plate 45 is mounted on the connecting plate 44, and the connecting plate 44 is mounted on the end of the robot 5 through the mounting plate 43. When the second cylinder 42 extends, it drives the drilling machine 41 to extend. The drilling machine 41 operates to drill. After completion, the second cylinder 42 contracts and resets. The sealing strip limiting block 46 is mounted on the connecting plate 44. When the drilling machine 41 is at the drilling position, the sealing strip limiting block 46 abuts against the sealing strip of the car door 1 to fix and limit the sealing strip, preventing the sealing strip from being torn off or displaced due to drilling. The sealing strip limiting block 46 is in the shape of a groove and can be the same as the contour of the sealing strip, which is a contour profiling of the sealing strip for fixing and limiting the sealing strip. The shape of the sealing strip is as Figure 3 shown. The drilling machine 41 is a standard type of drilling machine 41 and is mounted on the flange of the sixth axis of the robot 5.

[0033] The robot 5 is connected to the controller. It is a six-axis robot 5 and is fixed opposite to the car door 1. It detects the position change of the car door 1 and adjusts the trajectory.

[0034] The working process of the present utility model is as follows:

[0035] 1) The hanger transports the car door 1;

[0036] 2) The positioning and limiting mechanism operates for positioning;

[0037] 3) The line laser profile sensor 21 detects the position of the car door 1. The system calculates the deviation from the calibrated position coordinate system and transmits it to the base coordinate system of the robot 5;

[0038] 4) After the base coordinate system of the robot 5 is updated, it automatically adjusts the operating trajectory (that is, the drilling position of the robot 5 is updated according to the detected offset position). After the robot 5 finishes drilling, it returns to the original position;

[0039] 5) The positioning and limiting mechanism relaxes, and the fixing mechanism releases the hanger to move the car door 1 away.

[0040] In the present utility model, the vision inspection system, the door positioning mechanism, the drilling mechanism 4, and the robot 5 are connected to the PLC controller. The change in the position of the door 1 is detected by the line laser profile sensor 21 to provide visual guidance for the operation of the robot 5, accurately completing the drilling process; it is suitable for drilling of different door 1 models, with high efficiency, high automation degree, reduced labor costs, simple operation, good process feasibility, and remarkable economic benefits. The present utility model can solve the technical problems in the prior art such as low installation accuracy, excessive cost, and poor equipment versatility; the mechanical structure is simple, the automation degree is high, and the versatility is strong.

[0041] As described above, it is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims

1. A drilling system based on line laser profile sensor detection, used for drilling holes in vehicle doors (1), characterized in that: The system comprises a controller and a line laser profile visual detection device, a door positioning and limiting mechanism, a drilling mechanism (4) and a robot (5) respectively connected to the controller, wherein the line laser profile visual detection device comprises a fixing frame and a line laser profile sensor (21), wherein the line laser profile sensor (21) is mounted on the fixing frame, and the fixing frame is located around the door (1); the door (1) is fixed on the door positioning and limiting mechanism; the drilling mechanism (4) is mounted on the end of the robot (5); and the robot (5) is located on one side of the door (1).

2. A drilling system based on line laser profile sensor detection according to claim 1, characterized in that: There are at least three linear laser profile sensors (21).

3. A drilling system based on line laser profile sensor detection according to claim 2, characterized in that: There are five linear laser profile sensors (21), one linear laser profile sensor (21) is arranged on each side of the vehicle door (1) and on the side away from the ground, and two linear laser profile sensors (21) are arranged on the side of the vehicle door (1) close to the ground.

4. The drilling system based on line laser profile sensor detection according to claim 1, characterized in that: The door positioning mechanism comprises a frame (31), a plurality of servo modules (32), a first cylinder and a positioning block; the positioning block is movably mounted on the frame (31), connected to the output end of the first cylinder, and is located in a positioning hole of the door (1) when extended; the first cylinder is connected to the servo module (32).

5. The drilling system based on line laser profile sensor detection according to claim 1, characterized in that: The drilling mechanism (4) comprises a drilling machine (41), a second cylinder (42), a mounting plate (43), a connecting plate (44) and a sliding plate (45), wherein the output end of the second cylinder (42) is connected to the sliding plate (45), the drilling machine (41) is fixed on the sliding plate (45), the sliding plate (45) is mounted on the connecting plate (44), and the connecting plate (44) is mounted on the end of the robot (5) through the mounting plate (43).

6. The drilling system based on line laser profile sensor detection according to claim 5, characterized in that: The drilling mechanism (4) further comprises a sealing strip limit block (46) mounted on the connecting plate (44); when the drilling machine (41) is located at the drilling position, the sealing strip limit block (46) abuts against the sealing strip of the vehicle door (1).

7. The drilling system based on line laser profile sensor detection according to claim 6, characterized in that: The sealing strip limiting block (46) is in the shape of a groove.

8. The drilling system based on line laser profile sensor detection according to claim 6, characterized in that: The sealing strip limiting block (46) has the same profile as the sealing strip.

9. The drilling system based on line laser profile sensor detection according to claim 1, characterized in that: The robot (5) is a six-axis robot (5).

10. The drilling system based on line laser profile sensor detection according to claim 1, characterized in that: The controller is a programmable logic controller.

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