Detection system for detecting whether component is firmly limited
By using robot and detection claw system, combined with force sensors and position sensors, the mechanical suction cup detection station has been solved in terms of compatibility, introduction of new models and accuracy, and a more efficient and accurate detection effect has been achieved.
Patent Information
- Application Number
- CN202421758742.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-24
- Publication Date
- 2025-06-17
- Estimated Expiration
- 2034-07-24
AI Technical Summary
The existing mechanical suction cup detection stations have insufficient compatibility, adjustment time and accuracy when introducing new models, and cannot adapt to the inspection needs of different models and special structure models.
The robot and detection claw system are adopted. The robot includes a base and an operating end. The operating end is movable. The detection claw consists of a first section and a second section, equipped with a force sensor and a position sensor, which can sense the force and position applied by the component and achieve flexible detection.
It improves the compatibility of the inspection system, simplifies the process of introducing new models, enhances the accuracy of inspection, and can adapt to the inspection needs of different models and special structure models.
Smart Images
Figure CN222994293U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure generally relates to the technical field of mechanical manufacturing. In particular, the present disclosure relates to a detection system for detecting whether a component is firmly positioned. More specifically, the present disclosure relates to a detection system for detecting whether the doors and hoods of a body-in-white are firmly positioned. Background Art
[0002] In some industrial productions, it is sometimes necessary to use positioning members to temporarily position some components to prevent these components from being accidentally damaged due to free swaying during the production process. After positioning these components, a detection tool is required to detect whether the positioning is firm. If the detection tool detects that the positioning is not firm, the installation of the positioning member can be adjusted in time to avoid free swaying of the components due to insecure positioning, thereby causing impact and damage.
[0003] For example, during the vehicle production process, when the body-in-white is subjected to electrophoretic treatment, the body-in-white will be flipped in the electrophoretic tank. It is necessary to install positioning members so that the doors and front and rear hoods (hereinafter referred to as four doors and two hoods) of the body-in-white are firmly positioned to prevent the four doors and two hoods from opening widely during the flipping process, resulting in collision between the four doors and two hoods and the electrophoretic tank. In order to avoid collision of the four doors and two hoods in the electrophoretic tank due to insecure installation of the positioning members, the existing technical solution is to set up a mechanical suction cup detection station 9 at the entrance of the pretreatment process of electrophoretic treatment, as Figure 1 shown. The mechanical suction cup detection station uses vacuum suction cups 91 to adsorb the four doors and two hoods respectively, and then pulls them outwards with force. If the four doors and two hoods cannot be opened beyond a predetermined position, it is considered that the components are firmly positioned.
[0004] This mechanical suction cup detection station has the following disadvantages:
[0005] First, the mechanical suction cup detection station has poor compatibility. There are often multiple vehicle models produced on the same production line, and the mechanical suction cup detection station needs to meet the detection requirements of multiple vehicle models. However, the mechanical suction cup detection station has fixed suction cup positions and cannot be moved accordingly according to different vehicle models. Therefore, when the longitudinal positions of the front and rear doors of the body-in-white of different vehicle models vary greatly, this mechanical suction cup detection station cannot be compatible with all vehicle models.
[0006] Moreover, the suction cups for detecting the front hood and the rear hood of the mechanical suction cup detection station are each composed of a group (two) of suction cups, and the lateral distance between the two suction cups in each group is fixed and cannot be adjusted laterally according to different vehicle models.
[0007] In some vehicle models, due to the presence of special structures on the body-in-white surface (e.g., irregular rib plates, holes), operators cannot use suction cups to adsorb the positions on the four doors and two hoods where these special structures exist. Therefore, the mechanical suction cup inspection station cannot meet the inspection requirements of some vehicle models (e.g., vehicle models with special structures).
[0008] Second, when importing a new vehicle model, it is time-consuming and laborious to adjust the mechanical suction cup inspection station. When importing a new vehicle model into the mechanical suction cup inspection station, not only is it necessary to adjust the position of the suction cup to meet the inspection position requirements of the new vehicle model, but also to meet the inspection position requirements of all existing vehicle models. Therefore, after adjusting the position of the suction cup, it is necessary to use the actual vehicles of all vehicle models to verify one by one whether the position of the suction cup is appropriate. This will inevitably lead to repeated adjustment of the suction cup position, spending a large amount of time on testing and verification, which is time-consuming and laborious.
