Servo gripper suitable for multiple vehicle types and provided with visual system
Through the servo handle combined with the vision system and the electronically controlled servo module, the problem that traditional robot handle systems cannot flexibly switch models is solved, and the automated processing of multiple models is realized, and production efficiency and operation convenience are improved.
Patent Information
- Application Number
- CN202422602626.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-28
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2034-10-28
AI Technical Summary
Traditional robot gripper systems cannot flexibly switch different models, resulting in low production efficiency and time-consuming and labor-intensive replacement.
The servo gripper is adopted that combines the vision system and the electronically controlled servo module. Through the synergy between visual inspection and servo system, a single platform multi-purpose operation is achieved, which is suitable for grabbing, glueing and handling of plate parts of multiple models and different sizes.
It improves production efficiency, realizes automated processing of different models, reduces production and use costs, expands the scope of use, and improves the safety and convenience of operation.
Smart Images
Figure CN223160956U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of the production or assembly process of the vehicle body and its parts in the automobile manufacturing industry. Specifically, it relates to a servo gripper with a vision system applicable to multiple vehicle models. Background Technique
[0002] With the rapid development of the automotive industry, the degree of automation on the production line is getting higher and higher. However, traditional robot gripper systems can often only operate for a single vehicle model or a fixed number of vehicle models, lacking the ability to flexibly switch between different vehicle models.
[0003] To solve the above problems, vision system grippers have emerged. Vision system grippers have a profound technical background and are constantly evolving in automotive production. It mainly relies on advanced technologies such as machine vision and vision positioning. It can achieve precise identification, positioning, measurement, and judgment, detect whether the workpiece has defects or dimensional deviations, and improve the efficiency and quality of automotive production.
[0004] With the development of technology and the increasing demand for different vehicle models by people, a variety of vehicle models have emerged on the market. Therefore, traditional gripper systems often need to be replaced to meet the production of different vehicle models during the automotive production process, and the replacement process takes a lot of time. At the same time, it requires staff to spend time on re-adjustment, seriously affecting the automotive production efficiency. Content of the Utility Model
[0005] The main technical problem to be solved by the utility model is to provide a servo gripper with a vision system applicable to multiple vehicle models. By combining the vision system and the electric control servo module, it can achieve a single-platform multi-purpose working platform, and can be compatible with different-sized panels of multiple vehicle models for grasping, gluing, handling and other working conditions, improving production efficiency.
[0006] To solve the above technical problems, the utility model provides the following technical solutions:
[0007] A servo gripper with a vision system applicable to multiple vehicle models includes a connecting flange. One end of the connecting flange is fixedly installed with a main bracket. A positioning module is arranged at one end position of the main bracket, a clamping module is arranged at the other end position of the main bracket, an identification and detection module is arranged at the middle position of the main bracket, and a control box group and a vision detection group are also arranged on the main bracket;
[0008] The control box group includes a first electro-pneumatic control box and a second electro-pneumatic control box fixedly installed on the main bracket. The first electro-pneumatic control box is located near the identification and detection module, and the second electro-pneumatic control box is located near the clamping module;
[0009] The visual detection group includes a first visual system, a second visual detection system, and a third visual detection system. The first visual system is located near the recognition and detection module, the second visual detection system is located near the positioning module, and the third visual detection system is located near the connecting flange.
[0010] The following is a further optimization of the above technical solution by the present utility model:
[0011] The positioning module includes an L-shaped mounting plate fixedly installed at one end of the main bracket, and a positioning cylinder is fixedly installed on the L-shaped mounting plate.
[0012] Further optimization: A second proximity switch bracket is adjustably installed on the L-shaped mounting plate above the positioning cylinder through bolts, and a second proximity switch is adjustably installed at the other end of the second proximity switch bracket.
[0013] Further optimization: The clamping module includes a third servo system fixedly installed at the other end of the main bracket, and the power output end of the third servo system moves along the X direction.
[0014] Further optimization: A mounting plate is fixedly installed on the power output end of the third servo system, and a cross plate is vertically arranged on the lower end surface of the mounting plate.
[0015] Further optimization: A fourth servo system is fixedly installed on the lower end surface of the cross plate, and the power output end of the fourth servo system moves along the Z direction.
[0016] Further optimization: A clamping cylinder is fixedly installed on the power output end of the fourth servo system, and two electromagnetic switches are adjustably installed at the upper and lower positions of the cylinder body of the clamping cylinder.
[0017] Further optimization: The recognition and detection module includes a mounting bracket fixedly installed at the middle position of the main bracket, a first servo system is fixedly installed on the mounting bracket, and the power output end of the first servo system moves along the Y direction.
