Visual top cover assembly gripper device

Abstract

The utility model belongs to the technical field of automobile manufacturing, and provides a visual top cover assembly gripper device which is arranged on a robot, is used for accurately gripping a top cover assembly and comprises a gripper frame and a visual system arranged on the gripper frame, and the visual system is used for obtaining feature points of the top cover assembly; the positioning device is arranged on the gripper frame, and is used for positioning the gripper device and the top cover assembly; the grabbing device is arranged on the grabbing hand frame, and is used for grabbing the top cover assembly; and the valve terminal is arranged on the gripper frame and is used for transmitting signals to the gripping device. By arranging the visual system, the positioning device, the valve terminal and the grabbing device, the positioning precision and process requirements are met, and the phenomenon that the body in white is scrapped due to the size deviation of the top cover in the early stage is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of automobile manufacturing, and particularly relates to a visual roof assembly gripper device. Background Art

[0002] The roof assembly refers to the sheet metal structure in the upper closed area of the white body assembly, which is composed of an outer roof panel, a roof reinforcement panel and related sheet metal accessories. It is crucial for the overall vehicle structure strength, durability and anti-twisting performance. As an important part of the passenger compartment, the roof assembly has many installation points, a complex surface structure, a large volume, low overall strength, and the attachment brackets and flanges are prone to deformation. Therefore, high requirements are imposed on the splicing accuracy during the welding process, and there are often configuration differences between different vehicle models. As a robot handling tool, the gripper plays an important role in vehicle manufacturers where robots are widely used. Due to the characteristics of the above-mentioned roof assembly, during the grasping process of the existing robot gripper, problems such as sheet metal deformation, difficult selection of matching feature points on the sheet metal surface, and visual feature point matching error reporting will occur, resulting in asset waste. Content of the Utility Model

[0003] In view of the above problems, the utility model provides a visual roof assembly gripper device, which is arranged on a robot and is used to accurately grasp the roof assembly. The device includes a gripper frame and a vision system arranged on the gripper frame. The vision system is used to obtain the feature points of the roof assembly. It also includes a positioning device arranged on the gripper frame, which is used to position the gripper device and the roof assembly. It further includes a grasping device arranged on the gripper frame, which is used to grasp the roof assembly. Additionally, it includes a valve island arranged on the gripper frame, which is used to transmit signals to the grasping device.

[0004] Furthermore, the gripper frame includes a first frame, a second frame, a third frame, a fourth frame and a mounting rack. The first frame and the third frame are arranged in parallel. The second frame and the fourth frame are respectively perpendicularly arranged between the first frame and the third frame. The mounting rack is arranged on the second frame and the fourth frame.

[0005] Furthermore, the vision system includes a first vision-guided camera, a second vision-guided camera, a third vision-guided camera and a fourth vision-guided camera. The first vision-guided camera and the second vision-guided camera are respectively arranged at two right-angle positions at one end of the mounting rack. The first vision-guided camera and the second vision-guided camera are arranged on the side close to the first frame. The third vision-guided camera and the fourth vision-guided camera are respectively arranged at two right-angle positions at the other end of the mounting rack. The third vision-guided camera and the fourth vision-guided camera are arranged on the side close to the third frame.

[0006] Further, the grasping device includes a first grasping member, a second grasping member, a third grasping member, a fourth grasping member, a fifth grasping member, and a sixth grasping member. The first grasping member, the second grasping member, and the third grasping member are sequentially arranged on the first frame at a set spacing. The fourth grasping member, the fifth grasping member, and the sixth grasping member are sequentially arranged on the third frame at a set spacing.

[0007] Further, the positioning device includes a first positioning pin member, a second positioning pin member, and a third positioning pin member. The first positioning pin member is arranged on the first frame, and the first positioning pin member is arranged on the outer side close to the first grasping member. The second positioning pin member and the third positioning pin member are arranged on the third frame. The second positioning pin member is arranged on the outer side close to the fourth grasping member, and the third positioning pin member is arranged between the fifth grasping member and the sixth grasping member.