[0009] Third, the accuracy of the mechanical suction cup inspection station is relatively poor. After the body-in-white stops stably in the mechanical suction cup inspection station, there will be differences in the stopping positions of different vehicle models. However, the mechanical suction cup inspection station cannot detect such differences in the stopping positions. The suction cup will extend and retract according to the set program and at a predetermined distance for inspection. When the lateral difference and / or longitudinal difference in the stopping position of the body-in-white is too large, it will result in inaccurate inspection results.
[0010] Therefore, in production practice, a detection tool or system is needed that can overcome at least one of the above deficiencies of the existing technology. Summary of the Utility Model
[0011] One of the purposes of the present disclosure is to provide a detection system for detecting whether a component is firmly limited, which can at least solve one of the above-mentioned technical problems (e.g., having good compatibility, being easy to import new vehicle models, or having high accuracy) or achieve other additional advantages.
[0012] In some embodiments, a detection system for detecting whether a component is firmly limited, the detection system includes: a robot, the robot includes a base and an operating end, the base of the robot is fixedly installed, and the operating end of the robot is configured to be movable; a detection claw, the detection claw includes a first section and a second section, one end of the first section is configured to be fixedly installed on the operating end of the robot, the second section is configured to extend in a direction transverse to the first section and one end of the second section is fixedly connected to the first section; and wherein, the detection system further includes a force sensor and a position sensor, the force sensor is configured to be able to sense the force exerted by the component to be detected on the first section and the second section of the detection claw, and the position sensor is configured to be able to sense the position of the second section of the detection claw.
[0013] In some embodiments, the detection system includes a plurality of robots and a plurality of detection claws having the same number as the plurality of robots.
[0014] In some embodiments, the components to be detected include the left front door, left rear door, right front door, right rear door, front cover, and rear cover of the vehicle body. The detection system includes a plurality of robots and a plurality of detection claws respectively for detecting whether the left front door, left rear door, right front door, right rear door, front cover, and rear cover are firmly positioned.
[0015] In some embodiments, the first section of the detection claw for detecting the left front door, left rear door, right front door, and right rear door extends horizontally, and the second section extends vertically downward.
[0016] In some embodiments, the first section of the detection claw for detecting the front cover extends vertically downward, and the second section extends horizontally.
[0017] In some embodiments, the first section of the detection claw for detecting the rear cover extends obliquely downward, and the second section extends obliquely upward.
[0018] In some embodiments, the detection system includes 2 robots and 2 detection claws for detecting the front cover.
[0019] In some embodiments, both the first section and the second section of the detection claw are configured as cylinders; the second section is connected to the first section at a position a certain distance from the end of the first section, such that the second section and the first section are substantially in a "T" shape.
[0020] In some embodiments, a connecting member is provided at one end of the first section. The connecting member is configured as a rectangular flat plate and is configured to fix the detection claw to the operating end of the robot.
[0021] In some embodiments, both the first section and the second section of the detection claw are configured as sheets; the second section is provided at one end of the first section, such that the second section and the first section are substantially in an "L" shape.
[0022] In some embodiments, the detection system further includes an adapter. The first section of the detection claw is fixedly connected to the operating end of the robot through the adapter.
[0023] In some embodiments, the adapter includes a first rectangular portion configured to be connected to the operating end of the robot; the adapter includes a second rectangular portion configured to be connected to one end of the first segment of the detection claw.
[0024] In some embodiments, a circular recess is provided on the first portion of the adapter, and the shape of the recess is adapted to the shape of the operating end of the robot and is configured to assist in mounting the operating end of the robot.
[0025] In some embodiments, the robot is an articulated arm type robot.
[0026] In some embodiments, the detection system further includes a frame configured to mount the robot and accommodate the component to be detected.
[0027] In some embodiments, the base of the robot for detecting the front cover and the rear cover is fixedly mounted on the top of the frame, and the base of the robot for detecting the car door is fixedly mounted on the ground or the bottom of the frame.