[0018] Further optimization: A second servo system is fixedly installed on the power output end of the first servo system, the power output end of the second servo system moves along the Z direction, a connecting bracket is fixedly installed on the power output end of the second servo system, a cross beam is fixedly installed at the other end of the connecting bracket, switch mounting plates are fixedly installed at both ends of the cross beam, and corresponding first proximity switches are fixedly installed on the switch mounting plates.
[0019] Further optimization: A PLC controller for controlling the operation of the gripper is placed in the first electro-pneumatic control box and the second electro-pneumatic control box;
[0020] The control ends of the first servo system and the second servo system are electrically connected to the PLC controller, and the control ends of the third servo system and the fourth servo system are electrically connected to the PLC controller;
[0021] The signal output end of the first proximity switch is electrically connected to the PLC controller;
[0022] The signal output end of the second proximity switch is electrically connected to the PLC controller;
[0023] The control end of the positioning cylinder is electrically connected to the PLC controller;
[0024] The control end of the clamping cylinder and the signal output end of the electromagnetic switch are both electrically connected to the PLC controller;
[0025] The signal output ends of the first vision system, the second vision detection system, and the third vision detection system are all electrically connected to the PLC controller.
[0026] The utility model adopts the above technical solutions, with ingenious concept and reasonable structure. It can complete operations such as grasping, gluing, and transporting different models of car body panels in the workshop for the production of multiple models of car body panels, and can conduct real-time detection on the processing quality of the car body panels during the operation, classify the qualified and unqualified products in the processing of the car body panels, improve the processing efficiency of the car body panels, expand the scope of use, be convenient to use, improve production efficiency, be safe and reliable, be easy to operate, and have a simple overall structure, which is convenient for manufacturing and production, can reduce production and use costs, and improve economic benefits.
[0027] By setting a vision detection group, the gripper can perform signal detection and feedback during the replacement of the car body panel under the driving action of the first servo system and the second servo system to clarify the model of the replaced car body panel, and then control the actions of the clamping cylinder and the positioning cylinder, which is applicable to the processing operations of multiple models of car body panels. The whole process has a high degree of automation, improves the production efficiency of different models of car body panels, and is convenient to use.
[0028] The following further illustrates the utility model with reference to the drawings and embodiments. Description of the Drawings
[0029] Figure 1 It is a schematic diagram of the overall structure in the embodiment of the utility model;
[0030] Figure 2 It is a bottom view of the overall structure in the embodiment of the utility model;
[0031] Figure 3 It is a front view of the overall structure in the embodiment of the utility model.
[0032] In the figure: 1. Main support; 2. Connecting flange; 3. Control box group; 31. First electro-pneumatic control box; 32. Second electro-pneumatic control box; 4. Identification and detection module; 41. Mounting bracket; 42. First servo system; 43. Second servo system; 44. Cross beam; 45. Switch mounting plate; 46. First proximity switch; 47. Connecting bracket; 5. Vision detection group; 51. First vision system; 52. First bracket; 53. Second vision detection system; 54. Second bracket; 55. Third vision detection system; 56. Third bracket; 6. Positioning module; 61. L-shaped mounting plate; 62. Positioning cylinder; 63. Second proximity switch; 64. Second proximity switch bracket; 7. Clamping module; 71. Third servo system; 72. Mounting plate; 73. Fourth servo system; 74. Clamping cylinder; 75. Electromagnetic switch; 76. Horizontal plate. Detailed implementation mode
[0033] As Figures 1-3 shown: A servo gripper applicable to multiple vehicle models with a vision system includes a connecting flange 2. One end of the connecting flange 2 is fixedly installed with a main support 1. A positioning module 6 is arranged at one end position of the main support 1, and a clamping module 7 is arranged at the other end position of the main support 1. An identification and detection module 4 is arranged at the middle position of the main support 1, and a control box group 3 and a vision detection group 5 are also arranged on the main support 1;
[0034] The control box group 3 includes a first electro-pneumatic control box 31 and a second electro-pneumatic control box 32 fixedly installed on the main support 1. The first electro-pneumatic control box 31 is located near the identification and detection module 4, and the second electro-pneumatic control box 32 is located near the clamping module 7;
[0035] The vision detection group 5 includes a first vision system 51, a second vision detection system 53 and a third vision detection system 55. The first vision system 51 is located near the identification and detection module 4, the second vision detection system 53 is located near the positioning module 6, and the third vision detection system 55 is located near the connecting flange 2.
