Practical training new energy model car robot flexible assembly system for universities and colleges

Abstract

The utility model relates to the technical field of practical training teaching equipment manufacturing, in particular to a practical training new energy model car robot flexible assembly system for universities and colleges. And the placing tool is used for placing various execution tools with different functions. A main disc of the tool quick-changing device is installed on a front end arm of the multi-joint coordinate industrial robot, and tool discs of the tool quick-changing device are installed on execution tools in a matched mode. The shelving tool comprises a base plate, a supporting unit, a bearing plate and a positioning unit. The bearing plate is arranged right above the base plate in parallel, and the bearing plate and the base plate are connected and transited through a supporting unit. A plurality of receding notches beneficial for bearing execution tools are formed in the bearing plate. The positioning unit is used for being matched with an execution tool, and the plane freedom degree of the execution tool is limited to be zero. Therefore, when the execution tool is quickly replaced, even if the execution tool is influenced by external force, the plane freedom degree of the execution tool is limited to be zero, it is ensured that the main disc and the tool disc are locked at a time, and the total consumed time for quickly replacing the execution tool can be effectively shortened.

Description

Technical Field

[0001] The utility model relates to the technical field of practical training teaching equipment manufacturing, in particular to a flexible assembly system for a robot of a new energy model car for practical training in colleges and universities. Background Art

[0002] In response to the needs of multi-college and multi-disciplinary engineering training, combined with the teaching characteristics of engineering practice courses in automotive colleges of major technical secondary schools, and drawing on actual application scenarios in industrial sites, a flexible production assembly line for new energy model vehicles is constructed to meet the comprehensive application of teaching, training, and production.

[0003] The flexible production and assembly line for new energy model cars can complete the production, assembly, packaging, and warehousing of various types of car models based on order requirements placed through the ERP / MES system. The wheel assembly unit, chassis assembly unit, body assembly unit, and door assembly unit are all equipped with a robotic flexible assembly system, facilitating unmanned and intelligent welding, painting, and assembly processes. Conventional robotic flexible assembly systems primarily consist of an industrial robot, a tool changer, actuators, and a fixture rack. A variety of actuators with varying functions are arranged linearly and freely suspended from the fixture rack. When the industrial robot receives a command to change actuators, the tool changer automatically unlocks the current actuator and uses sensors to precisely locate the new actuator. Once the tool changer's main and tool trays are precisely aligned, a locking mechanism activates, securing the actuator to the industrial robot's forearm. However, in practice, locking the main and tool trays is difficult to do in one go and may require multiple re-alignments, with the industrial robot requiring a lengthy repositioning process. The reason for this is that the actuators, which rely solely on the fixture, lack effective positioning. During quick-change operations, the actuators are susceptible to positional shifts or tilting due to contact forces from the main plate. Therefore, a solution to this problem is urgently needed. Utility Model Content

[0004] Therefore, in view of the above-mentioned existing problems and defects, the designers of this utility model collected relevant information, conducted multiple evaluations and considerations, and continuously experimented and modified the system after years of R&D experience by technicians engaged in this industry, which ultimately led to the emergence of a flexible assembly system for new energy model cars for practical training in colleges and universities.

[0005] In order to solve the above-mentioned technical problems, the utility model relates to a flexible assembly system for new energy model car robots for practical training in colleges and universities, comprising a multi-joint coordinate industrial robot, a tool quick change device, an execution tool and a storage tool. Among them, the storage tool is used to temporarily store a variety of execution tools with different functions, and is arranged in the vicinity of the multi-joint coordinate industrial robot. The tool quick change device consists of a main disk and a tool disk. The main disk is installed on the front arm of the multi-joint coordinate industrial robot, and the tool disk is matched and installed on each execution tool. The storage tool includes a base plate, a support unit, a support plate and a positioning unit. The support plate is arranged in parallel just above the base plate and is separated by a set distance. The support unit serves as a connection transition between the base plate and the support plate. A plurality of avoidance gaps are formed on the support plate to facilitate the support of the execution tool. The positioning unit is used to match the execution tool, and with its auxiliary action, the planar degree of freedom of the execution tool can be limited to zero.