[0028] In some embodiments, the detection system further includes a base, and the base of the robot is fixedly mounted on the ground or the frame through the base.
[0029] In some embodiments, the second segment of the detection claw is covered with an elastic housing.
[0030] In some embodiments, the elastic housing is made of polyurethane.
[0031] The detection system of the present utility model has good compatibility, is easy to introduce new models of components to be detected, and has high accuracy.
[0032] Other features and advantages of the subject technology of the present disclosure will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the subject technology of the present disclosure. The advantages of the subject technology of the present disclosure will be realized and obtained by the structures particularly pointed out in the written description, its claims and the drawings.
[0033] It should also be noted that aspects of the present disclosure described with respect to one embodiment may be incorporated into other different embodiments, although not specifically described with respect to those other different embodiments. In other words, all embodiments and / or combinations of features of any embodiment may be combined in any manner and / or combination, as long as they are not mutually contradictory. BRIEF DESCRIPTION OF THE DRAWINGS
[0034] After reading the following detailed description in conjunction with the accompanying drawings, various aspects of the present disclosure will be better understood. In the drawings:
[0035] Figure 1 is a mechanical suction cup inspection station of the prior art;
[0036] Figure 2A is a side view of a detection system according to an embodiment of the present disclosure;
[0037] Figure 2B is a rear view of a detection system according to an embodiment of the present disclosure;
[0038] Figure 2C is a top view of a detection system according to an embodiment of the present disclosure;
[0039] Figure 3A is a schematic diagram of an operation process for detecting whether the door of a white body is firmly limited using a detection system according to an embodiment of the present disclosure;
[0040] Figure 3B is a schematic diagram of an operation process for detecting whether the front cover of a white body is firmly limited using a detection system according to an embodiment of the present disclosure;
[0041] Figure 3C is a schematic diagram of an operation process for detecting whether the rear cover of a white body is firmly limited using a detection system according to an embodiment of the present disclosure;
[0042] Figure 4A is a front view of a detection claw according to an embodiment of the present disclosure;
[0043] Figure 4B is Figure 4A a side view of the detection claw;
[0044] Figure 4C is Figure 4A a top view of the detection claw;
[0045] Figure 4D is Figure 4A a perspective view of the detection claw;
[0046] Figure 5A is a front view of a detection claw according to an embodiment of the present disclosure;
[0047] Figure 5B is Figure 5A a top view of the detection claw;
[0048] Figure 5C is Figure 5A a side view of the detection claw;
[0049] Figure 5D isFigure 5A Stereogram of the detection claw;
[0050] Figure 6A Front view of the detection claw according to an embodiment of the present disclosure;
[0051] Figure 6B is Figure 6A Top view of the detection claw;
[0052] Figure 6C is Figure 6A Side view of the detection claw;
[0053] Figure 6D is Figure 6A Stereogram of the detection claw;
[0054] Figure 7A Front view of the adapter according to an embodiment of the present disclosure;
[0055] Figure 7B is Figure 7A Sectional top view of the adapter;
[0056] Figure 7C is Figure 7A C-C sectional view of the adapter;
[0057] Figure 7D is Figure 7A Side view of the adapter;
[0058] Figure 7E is Figure 7A Rear view of the adapter;
[0059] Figure 7F is Figure 7A Stereogram of the adapter;
[0060] Figure 8A Front view of the frame according to an embodiment of the present disclosure;
[0061] Figure 8B is Figure 8A Top view of the frame;
[0062] Figure 8C is Figure 8A Side view of the frame;
[0063] Figure 8D is Figure 8A Stereogram of the frame;
[0064] Figure 9A Front view of the robot base according to an embodiment of the present disclosure;
[0065] Figure 9B is Figure 9ATop view of the robot base;
[0066] Figure 9C is Figure 9A Side view of the robot base;
[0067] Figure 9D is Figure 9A Stereogram of the robot base;
[0068] Figure 10A Front view of the elastic housing according to an embodiment of the present disclosure;
[0069] Figure 10B is Figure 10A Top view of the elastic housing;
[0070] Figure 10C is Figure 10A Side view of the elastic housing;
[0071] Figure 10D is Figure 10A Bottom view of the elastic housing;
[0072] Figure 10E is Figure 10A A-A sectional view of the elastic housing;
[0073] Figure 10F is Figure 10A Stereogram of the elastic housing.