[0036] In this embodiment, the connecting flange 2 is fixedly installed at the corresponding robot power output end position, and its specific connection method is already well-known in the prior art and will not be elaborated here.
[0037] The main support 1 is made of multiple square pipes with different lengths welded together, and the middle position of the main support 1 is fixedly connected to one end of the connecting flange 2.
[0038] The positioning module 6 includes an L-shaped mounting plate 61 fixedly installed at one end position of the main support 1, and a positioning cylinder 62 is fixedly installed on the L-shaped mounting plate 61.
[0039] In this embodiment, the power output end of the positioning cylinder 62 is provided with three supporting blocks that can slide outward. The three supporting blocks are arranged in a circular array. At the ends where the three supporting blocks are close to each other, there are latch pins. During use, the latch pins are inserted into the positioning holes of the vehicle body panel. The positioning cylinder 62 is started to control the three supporting blocks to slide outward, so that the latch pins abut against the edges of the positioning holes, that is, the vehicle body panel is positioned by supporting the positioning holes of the vehicle body panel, and the vehicle body panel is prevented from falling off.
[0040] The positioning cylinder 62 can be directly purchased from the market, and its specific working principle is already well-known and will not be elaborated here.
[0041] The positioning cylinder 62 can be applied to positioning holes with different diameters, expanding the application range.
[0042] At the position above the positioning cylinder 62 on the L-shaped mounting plate 61, a second proximity switch bracket 64 is adjustably mounted by bolts.
[0043] In this embodiment, at the connection position between the second proximity switch bracket 64 and the L-shaped mounting plate 61, by opening a slotted hole and cooperating with bolts, the position of the second proximity switch bracket 64 is adjusted.
[0044] At the other end of the second proximity switch bracket 64, at a position corresponding to the three supporting blocks, a second proximity switch 63 is adjustably mounted.
[0045] In this embodiment, at the connection between the other end of the second proximity switch bracket 64 and the second proximity switch 63, a slotted hole is opened to realize the adjustment of the second proximity switch 63.
[0046] The second proximity switch 63 is used to detect whether the vehicle body panel workpiece to be grabbed is in place.
[0047] The clamping module 7 includes a third servo system 71 fixedly installed at the other end of the main bracket 1. The third servo system 71 is arranged along the length direction of the main bracket 1, and its power output end moves along the X direction.
[0048] On the power output end of the third servo system 71, a mounting plate 72 is fixedly installed. On the lower end surface of the mounting plate 72, a cross plate 76 is vertically arranged.
[0049] On the lower end surface of the cross plate 76, a fourth servo system 73 is fixedly installed. The control moving direction of the fourth servo system 73 is perpendicularly arranged to the control moving direction of the third servo system 71.
[0050] The power output end of the fourth servo system 73 moves along the Z direction.
[0051] On the power output end of the fourth servo system 73, a clamping cylinder 74 is fixedly installed.
[0052] Two electromagnetic switches 75 are adjustably installed at the upper and lower positions of the cylinder block of the clamping cylinder 74.
[0053] The electromagnetic switch 75 can be used to detect the opening state of the clamping cylinder 74.
[0054] In this embodiment, the clamping cylinder 74 can be directly purchased from the market. The electromagnetic switch 75 is a fitting of the clamping cylinder 74 and can also be directly purchased from the market. The adjustment principle and installation method of the electromagnetic switch 75 are already well-known in the prior art and will not be elaborated here.
[0055] In this embodiment, the third servo system 71 and the fourth servo system 73 can both be purchased from the market, and their specific working principles are already well-known and will not be elaborated here.
[0056] With such a design, the clamping cylinder 74 can be adjusted in position in the X direction and the Z direction under the drive of the third servo system 71 and the fourth servo system 73.
[0057] The identification and detection module 4 includes a mounting bracket 41 fixedly installed at the middle position of the main bracket 1.
[0058] A first servo system 42 is fixedly installed on the mounting bracket 41, and the power output end of the first servo system 42 moves in the Y direction.
[0059] A second servo system 43 is fixedly installed on the power output end of the first servo system 42. In this embodiment, the power output end of the second servo system 43 moves in the Z direction.
[0060] A connection bracket 47 is fixedly installed on the power output end of the second servo system 43, and the other end of the connection bracket 47 is fixedly installed with a cross beam 44.
[0061] The cross beam 44 is arranged parallel to the length direction of the main bracket 1.
[0062] Switch mounting plates 45 are fixedly installed at both ends of the cross beam 44, and corresponding first proximity switches 46 are fixedly installed on the switch mounting plates 45.