[0008] Further, the gripper device further includes negative pressure suction cups, and a plurality of the negative pressure suction cups are arranged on the gripper frame.

[0009] Further, the gripper device further includes a robot connection transition plate, and the robot connection transition plate is arranged on the top of the mounting bracket.

[0010] Further, the gripper device further includes Y-direction limit blocks, and a plurality of the Y-direction limit blocks are respectively arranged on the second frame and the fourth frame at a set spacing.

[0011] Further, the gripper device further includes two panel detection sensors. One of the panel detection sensors is arranged at the bottom of the first frame, between the second grasping member and the third grasping member, and the other panel detection sensor is arranged at the bottom of the third frame, between the fifth grasping member and the sixth grasping member.

[0012] Further, the first grasping member includes a cylinder, a pressing arm arranged at the bottom of the cylinder, an X-direction limit block and a Z-direction limit block arranged at the front end of the pressing arm. The X-direction limit block is arranged above the Z-direction limit block, and further includes a mounting plate, and the mounting plate is connected to the cylinder and is located above the X-direction limit block.

[0013] Compared with the prior art, the beneficial effects of the present application are as follows:

[0014] In the present application, a vision system is set to take pictures of the top cover assembly to capture feature points and feed back to the robot for adjustment and determination of the grasping position. Then, the positioning device positions the top cover assembly. After preparation, the valve island transmits a signal to the grasping device to execute the grasping command, meeting the positioning accuracy and process requirements, and avoiding the phenomenon of white body scrapping caused by the size deviation of the top cover in the early stage.

[0015] Other features and advantages of the present utility model will be described in the subsequent description, and in part, will become apparent from the description or can be understood by implementing the present utility model. The objectives and other advantages of the present utility model can be achieved and obtained through the structures pointed out in the description, claims, and drawings. Brief Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 Shows a schematic structural view of the gripper device in the embodiment of the present utility model;

[0018] Figure 2 Shows an installation schematic view of the first positioning pin component and the second positioning pin component in the embodiment of the present utility model;

[0019] Figure 3 Shows a bottom view of the gripper device in the embodiment of the present utility model;

[0020] Figure 4 Shows a schematic view of the first grasping component in the embodiment of the present utility model.

[0021] In the figure, 1. gripper frame; 11. first frame; 12. second frame; 13. third frame; 14. fourth frame; 15. mounting bracket; 2. vision system; 21. first vision-guided camera; 22. second vision-guided camera; 23. third vision-guided camera; 24. fourth vision-guided camera; 3. positioning device; 31. first positioning pin component; 32. second positioning pin component; 33. third positioning pin component; 4. grasping device; 41. first grasping component; 411. cylinder; 412. pressing arm; 413. X-direction limit block; 414. Z-direction limit block; 415. mounting plate; 42. second grasping component; 43. third grasping component; 44. fourth grasping component; 45. fifth grasping component; 46. sixth grasping component; 5. valve island; 6. negative pressure suction cup; 7. robot connection transition plate; 8. Y-direction limit block; 9. plate detection sensor; 10. top cover assembly. Detailed Embodiment

[0022] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. 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.

[0023] As Figure 1 shown, a gripper device for a visual top cover assembly is provided on a robot and is used to accurately grip the top cover assembly 10. It includes a gripper frame 1 and a vision system 2 provided on the gripper frame 1. The vision system 2 is used to obtain the feature points of the top cover assembly 10. It further includes a positioning device 3 provided on the gripper frame 1. The positioning device 3 is used to position the gripper device and the top cover assembly 10. It also includes a gripping device 4 provided on the gripper frame 1. The gripping device 4 is used to grip the top cover assembly 10. It further includes a valve island 5 provided on the gripper frame 1. The valve island 5 is used to transmit signals to the gripping device 4.