[0074] It should be understood that in all the drawings, the same reference numerals denote the same or similar elements. For clarity, the dimensions of some features may be changed and not drawn to scale. Detailed implementation mode
[0075] The present disclosure will be described below with reference to the drawings, in which several embodiments of the present disclosure are shown. However, it should be understood that the present disclosure can be presented in many different ways and is not limited to the embodiments described below; in fact, the embodiments described below are intended to make the disclosure of the present disclosure more complete and fully explain the protection scope of the present disclosure to those skilled in the art. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide more additional embodiments.
[0076] It should be understood that the terms used in the specification are only for describing specific embodiments and are not intended to limit the present disclosure. All terms used in the specification (including technical terms and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. For the sake of brevity and / or clarity, well-known functions or structures may not be described in detail.
[0077] As used in the specification, the singular forms “a,” “the,” and “said” include plural referents unless the context clearly dictates otherwise. The terms “comprising,” “including,” and “having” as used in the specification mean that there are the claimed features present, but do not preclude the presence of one or more other features. The term “and / or” as used in the specification includes any and all combinations of one or more of the associated listed items. The phrases “between X and Y” and “between approximately X and Y” as used in the specification shall be construed to include X and Y. The phrase “between approximately X and Y” as used in this specification means “between approximately X and approximately Y,” and the phrase “from approximately X to Y” as used in this specification means “from approximately X to approximately Y.”
[0078] In the specification, when an element is referred to as being “on,” “attached” to, “connected” to, “coupled” to, or “in contact” with another element, etc., that element can be directly on, attached to, connected to, coupled to, or in contact with the other element, or intervening elements may be present. In contrast, when an element is referred to as being “directly” on, “directly attached” to, “directly connected” to, “directly coupled” to, or “directly in contact” with another element, no intervening elements will be present. In the specification, a feature being arranged “adjacent” to another feature may mean that the feature has an overlapping portion with the adjacent feature or portions located above or below the adjacent feature.
[0079] In the specification, spatial relationship terms such as “above,” “below,” “left,” “right,” “front,” “rear,” “high,” “low,” etc. may describe the relationship of one feature to another feature in the drawings. It should be understood that the spatial relationship terms include different orientations of the device in use or operation in addition to the orientation shown in the drawings. For example, when the device in the drawing is inverted, a feature previously described as “below” other features may then be described as “above” the other features. The device may also be oriented in other ways (rotated 90 degrees or in other orientations), and the relative spatial relationships will be interpreted accordingly at that time.
[0080] The present utility model provides a detection system for detecting whether a component is firmly limited. This detection system has advantages such as good compatibility, being easy to introduce new models of components to be detected, or high accuracy.
[0081] Figures 2A - 6DDisclosed is a detection system 1 for detecting whether a component is firmly positioned. The detection system 1 may include a robot 11 and a detection claw 12. The robot 11 may include a base 111 and an operating section 112. The base 111 of the robot 11 may be fixedly installed, and the operating end 112 of the robot 11 may be configured to be movable. The detection claw 12 may include a first section 121 and a second section 122. One end of the first section 121 is configured to be fixedly installed at the operating end 112 of the robot 11, and the second section 122 is configured to extend in a direction transverse to the first section 121 and one end of the second section 122 is fixedly connected to the first section 121. The detection system 1 may include a force sensor (not shown) and a position sensor (not shown). The force sensor is configured to be able to sense the force exerted by the component 5 to be detected on the first section 121 and the second section 122 of the detection claw 12, and the position sensor is configured to be able to sense the position of the second section 122 of the detection claw 12. For the specific detection method, refer to the detailed description below.
[0082] In some embodiments, the detection system 1 may include a plurality of robots 11 and a plurality of detection claws 12 having the same number as the robots 11. The detection system 1 can simultaneously detect whether a plurality of components 5 are firmly positioned.