[0063] In this embodiment, the first servo system 42 and the second servo system 43 can both be purchased from the market, and their specific working principles are already well-known in the prior art and will not be elaborated here.
[0064] With such a design, the identification and detection module 4 can be adjusted in position in the Y direction and the Z direction under the drive of the first servo system 42 and the second servo system 43.
[0065] A first bracket 52 is fixedly installed at a position on the main bracket 1 close to the identification and detection module 4, and the first vision system 51 is fixedly installed at the end of the first bracket 52;
[0066] A second bracket 54 is fixedly installed at a position on the main bracket 1 close to the positioning module 6, and the second vision detection system 53 is fixedly installed at the end of the second bracket 54;
[0067] A third bracket 56 is fixedly installed at a position on the main bracket 1 close to the connecting flange 2, and the third vision detection system 55 is fixedly installed at the end of the third bracket 56.
[0068] Electro-pneumatic control elements such as a PLC controller for controlling the operation of the gripper are placed in the first electro-pneumatic control box 31 and the second electro-pneumatic control box 32. This is prior art and will not be elaborated here.
[0069] The PLC controller is electrically connected to the control system of the robot body.
[0070] The first vision system 51, the second vision detection system 53, and the third vision detection system 55 can all be directly purchased on the market and are used to detect the working conditions of the gripper during the operation of the vehicle body panel. Their specific detection principles are prior art and will not be elaborated here.
[0071] The control ends of the first servo system 42 and the second servo system 43 are electrically connected to the PLC controller, and the control ends of the third servo system 71 and the fourth servo system 73 are electrically connected to the PLC controller.
[0072] The signal output end of the first proximity switch 46 is electrically connected to the PLC controller.
[0073] The signal output end of the second proximity switch 63 is electrically connected to the PLC controller.
[0074] The control end of the positioning cylinder 62 is electrically connected to the PLC controller.
[0075] The control end of the clamping cylinder 74 and the signal output end of the electromagnetic switch 75 are both electrically connected to the PLC controller.
[0076] The signal output ends of the first vision system 51, the second vision detection system 53, and the third vision detection system 55 are all electrically connected to the PLC controller.
[0077] During use, first fixedly connect the connecting flange 2 of the gripper to the power output end of the robot body. According to the production schedule of the automobile manufacturer, input the production data of the car body panel of the required production model into the PLC controller. During production, first select the model to be processed. When the PLC controller receives the model information, it feeds back to the control system of the robot body. The control system controls the power output end of the robot to drive the entire gripper to move until the latch of the positioning cylinder 62 is located in the positioning hole of the car body panel. At this time, after the second proximity switch 63 receives the position signal, it feeds back to the PLC controller.
[0078] According to the model of the positioning hole corresponding to the car body panel, the PLC controller controls the support block of the positioning cylinder 62 to drive the latch to move outwards until the positioning hole is tightened to complete the positioning of the car body panel.
[0079] At the same time, the PLC controller controls the start of the first servo system 42 and the second servo system 43 according to the model of the car body panel. The power output ends of the first servo system 42 and the second servo system 43 drive the identification and detection module 4, that is, drive the two first proximity switches 46 to move to the position where the car body panel model can be detected to further confirm that the car body panel model is correct. Then the two first proximity switches 46 feed back the signal to the PLC controller.
[0080] The PLC controller controls the start of the third servo system 71 and the fourth servo system 73 according to the received signal. The third servo system 71 and the fourth servo system 73 drive the clamping cylinder 74 to move to the position where the car body panel is to be clamped. The opening and closing degree of the clamping cylinder 74 is controlled by two electromagnetic switches 75 to clamp the car body panel.
[0081] In this way, the positioning and clamping of the car body panel are completed. At this time, the PLC controller feeds back the signal to the control system of the robot body, and controls the power output end of the robot to drive the car body panel to perform the next process operation.
[0082] In this embodiment, the gripper can perform process operations such as grasping and gluing on car body panels of different models. During the grasping or gluing process, the PLC controller simultaneously drives the first vision system 51, the second vision detection system 53 and the third vision detection system 55 to start, take pictures of the car body panel being processed at a preset frequency and upload them, and real-time detect the quality of the workpiece during the processing. When unqualified quality appears, the first vision system 51, the second vision detection system 53 and the third vision detection system 55 feed back the signal to the PLC control system, and then transmit it to the control system of the robot. The control system controls to place the unqualified product in the unqualified product placement area.
[0083] The whole process has a high degree of automation and is applicable to the processing of car body panels of different models, improving the application range.