[0024] Before gripping the top cover assembly 10, first, the robot executes the corresponding part-gripping program trajectory. When the robot runs to the visual photographing position of the top cover assembly 10 above the material cart, the robot stops and takes a photo of the top cover assembly 10. The vision system 2 first takes a photo of the top cover assembly template to capture the feature points, transmits the relevant data of the feature points to the robot for data processing. Then, before the formal gripping, the vision system 2 needs to take a photo of the top cover assembly 10, capture the feature points on the top cover assembly 10, and transmit the data to the robot. The robot will match, compare and analyze the feature points captured on the top cover assembly 10 with those captured on the top cover assembly template, calculate the offsets in the X, Y, and Z directions, as well as the offsets of the angles around the X-axis, around the Y-axis, and around the Z-axis, so as to obtain the RMS offset value, and feedback to adjust the position of the gripper with respect to the robot TOOLBASE coordinate.

[0025] The gripper frame 1 includes a first frame 11, a second frame 12, a third frame 13, a fourth frame 14 and a mounting bracket 15. The first frame 11 and the third frame 13 are arranged in parallel. The second frame 12 and the fourth frame 14 are respectively vertically arranged between the first frame 11 and the third frame 13. The mounting bracket 15 is arranged on the second frame 12 and the fourth frame 14.

[0026] The visual system 2 includes a first vision-guided photographing camera 21, a second vision-guided photographing camera 22, a third vision-guided photographing camera 23, and a fourth vision-guided photographing camera 24. The first vision-guided photographing camera 21 and the second vision-guided photographing camera 22 are respectively arranged at two right-angle positions at one end of the mounting bracket 15, and the first vision-guided photographing camera 21 and the second vision-guided photographing camera 22 are arranged on the side close to the first frame 11. The third vision-guided photographing camera 23 and the fourth vision-guided photographing camera 24 are respectively arranged at two right-angle positions at the other end of the mounting bracket 15, and the third vision-guided photographing camera 23 and the fourth vision-guided photographing camera 24 are arranged on the side close to the third frame 13.

[0027] The grasping device 4 includes a first grasping member 41, a second grasping member 42, a third grasping member 43, a fourth grasping member 44, a fifth grasping member 45, and a sixth grasping member 46. The first grasping member 41, the second grasping member 42, and the third grasping member 43 are sequentially arranged on the first frame 11 at a set spacing, and the fourth grasping member 44, the fifth grasping member 45, and the sixth grasping member 46 are sequentially arranged on the third frame 13 at a set spacing.

[0028] As Figure 2 shown, the positioning device 3 includes a first positioning pin member 31, a second positioning pin member 32, and a third positioning pin member 33. The first positioning pin member 31 is arranged on the first frame 11, and the first positioning pin member 31 is arranged on the outer side close to the first grasping member 41. The second positioning pin member 32 and the third positioning pin member 33 are arranged on the third frame 13. The second positioning pin member 32 is arranged on the outer side close to the fourth grasping member 44, and the third positioning pin member 33 is arranged between the fifth grasping member 45 and the sixth grasping member 46.

[0029] The robot TOOLBASE guides the trajectory according to the offset value fed back by the visual system 2 and offsets according to the actual position of the top cover assembly 10. When the robot carries the gripper device and continues to move along the part-gripping trajectory until the gripper device descends to the part-gripping position, at this time, the second positioning pin member 32 and the third positioning pin member 33 are inserted under the guidance of the visual system 2 to position the rear end of the top cover assembly 10.

[0030] As Figure 3 shown, the gripper device further includes negative pressure suction cups 6, and a plurality of the negative pressure suction cups 6 are arranged on the gripper frame 1.

[0031] In some embodiments, 8 negative pressure suction cups 6 are provided, among which 3 are arranged on the first frame 11 at a set spacing, 3 are arranged on the third frame 13 at a set spacing, 1 is arranged on the second frame 12 at a preset distance, and 1 is arranged on the fourth frame 14 at a preset distance.

[0032] The gripper device further includes a robot connection transition disk 7, and the robot connection transition disk 7 is arranged on the top of the mounting frame 15.

[0033] The gripper device further includes Y-direction limit blocks 8, and a plurality of the Y-direction limit blocks 8 are respectively arranged on the second frame 12 and the fourth frame 14 at a set spacing.