[0083] In some embodiments, the component 5 may be the four doors and two covers of a white body in white. The detection system 1 may include 6 robots and 6 detection claws for respectively detecting the left front door, the left rear door, the right front door, the right rear door, the front cover and the rear cover. The detection system 1 can simultaneously and respectively detect whether the four doors and two covers of the white body in white are firmly positioned. In some embodiments, one robot and one detection claw can be used to sequentially detect the front door and the rear door on the same side.
[0084] In some embodiments, as Figure 3A shown, the component 5 is a car door, the first section 121 of the detection claw 12 extends horizontally, and the second section 122 extends vertically downward. In this embodiment, as Figures 4A to 4D shown, the first section 121 and the second section 122 may both be configured as cylinders; the second section 122 may be connected to the first section 121 at a position at a certain distance from the end of the first section 121 such that the second section 122 and the first section 121 are substantially in a "T" shape. In some embodiments, the diameter of the first section 121 may be greater than the diameter of the second section 122. A connecting member 124 is provided at one end of the first section 121, and the connecting member 124 is used to fix the detection claw 12 to the operating end 112 of the robot 11. In some embodiments, the connecting member 124 is a rectangular flat plate with four holes, and the four corners of the rectangular flat plate are rounded.
[0085] In some embodiments, as Figure 3BAs shown, component 5 is the front cover. The first section 121 of the detection claw 12 extends vertically downward, and the second section 122 extends horizontally. In this embodiment, as Figures 5A to 5D shown, both the first section 121 and the second section 122 can be configured as sheets to increase the contact area with the front cover and facilitate entry under the front cover; the second section 122 can be provided at one end of the first section 121 such that the second section 122 and the first section 121 are generally in an "L" shape. In some embodiments, the first section 121 is bent on both sides on the basis of a sheet and has a generally "U" - shaped cross - sectional shape to have better bending resistance characteristics. In some embodiments, as Figure 5B shown, a plurality of weight - reducing holes 126 are provided in the length direction of the first section 121 to reduce the self - weight of the detection claw.
[0086] In some embodiments, in order to fix the detection claw 12 to the robot 11, the detection system 1 may further include an adapter 13. The first section 121 of the detection claw 12 is fixedly connected to the operating end 112 of the robot 11 through the adapter 13. As Figures 7A - 7F shown, the adapter 13 may include a first rectangular part 131 configured to be connected to the operating end 112 of the robot 11; the adapter 13 may also include a second rectangular part 132 configured to be connected to one end of the first section 121 of the detection claw 12. Providing the adapter 13 enables easy disassembly and installation of the detection claw 12. When the detection claw 12 is damaged, it can be quickly replaced. In some embodiments, the first part 131 includes a hole 133 for connecting to the operating end 112 of the robot 11. In some embodiments, the second part 132 includes a hole 134 for connecting to one end of the first section 121 of the detection claw 12. In some embodiments, a circular recess 135 is provided on the first part 131, and the shape of the recess 135 is matched with the shape of the operating end 112 of the robot 11 and is configured to assist in installing the operating end 112 of the robot 11. The width of the second part 132 may be less than the width of the first part 131 such that the width of the second part 132 is generally equal to the width of the first section 121 of the detection claw 12. In some embodiments, a hole 125 for connecting to the adapter 13 may be provided at the end of the first section 121, as Figure 5B shown. In some embodiments, when the hole 125 of the first section 121 of the detection claw 12 and the hole 134 of the second part 132 of the adapter 13 are aligned and installed, the second part 132 of the adapter 13 exactly fits into the concave part of the "U" - shaped cross - section of the first section 121 of the detection claw 12.
[0087] In some embodiments, as Figure 3CAs shown, component 5 is the rear cover. The first section 121 of the detection claw 12 extends obliquely downward, and the second section 122 extends obliquely upward to adapt to the rear cover inclined at an angle, such that the first section 121 of the detection claw 12 is substantially parallel to the movement direction when the rear cover is opened, and the second section 122 of the detection claw 12 is transverse to the movement direction when the rear cover is opened. In this embodiment, for the specific structure of the detection claw 12, reference can be made to Figures 6A to 6D , which has a similar structure to the detection claw 12 for detecting the front cover, only the lengths of the first section 121 and the second section 122 are changed, and the lengths of the first section 121 and the second section 122 of the detection claw 12 are set to adapt to the size of the rear cover. In this embodiment, in order to fix the detection claw 12 to the robot 11, a transfer member 13 as shown in Figures 7A - 7F can also be used.