[0084] For those of ordinary skill in the art, according to the teachings of the present utility model, without departing from the principles and spirit of the present utility model, changes, modifications, substitutions, and variations made to the embodiments still fall within the protection scope of the present utility model.
Claims
1. A servo gripper with a vision system applicable to multiple vehicle models, including a connecting flange (2), characterized in that: One end of the connecting flange (2) is fixedly installed with a main bracket (1). A positioning module (6) is arranged at one end position of the main bracket (1), a clamping module (7) is arranged at the other end position of the main bracket (1), an identification and detection module (4) is arranged at the middle position of the main bracket (1), and a control box group (3) and a vision detection group (5) are also arranged on the main bracket (1). The control box group (3) includes a first electro-pneumatic control box (31) and a second electro-pneumatic control box (32) fixedly installed on the main bracket (1). The first electro-pneumatic control box (31) is located near the identification and detection module (4), and the second electro-pneumatic control box (32) is located near the clamping module (7). The vision detection group (5) includes a first vision system (51), a second vision detection system (53) and a third vision detection system (55). The first vision system (51) is located near the identification and detection module (4), the second vision detection system (53) is located near the positioning module (6), and the third vision detection system (55) is located near the connecting flange (2).
2. The servo gripper with a vision system applicable to multiple vehicle models according to claim 1, characterized in that: The positioning module (6) includes an L-shaped mounting plate (61) fixedly installed at one end position of the main bracket (1), and a positioning cylinder (62) is fixedly installed on the L-shaped mounting plate (61).
3. The servo gripper with a vision system applicable to multiple vehicle models according to claim 2, characterized in that: A second proximity switch bracket (64) is adjustably installed on the L-shaped mounting plate (61) above the positioning cylinder (62) by bolts, and a second proximity switch (63) is adjustably installed at the other end of the second proximity switch bracket (64).
4. A servo gripper with a vision system applicable to multiple vehicle models according to claim 3, characterized in that: The clamping module (7) includes a third servo system (71) fixedly installed at the other end position of the main bracket (1), and the power output end of the third servo system (71) moves along the X direction.
5. The servo gripper with a vision system applicable to multiple vehicle models according to claim 4, characterized in that: An installation plate (72) is fixedly installed on the power output end of the third servo system (71), and a cross plate (76) is vertically arranged on the lower end surface of the installation plate (72).
6. The servo gripper with a vision system applicable to multiple vehicle models according to claim 5, characterized in that: A fourth servo system (73) is fixedly installed on the lower end surface of the cross plate (76), and the power output end of the fourth servo system (73) moves along the Z direction.
7. The servo gripper with a vision system applicable to multiple vehicle models according to claim 6, characterized in that: A clamping cylinder (74) is fixedly installed on the power output end of the fourth servo system (73), and two electromagnetic switches (75) are adjustably installed at the upper and lower positions of the cylinder body of the clamping cylinder (74).
8. The servo gripper with a vision system applicable to multiple vehicle models according to claim 7, characterized in that: The identification and detection module (4) includes an installation bracket (41) fixedly installed at the middle position of the main bracket (1), a first servo system (42) is fixedly installed on the installation bracket (41), and the power output end of the first servo system (42) moves along the Y direction.
9. The servo gripper applicable to multiple vehicle models and equipped with a vision system according to claim 8, wherein: A second servo system (43) is fixedly installed on the power output end of the first servo system (42). The power output end of the second servo system (43) moves along the Z direction. A connecting bracket (47) is fixedly installed on the power output end of the second servo system (43). The other end of the connecting bracket (47) is fixedly installed with a cross beam (44). First proximity switches (46) corresponding to each other are fixedly installed on both ends of the cross beam (44).
10. A servo gripper with a vision system applicable to multiple vehicle models according to claim 9, characterized in that: The first electric pneumatic control box (31) and the second electric pneumatic control box (32) are provided with a PLC controller for controlling the operation of the gripper; The control ends of the first servo system (42) and the second servo system (43) are electrically connected to the PLC controller, and the control ends of the third servo system (71) and the fourth servo system (73) are electrically connected to the PLC controller; The signal output end of the first proximity switch (46) is electrically connected to the PLC controller; The signal output end of the second proximity switch (63) is electrically connected to the PLC controller; The control end of the positioning cylinder (62) is electrically connected to the PLC controller; The control end of the clamping cylinder (74) and the signal output end of the electromagnetic switch (75) are both electrically connected to the PLC controller; The signal output ends of the first vision system (51), the second vision detection system (53), and the third vision detection system (55) are all electrically connected to the PLC controller.