[0006] As a further improvement to the technical solution disclosed in this utility model, the positioning unit includes a gripper connecting plate, a first cylindrical pin, and a second cylindrical pin. The gripper connecting plate serves as a connecting link between the tool tray and the actuator, with its top wall serving as the assembly base for the tool tray and its bottom wall serving as the assembly base for the actuator. The first and second cylindrical pins are both vertically inserted into the support plate and spaced a predetermined distance apart. The first and second cylindrical pins work together to restrict the planar degrees of freedom of the gripper connecting plate.

[0007] As a further improvement to the technical solution disclosed in this utility model, the gripper connecting plate comprises a plate body, a left gripper, a right gripper, a front gripper, and a rear gripper. The left, right, front, and rear grippers are all formed by four-way extensions of the outer wall of the plate body. An oblong positioning hole is formed in the left gripper, which is compatible with a first cylindrical pin. A circular positioning hole is formed in the right gripper, which is compatible with a second cylindrical pin.

[0008] As a further improvement of the technical solution disclosed in the present utility model, the width dimension value of the oblong positioning hole is a, the diameter value of the first cylindrical pin is b, then 0.1mm≤ab≤0.3mm; the diameter value of the circular positioning hole is c, the diameter value of the second cylindrical pin is d, then 0.1mm≤cd≤0.3mm.

[0009] As a further improvement to the technical solution disclosed in this utility model, the shelf fixture also includes a through-beam photoelectric sensor. This through-beam photoelectric sensor is used to detect whether an implement is present in an entire column or row. It consists of a light emitter and a receiver. Both the light emitter and receiver are mounted on a support plate.

[0010] As a further improvement of the technical solution disclosed in the present invention, the support unit is composed of a plurality of support columns that are simultaneously connected between the base plate and the supporting plate and are arranged in a planar array.

[0011] As a further improvement to the technical solution disclosed in the present utility model, a limit slot unit is provided on the base plate. The limit slot unit is composed of four semicircular limit slots opened on the side wall of the base plate.

[0012] As a further improvement to the technical solution disclosed in this utility model, the support plate is made of high-strength engineering plastic, or the placement tool further includes an elastic anti-collision pad. The elastic anti-collision pad is adhered to the support plate. When the tool is placed in place relative to the placement tool, the elastic anti-collision pad is elastically pressed between the left gripper and the support plate, and between the right gripper and the support plate.

[0013] In practical applications, the flexible robot assembly system for training new energy model cars in colleges and universities disclosed in the present invention can achieve at least the following beneficial technical effects, specifically:

[0014] 1) Various actuators with different functions are temporarily placed on a holding fixture and effectively positioned with the help of a positioning unit. In this way, during the quick-change operation of the actuator, even if it is affected by external forces, the actuator's left-right translational movement, front-back translational movement, and height rotational movement are all restricted to zero, ensuring that the main tray and tool tray are locked once and for all, and the actuator is firmly connected to the forearm of the industrial robot, eliminating the need for multiple repetitions and effectively shortening the total time required for quick-change of the actuator.

[0015] 2) Various execution tools with different functions are placed on the shelf tooling in a leaning posture. Unlike the traditional suspension method, the operation of the shelved execution tools is more time-saving and labor-saving. After the execution tools are shelved, they have good posture stability and can effectively avoid the occurrence of accidental collisions, which is conducive to the forearm of the multi-joint coordinate industrial robot to approach the quick-change work position more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a three-dimensional schematic diagram of the flexible assembly system of the robot for training new energy model cars for colleges and universities disclosed in the utility model.

[0018] Figure 2 This is a diagram of the actual application state of shelving tooling in the flexible assembly system of the new energy model car robot for practical training in colleges and universities disclosed by the utility model.

[0019] Figure 3 The utility model is a three-dimensional schematic diagram of the shelving tooling in the flexible assembly system of the new energy model car robot for practical training in colleges and universities disclosed by the utility model.

[0020] Figure 4 It is a three-dimensional schematic diagram of a base plate in a flexible assembly system for a new energy model car robot for practical training in colleges and universities disclosed in the utility model.

[0021] Figure 5 It is a three-dimensional schematic diagram of a supporting plate in a flexible assembly system of a new energy model car robot for practical training in colleges and universities disclosed in the utility model.

[0022] Figure 6 This is a structural diagram of the positioning unit in the flexible assembly system of the new energy model car robot for practical training in colleges and universities disclosed in the utility model (the tool tray and the execution tool are both shown in the form of double-dotted lines).