[0088] In some embodiments, the detection system 1 may include 2 robots 11 and 2 detection claws 12 for detecting the front cover to effectively cope with the complex end shape of the front cover and improve the reliability of detection.
[0089] In some embodiments, the robot 11 is an articulated arm type robot.
[0090] In some embodiments, as shown in Figures 8A - 8D , the detection system 1 may further include a frame 14, and the frame 14 is configured to mount the robot 11 and accommodate the component 5 to be detected, such that a plurality of robots 11 and a plurality of detection claws 12 are respectively arranged around a plurality of components 5 to be detected.
[0091] In some embodiments, as shown in Figures 2A - 2C , the base 111 of the robot 11 for detecting the front cover and the rear cover is fixedly mounted on the top 141 of the frame 14, and the base 111 of the robot 11 for detecting the car door is fixedly mounted on the ground or the bottom of the frame.
[0092] In some embodiments, as shown in Figures 9A - 9D , the detection system 1 may further include a base 113, and the base 111 of the robot 11 is fixedly mounted on the ground or the frame 14 through the base 113. In some embodiments, the base 113 is fixed to the frame 14 by welding. The base 111 of the robot 11 is connected to the base 113 through mechanical connectors such as screws, enabling the robot 11 to be conveniently replaced.
[0093] In some embodiments, as shown in Figures 10A - 10F , the second section 122 of the detection claw 12 is covered with an elastic housing 123, such that the second section 122 is not likely to damage the surface of the component 5 when contacting the component 5. In some embodiments, the elastic housing 123 is made of polyurethane.
[0094] Next, the usage process of the detection system 1 for detecting whether a component is firmly positioned is described with reference to the accompanying drawings.
[0095] Place the component 5 at a predetermined position, and move the operating end 112 of the robot 11 a predetermined distance towards the component 5 so that the second section 122 of the detection claw 12 reaches and exceeds the component 5. Here, the predetermined distance is greater than the initial distance between the component 5 and the second section 122 of the detection claw 12, and greater than the sum of the initial distance and the upper limit of the placement position error range of the component 5, so that after the detection claw 12 extends the predetermined distance according to the established procedure, the detection claw 12 can reach and exceed the component 5.
[0096] The operating end 112 of the robot 11 moves towards the component 5 along a direction transverse to the first section 121 of the detection claw 12 until the first section 121 touches the component 5. When the force sensor of the robot 11 senses the force exerted by the component 5 on the first section 121, it is determined that the first section 121 touches the component 5. The operating end 112 of the robot 11 then changes to move back along the direction of the first section 121 of the detection claw 12. When the second section 122 of the detection claw 12 touches the component 5, the force sensor of the robot 11 senses the force exerted by the component 5 on the second section 121, and it is determined that the second section 122 touches the component 5, and this position is recorded as the initial position of the component 5. The operating end 112 of the robot 11 continues to move back along the direction of the first section 121 of the detection claw 12. When the component 5 reaches the limit position of being positioned, it can no longer move, the force exerted by the component 5 on the second section 122 increases sharply, and the position of the second section 122 does not change. This position is recorded as the end position. If the distance between the initial position and the end position does not exceed a certain range, the detection conclusion is that the component 5 is firmly positioned. If the component 5 never reaches the end position but is completely pulled apart by the detection claw 12, or the distance between the initial position and the end position is too large, the detection conclusion is that the positioning of the component 5 fails, and the operator needs to reposition it.
[0097] The usage process of another embodiment described above is as follows:
[0098] Place the body-in-white at a predetermined position, and move the operating end 112 of the robot 11 a predetermined distance towards the vehicle door so that the second section 122 of the detection claw 12 extends into the vehicle door window. Here, the predetermined distance is greater than the initial distance between the vehicle door and the second section 122 of the detection claw 12, and greater than the sum of the initial distance and the upper limit of the placement position error range of the vehicle door, so that after the detection claw 12 extends the predetermined distance according to the established procedure, the second section 122 can enter the vehicle door window.