[0034] The gripper device further includes two plate detection sensors 9. One of the plate detection sensors 9 is arranged at the bottom of the first frame 11, between the second grasping member 42 and the third grasping member 43, and the other plate detection sensor 9 is arranged at the bottom of the third frame 13, between the fifth grasping member 45 and the sixth grasping member 46.

[0035] After the robot reaches the part-gripping position and the plate detection sensor 9 on the gripper detects that the top cover assembly 10 reaches the preset position, the information is fed back to the robot. When the top cover assembly 10 reaches the preset position, the Y-direction limit block 8 limits and fixes the border of the top cover assembly 10 in the Y-axis direction.

[0036] After the plate detection sensor 9 detects the top cover assembly 10, the robot feeds back the received signal to the valve island 5. After the valve island 5 receives the identification signal of the top cover assembly 10, the signal is transmitted to the gripping device 4. When the gripping device 4 receives the clamping signal and executes the clamping instruction, the X-direction limit block 413 on the pressing arm 412 controls the movement of the top cover assembly 10 in the X direction. At the same time, the Z-direction limit block 414 arranged on the front-end pressing arm 412 plays a role in clamping and limiting as well as supporting the front end of the top cover assembly 10 in the Z direction.

[0037] As Figure 4 shown, the first grasping member 41 includes a cylinder 411, a pressing arm 412 arranged at the bottom of the cylinder 411, an X-direction limit block 413 and a Z-direction limit block 414 arranged at the front end of the pressing arm 412. The X-direction limit block 413 is arranged above the Z-direction limit block 414, and further includes a mounting plate 415. The mounting plate 415 is connected to the cylinder 411 and is located above the X-direction limit block 413.

[0038] In some embodiments, the part of the Z-direction limit block 414 in contact with the top cover assembly 10 is a slope, so as to adapt to the shape of the border of the top cover assembly 10, make the Z-direction limit block 414 fit better with the border of the top cover assembly 10, and at the same time play a supporting role, and also facilitate the first positioning pin member 31 to better pass through the top cover assembly 10 for positioning.

[0039] After the grasping device 4 is clamped, it transmits a transfer instruction to the negative pressure suction cup 6. The negative pressure adsorption executes the adsorption instruction. The negative pressure suction cup 6 adsorbs the Y-direction frame of the top cover assembly 10. The purpose of setting the negative pressure suction cup 6 is to complete the release of the grasping device 4 instantly after the gripper device reaches the specified position, which may cause deformation or position deviation of the top cover assembly 10. Therefore, it is to prevent the negative pressure suction cup 6 from still adsorbing on the Y-direction frame of the top cover assembly 10 after the grasping device 4 is released, maintaining the stability of the top cover assembly 10. The negative pressure suction cup 6 can be separated from the top cover assembly 10 only by removing the negative pressure.

[0040] After the adsorption is completed, a transfer instruction is sent to the first positioning pin component 31. The first positioning pin component 31 uses a telescopic positioning pin. Preferably, the diameter of the first positioning pin component 31 is 6 mm. The extension pin command makes the pin enter the glass installation hole (key hole position). After the telescopic pin of the first positioning pin component 31 enters the hole, a 3-mm detection distance proximity switch is installed near it. After detecting the top cover assembly 10, it starts to grasp the part. If it fails to detect, it means that the telescopic pin of the first positioning pin component 31 has not entered the pin, and the robot does not grasp the part.

[0041] Under the guidance of the vision system 2, the robot executes the part-gripping instruction through signal detection by the positioning device 3, the grasping device 4, the negative pressure suction cup 6, the panel detection sensor 9, etc.

[0042] Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gripper device for a visual roof cover assembly, which is arranged on a robot and is used to accurately grip the roof cover assembly (10), and is characterized in that: It includes a gripper frame (1) and a vision system (2) arranged on the gripper frame (1), and the vision system (2) is used to acquire the feature points of the top cover assembly (10); it also includes a positioning device (3) arranged on the gripper frame (1), and the positioning device (3) is used to position the gripper device with the top cover assembly (10); it further includes a grasping device (4) arranged on the gripper frame (1), and the grasping device (4) is used to grasp the top cover assembly (10); it also includes a valve island (5) arranged on the gripper frame (1), and the valve island (5) is used to transmit signals to the grasping device (4).