[0023] Figure 7 It is a three-dimensional schematic diagram of a hand claw connection plate in a flexible assembly system of a new energy model car robot for practical training in colleges and universities disclosed in the utility model.

[0024] 1-Multi-joint coordinate industrial robot; 2-Tool quick changer; 21-Main disk; 22-Tool disk; 3-Executing tool; 4-Shelf tooling; 41-Base plate; 411-Limiting slot unit; 4111-Semicircular limiting slot; 42-Support unit; 421-Support column; 43-Support plate; 431-Avoidance gap; 44-Positioning unit; 441-Grip connecting disk; 4411-Disc body; 4412-Left gripper; 44121-Oval positioning hole; 4413-Right gripper; 44131-Circular positioning hole; 4414-Front gripper; 4415-Rear gripper; 442-First cylindrical pin; 443-Second cylindrical pin; 45-Through-beam photoelectric sensor; 451-Light emitter; 452-Receiver. DETAILED DESCRIPTION

[0025] In the description of the present invention, it should be understood that the terms "left", "right", "up", "down", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0026] The following is a further detailed description of the present invention in conjunction with specific embodiments. Figure 1 A three-dimensional schematic diagram of the flexible assembly system for new energy model car robots for practical training in colleges and universities disclosed in the present invention is shown. It can be seen that it is mainly composed of several parts, such as a multi-joint coordinate industrial robot 1, a tool quick change device 2, an execution tool 3, and a shelf fixture 4. Among them, the shelf fixture 4 is used to temporarily place a variety of execution tools 3 with different functions, which are arranged in the vicinity of the multi-joint coordinate industrial robot 1. The tool quick change device 2 is composed of a main tray 21 and a tool tray 22. The main tray 21 is installed on the front arm of the multi-joint coordinate industrial robot 1, and the tool tray 22 is matched and installed on each execution tool 3. According to the different functions to be realized, the execution tools 3 can be classified into material-retrieving manipulators, welding guns, spray guns, vacuum tools, etc., to increase the application flexibility of the multi-joint coordinate industrial robot 1. According to common knowledge, the main tray 21 and the tool tray 22 are firmly locked with the help of a locking mechanism to prevent them from falling off or offsetting during operation. Common locking methods include pneumatic, hydraulic, and electric locking, all of which can complete locking and releasing actions in a very short time. During operation, when the multi-joint coordinate industrial robot 1 needs to replace the end effector 3, the multi-joint coordinate industrial robot 1's control terminal sends a command, the locking mechanism releases the current effector 3, and then the multi-joint coordinate industrial robot 1's forearm moves to align the tool tray 22 on the new effector 3 with the main tray 21. After completing these steps, the multi-joint coordinate industrial robot 1 can use the new effector 3 to carry out its work.

[0027] like Figure 2 、 3 As shown in the figure, the shelving tool 4 is mainly composed of several parts such as a base plate 41, a support unit 42, a support plate 43 and a positioning unit 44. Among them, the support plate 43 is arranged in parallel just above the base plate 41 and separated by a set distance (the specific distance value is determined according to the sagging length of each execution tool 3 after being shelved). The support unit 42 is composed of a plurality of support columns 421 connected between the base plate 41 and the support plate 43 at the same time, which are arranged in a planar array. The support plate 43 is formed with a plurality of avoidance notches 431 (such as Figure 5 ). The positioning unit 44 is used to match the execution tool 3, and with its auxiliary function, the plane degree of freedom of the execution tool 3 is limited to zero.

[0028] By adopting the above-mentioned technical solution, various execution tools 3 with different functions are temporarily placed on the placing tooling 4 and are effectively positioned with the help of the positioning unit 44. In this way, during the quick-changing operation of the execution tool 3, even if it is affected by external force, the freedom of translational movement in the left and right directions, the freedom of translational movement in the front and back directions, and the freedom of rotation in the height direction of the execution tool 3 are all limited to zero, ensuring that the main disk 21 and the tool disk 22 are locked at one time, and the execution tool can be firmly connected to the forearm of the multi-joint coordinate industrial robot 1 without repeated operations, which can effectively shorten the total time for quick-changing the execution tool 3.