[0099] The operating end 112 of the robot 11 moves downward along a direction transverse to the first section 121 of the detection claw 12 until the first section 121 touches the lower edge of the car door window. When the force sensor of the robot 11 senses the force exerted by the car door on the first section 121, it is determined that the first section 121 touches the car door. The operating end 112 of the robot 11 then changes to move back along the direction of the first section 121 of the detection claw 12. When the second section 122 of the detection claw 12 touches the car door, the force sensor of the robot 11 senses the force exerted by the car door on the second section 121, and it is determined that the second section 122 touches the car door, and this position is recorded as the initial position. The operating end 112 of the robot 11 continues to move back along the direction of the first section 121 of the detection claw 12. When the car door reaches the limit position of the limit, it can no longer move, the force exerted by the car door on the second section 122 increases sharply, and the position of the second section 122 does not change. This position is recorded as the end position of the car door. If the distance between the initial position and the end position does not exceed a certain range, the detection conclusion is that the car door is firmly limited. If the car door never reaches the end position but is completely pulled open by the detection claw 12, or the distance between the initial position and the end position is too large, the detection conclusion is that the car door limit fails and the operator needs to re-limit it.
[0100] The usage process of another embodiment described above is as follows:
[0101] Place the white body in a predetermined position, and move the operating end 112 of the robot 11 downward by a predetermined distance so that the second section 122 of the detection claw 12 is lower than the lower edge of the front cover. Wherein, the predetermined distance is greater than the initial vertical distance between the lower edge of the front cover and the second section 122 of the detection claw 12, so that after the detection claw 12 extends by the predetermined distance according to the established program, the detection claw 12 is lower than the lower edge of the front cover.
[0102] The operating end 112 of the robot 11 moves horizontally towards the front cover until the first section 121 touches the edge of the front cover. When the force sensor of the robot 11 senses the force exerted on the first section 121 by the front cover, it is determined that the detection claw 12 touches the front cover. The operating end 112 of the robot 11 then changes its movement direction to move upward along the direction of the first section 121 of the detection claw 12. When the second section 122 of the detection claw 12 touches the front cover, the force sensor of the robot 11 senses the force exerted on the second section 122 by the front cover, and it is determined that the second section 122 touches the front cover, and this position is recorded as the initial position. The operating end 112 of the robot 11 continues to move upward along the direction of the first section 121 of the detection claw 12. When the front cover reaches the limit position where it is restricted and can no longer move, the force exerted on the second section 122 by the front cover increases sharply, while the position of the second section 122 does not change. This position is recorded as the end position of the front cover. If the distance between the initial position and the end position does not exceed a certain range, the detection conclusion is that the front cover is firmly restricted. If the front cover never reaches the end position but is completely pulled open by the detection claw 12, or the distance between the initial position and the end position is too large, the detection conclusion is that the front cover restriction fails, and the operator needs to re-restrict it.
[0103] In another embodiment, when the component 5 is the rear cover, the operation process is similar to that of the front cover. The main difference is that the first section 121 and the second section 122 of the detection claw 12 are inclined at an angle, and the movement directions of the operating end 112 of the robot 11 are all inclined at an angle accordingly to adapt to the opening direction of the rear cover.
[0104] Although the exemplary embodiments of the present disclosure have been described, those skilled in the art should understand that various changes and modifications can be made to the exemplary embodiments of the present disclosure without substantially departing from the spirit and scope of the present disclosure. Therefore, all changes and modifications are included within the protection scope of the present disclosure defined by the appended claims. The present disclosure is defined by the appended claims, and equivalents of these claims are also included.
Claims
1. A detection system for detecting whether a component is firmly restrained, characterized in that: The detection system comprises: A robot, the robot comprising a base and an operating end, the base of the robot being fixedly mounted, and the operating end of the robot being configured to be movable; a detection claw, the detection claw comprising a first section and a second section, one end of the first section being configured to be fixedly mounted on the operating end of the robot, the second section being configured to extend in a direction transverse to the first section and one end of the second section being fixedly connected to the first section; and The detection system further includes a force sensor and a position sensor, wherein the force sensor is configured to sense the force applied by the detected component to the first section and the second section of the detection claw, and the position sensor is configured to sense the position of the second section of the detection claw.