2. The visual top cover assembly gripper device according to claim 1, characterized in that: The gripper frame (1) includes a first frame (11), a second frame (12), a third frame (13), a fourth frame (14) and a mounting bracket (15). The first frame (11) is arranged parallel to the third frame (13), the second frame (12) and the fourth frame (14) are respectively vertically arranged between the first frame (11) and the third frame (13), and the mounting bracket (15) is arranged on the second frame (12) and the fourth frame (14).

3. The visual top cover assembly gripper device according to claim 2, wherein: The vision system (2) includes a first vision-guided camera (21), a second vision-guided camera (22), a third vision-guided camera (23) and a fourth vision-guided camera (24). The first vision-guided camera (21) and the second vision-guided camera (22) are respectively arranged at two right-angle positions at one end of the mounting bracket (15). The first vision-guided camera (21) and the second vision-guided camera (22) are arranged on the side close to the first frame (11). The third vision-guided camera (23) and the fourth vision-guided camera (24) are respectively arranged at two right-angle positions at the other end of the mounting bracket (15). The third vision-guided camera (23) and the fourth vision-guided camera (24) are arranged on the side close to the third frame (13).

4. The visual top cover assembly gripper device according to claim 2, characterized in that: The grasping device (4) includes a first grasping component (41), a second grasping component (42), a third grasping component (43), a fourth grasping component (44), a fifth grasping component (45) and a sixth grasping component (46). The first grasping component (41), the second grasping component (42) and the third grasping component (43) are sequentially arranged on the first frame (11) at a set spacing. The fourth grasping component (44), the fifth grasping component (45) and the sixth grasping component (46) are sequentially arranged on the third frame (13) at a set spacing.

5. The visual top cover assembly gripper device according to claim 4, wherein: The positioning device (3) includes a first positioning pin member (31), a second positioning pin member (32), and a third positioning pin member (33). The first positioning pin member (31) is arranged on the first frame (11), and the first positioning pin member (31) is arranged on the outer side close to the first grasping member (41). The second positioning pin member (32) and the third positioning pin member (33) are arranged on the third frame (13). The second positioning pin member (32) is arranged on the outer side close to the fourth grasping member (44), and the third positioning pin member (33) is arranged between the fifth grasping member (45) and the sixth grasping member (46).

6. The visual top cover assembly gripper device according to claim 1, wherein: The gripper device further includes negative pressure suction cups (6), and a plurality of the negative pressure suction cups (6) are arranged on the gripper frame (1).

7. The visual top cover assembly gripper device according to claim 2, wherein: The gripper device further includes a robot connection transition plate (7), and the robot connection transition plate (7) is arranged on the top of the mounting bracket (15).

8. The visual top cover assembly gripper device according to claim 2, characterized in that: The gripper device further includes Y-direction limit blocks (8), and a plurality of the Y-direction limit blocks (8) are respectively arranged on the second frame (12) and the fourth frame (14) at a set spacing.

9. The visual top cover assembly gripper device according to claim 2, characterized in that: The gripper device further includes two plate detection sensors (9). One of the plate detection sensors (9) is arranged at the bottom of the first frame (11), between the second grasping member (42) and the third grasping member (43), and the other plate detection sensor (9) is arranged at the bottom of the third frame (13), between the fifth grasping member (45) and the sixth grasping member (46).

10. The visual top cover assembly gripper device according to claim 4, characterized in that: The first grasping member (41) includes a cylinder (411), a pressing arm (412) arranged at the bottom of the cylinder (411), and an X-direction limit block (413) and a Z-direction limit block (414) arranged at the front end of the pressing arm (412). The X-direction limit block (413) is arranged above the Z-direction limit block (414), and further includes a mounting plate (415). The mounting plate (415) is connected to the cylinder (411) and is arranged above the X-direction limit block (413).

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