[0029] It should also be emphasized here that, unlike the traditional suspension method, in the technical solution disclosed in this embodiment, a variety of execution tools 3 with different functions are placed in a supporting posture on the shelf tool 4, and the operation of placing the execution tool 3 is more time-saving and labor-saving. After the placement, the execution tool 3 has good posture stability and can effectively avoid the occurrence of accidental collisions, which is conducive to the forearm of the multi-joint coordinate industrial robot 1 to approach the quick-change work position more smoothly.

[0030] Furthermore, combined with the Figure 2 、 3 , 6 can clearly know that the positioning unit 44 is mainly composed of several parts such as the gripper connecting plate 441, the first cylindrical pin 442 and the second cylindrical pin 443. Among them, the gripper connecting plate 441 serves as a connection transition between the tool plate 22 and the execution tool 3, the top wall serves as the assembly base of the tool plate 22, and the bottom wall serves as the assembly base of the execution tool 3. The first cylindrical pin 442 and the second cylindrical pin 443 are both vertically inserted on the support plate 43 and are spaced apart by a set distance. The first cylindrical pin 442 and the second cylindrical pin 443 cooperate to limit the planar freedom of the gripper connecting plate 441. As shown Figure 7 As shown in the figure, the gripper connecting plate 441 is composed of a plate body 4411, a left gripper 4412, a right gripper 4413, a front gripper 4414, and a rear gripper 4415. The left gripper 4412, the right gripper 4413, the front gripper 4414, and the rear gripper 4415 are all formed by the outer wall of the plate body 4411 extending in four directions. An oblong positioning hole 44121 is formed on the left gripper 4412 to match the first cylindrical pin 442. A circular positioning hole 44131 is formed on the right gripper 4413 to match the second cylindrical pin 443. In actual application, the first cylindrical pin 442 and the second cylindrical pin 443 cooperate to limit the planar freedom of the gripper connecting plate 441. In this way, positioning accuracy is guaranteed and over-positioning is avoided.

[0031] To balance the convenience and efficiency of quick-change tool 3, while also reducing the difficulty of manufacturing and alignment, and as a further optimization of the above-mentioned technical solution, the positioning accuracy of both oblong positioning hole 44121 and circular positioning hole 44131 is designed using the maximum material principle. Assuming the width of oblong positioning hole 44121 is a and the diameter of first cylindrical pin 442 is b, then 0.1mm≤ab≤0.3mm; assuming the diameter of circular positioning hole 44131 is c and the diameter of second cylindrical pin 443 is d, then 0.1mm≤cd≤0.3mm (not shown in the figure).

[0032] Depend on Figure 3 It can also be clearly seen from the figure that the shelving tool 4 is also provided with a through-beam photoelectric sensor 45. The through-beam photoelectric sensor 45 is used to sense whether there are execution tools 3 remaining in the entire column or row, and is composed of a light emitter 451 and a receiver 452. The light emitter 451 and the receiver 452 are both installed on the support plate 43. In actual applications, the light emitter 451 emits a visible light or infrared light beam. When there are execution tools 3 remaining in the entire column or row, the light beam will be blocked, thereby reducing the light intensity in the receiver 452. By measuring the change in light intensity in the receiver 452, it is determined whether there are execution tools 3 remaining in the entire column or row, and this information is fed back to the control end of the multi-joint coordinate industrial robot 1 to facilitate it to correctly pick up the execution tool 3.

[0033] Combined with attachment Figure 3 、 4 It can be clearly seen that a limit groove unit 411 is provided on the base plate 41. The limit groove unit 411 is composed of four semicircular limit grooves 4111 opened on the side wall of the base plate 41. During the layout and construction stage of the workshop of the new energy model car robot flexible assembly system for practical training, after the multi-joint coordinate industrial robot 1 is placed in place on the site, lines are drawn in the vicinity thereof, and the semicircular limit grooves 4111 are selected as secondary marking targets, thereby ensuring that the shelving tooling 4 after layout maintains extremely high position accuracy relative to the multi-joint coordinate industrial robot 1, which paves the way for the accurate, efficient and stable picking of the execution tool 3.