2. The detection system for detecting whether a component is firmly restrained according to claim 1, characterized in that: The detection system includes a plurality of robots and a plurality of detection claws having the same number as the plurality of robots.
3. The detection system for detecting whether a component is firmly restrained according to claim 2, characterized in that: The parts to be inspected include the left front door, left rear door, right front door, right rear door, front cover and rear cover of the vehicle body, and the inspection system includes multiple robots and multiple inspection claws respectively used to inspect whether the left front door, left rear door, right front door, right rear door, front cover and rear cover are firmly limited.
4. The detection system for detecting whether a component is firmly restrained according to claim 3, characterized in that: The first section of the detection claw for detecting the left front door, the left rear door, the right front door, and the right rear door extends horizontally, and the second section extends vertically downward.
5. The detection system for detecting whether a component is firmly restrained according to claim 3, characterized in that: The first section of the detection claw for detecting the front cover extends vertically downward, and the second section extends horizontally.
6. The detection system for detecting whether a component is firmly restrained according to claim 3, characterized in that: The first section of the detection claw for detecting the rear cover extends obliquely downward, and the second section extends obliquely upward.
7. The detection system for detecting whether a component is firmly restrained according to claim 3, characterized in that: The detection system includes two robots and two detection claws for detecting the front cover.
8. The detection system for detecting whether a component is firmly restrained according to claim 4, characterized in that: The first section and the second section of the detection claw are both configured as cylinders; the second section is connected to the first section at a position a certain distance from the end of the first section, so that the second section and the first section are roughly in a "T" shape.
9. The detection system for detecting whether a component is firmly restrained according to claim 8, characterized in that: A connecting piece is provided at one end of the first section. The connecting piece is configured as a rectangular flat plate and is configured to fix the detection claw to the operating end of the robot.
10. The detection system for detecting whether a component is firmly restrained according to claim 5 or 6, characterized in that: The first section and the second section of the detection claw are both configured in a sheet shape; the second section is arranged at one end of the first section, so that the second section and the first section are substantially in an "L" shape.
11. The detection system for detecting whether a component is firmly restrained according to claim 10, characterized in that: The detection system further includes an adapter, through which the first section of the detection claw is fixedly connected to the operating end of the robot.
12. The detection system for detecting whether a component is firmly restrained according to claim 11, characterized in that: The adapter includes a first portion in a rectangular shape, and the first portion is configured to be connected to the operating end of the robot; the adapter includes a second portion in a rectangular shape, and the second portion is configured to be connected to the first section of the detection claw.
13. The detection system for detecting whether a component is firmly restrained according to claim 12, characterized in that: A circular recessed portion is provided on the first portion of the adapter, and the shape of the recessed portion matches the shape of the operating end of the robot, so as to be configured to assist in the installation of the operating end of the robot.
14. The detection system for detecting whether a component is firmly restrained according to claim 1 or 2, characterized in that: The robot is an articulated arm type robot.
15. The detection system for detecting whether a component is firmly restrained according to claim 3, characterized in that: The inspection system further includes a frame configured to mount the robot and accommodate the component to be inspected.
16. The detection system for detecting whether a component is firmly restrained according to claim 15, characterized in that: The base of the robot for detecting the front cover and the rear cover is fixedly installed on the top of the frame, and the base of the robot for detecting the door is fixedly installed on the ground or the bottom of the frame.
17. The detection system for detecting whether a component is firmly restrained according to claim 16, characterized in that: The detection system further comprises a base, through which the base of the robot is fixedly mounted on the ground or on the frame.
18. The detection system for detecting whether a component is firmly restrained according to claim 1 or 2, characterized in that: The second section of the detection claw is covered with an elastic shell.
19. The detection system for detecting whether a component is firmly restrained according to claim 18, characterized in that: The elastic shell is made of polyurethane.