[0034] As a further improvement to the above technical solution, the support plate 43 is made of high-strength engineering plastic. This not only ensures the structural strength and flexural strength of the support plate 43, effectively preventing it from excessive deformation due to load, but also effectively prevents noise generated by rigid collisions or damage to the gripper connection plate 441 during the placement of the actuator 3.

[0035] To achieve the same design objectives as described above, as another modified design, the placement tool 4 can also be equipped with elastic anti-collision pads (not shown). The elastic anti-collision pads are adhered to the support plate 43. When the execution tool 3 is placed in place relative to the placement tool 4, the elastic anti-collision pads are elastically pressed between the left hand grip 4412 and the support plate 43, and between the right hand grip 4413 and the support plate 43.

[0036] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible robot assembly system for new energy model vehicles used in practical training in colleges and universities, comprising a multi-joint coordinate industrial robot, a tool changer, an execution tool, and a shelving fixture; wherein: The placing tool is used to temporarily place a variety of execution tools with different functions, and is arranged in the vicinity of the multi-joint coordinate industrial robot; the tool quick change device is composed of a main plate and a tool plate; the main plate is installed on the front arm of the multi-joint coordinate industrial robot, and the tool plate is matched and installed on each of the execution tools, and is characterized in that the placing tool includes a base plate, a support unit, a support plate and a positioning unit; the support plate is arranged in parallel directly above the base plate and separated by a set distance; the support unit serves as a connection transition between the base plate and the support plate; a plurality of avoidance notches are formed on the support plate for supporting the execution tool; the positioning unit is used to match the execution tool, and with its auxiliary action, the planar degree of freedom of the execution tool can be limited to zero.

2. The flexible assembly system for new energy model car robots for practical training in colleges and universities according to claim 1 is characterized in that The positioning unit includes a gripper connecting plate, a first cylindrical pin and a second cylindrical pin; the gripper connecting plate serves as a connection transition between the tool plate and the execution tool, the top wall serves as the assembly base of the tool plate, and the bottom wall serves as the assembly base of the execution tool; the first cylindrical pin and the second cylindrical pin are both vertically inserted into the support plate and are spaced a set distance apart; the first cylindrical pin and the second cylindrical pin cooperate to limit the planar freedom of the gripper connecting plate.

3. The flexible assembly system for new energy model car robots for practical training in colleges and universities according to claim 2 is characterized in that The gripper connecting plate is composed of a plate body, a left gripper, a right gripper, a front gripper and a rear gripper; the left gripper, the right gripper, the front gripper and the rear gripper are all extended in four directions from the outer wall of the plate body; an oblong positioning hole is formed on the left gripper to match the first cylindrical pin; a circular positioning hole is formed on the right gripper to match the second cylindrical pin.

4. The flexible assembly system for new energy model car robots for practical training in colleges and universities according to claim 3 is characterized in that , the width dimension value of the oblong positioning hole is a, the diameter value of the first cylindrical pin is b, then 0.1mm≤ab≤0.3mm; the diameter value of the circular positioning hole is c, the diameter value of the second cylindrical pin is d, then 0.1mm≤cd≤0.3mm.

5. The flexible assembly system for new energy model car robots for practical training in colleges and universities according to any one of claims 1 to 4 is characterized in that The shelving tool also includes a through-beam photoelectric sensor; the through-beam photoelectric sensor is used to sense whether the execution tool remains in the entire column or row, and is composed of a light emitter and a receiver; the light emitter and the receiver are both installed on the support plate.

6. The flexible assembly system for new energy model car robots for practical training in colleges and universities according to any one of claims 1 to 4, characterized in that The support unit is composed of a plurality of support columns connected between the base plate and the supporting plate in a planar array.

7. The flexible assembly system for new energy model car robots for practical training in colleges and universities according to any one of claims 1 to 4, characterized in that , a limiting groove unit is provided on the substrate; the limiting groove unit is composed of 4 semicircular limiting grooves opened on the side wall of the substrate.

8. The flexible assembly system for new energy model cars for practical training in colleges and universities according to any one of claims 3-4 is characterized in that The support plate is made of high-strength engineering plastic, or the shelf tool also includes an elastic anti-collision pad; the elastic anti-collision pad is adhered to the support plate; and when the execution tool is placed in place relative to the shelf tool, the elastic anti-collision pad is elastically pressed between the left hand claw and the support plate and between the right hand claw and the support plate.

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