Error-proof detection device for tooling

Abstract

The utility model relates to the technical field of automatic production, in particular to an end picking-up device error-proofing detection device which comprises a detection assembly and an installation assembly. The detection assembly comprises a fixing frame and a plurality of sensors, and the plurality of sensors are all mounted on the fixing frame; the installation assembly comprises a stand column and an installation disc, the stand column is arranged on the opposite side of the fixing frame, the installation disc is connected to the stand column in a hung mode, the tooling is installed on the installation disc, each tooling is provided with an induction proton, and the position of the induction proton is aligned with the position of the sensor. According to the utility model, safety accidents caused by wrong configuration of the tooling are reduced, and the safety and the stability of equipment are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of automation production, especially relates to a end effector mistake proofing detection device. BACKGROUND

[0002] In modern automobile manufacturing industry, automation and precision are the key factors to improve production efficiency and product quality.

[0003] In the stamping workshop of the automobile factory, the robot needs to replace the corresponding end effector according to different stamping parts. These end effectors usually need to be replaced manually, and there is no detection mechanism to ensure the correctness of the end effector. Therefore, the end effector position may be inserted incorrectly or reversely, which not only reduces the production efficiency, but also may cause safety accidents such as part deformation, machine collision or adsorption failure. SUMMARY

[0004] In view of the deficiencies in the prior art, the purpose of the embodiments of the utility model is to provide an end effector mistake proofing detection device, which is used to ensure that the robot correctly configures the end effector to grasp automobile parts of different shapes.

[0005] In order to achieve the above-mentioned purpose, the embodiments of the utility model provide the following technical scheme:

[0006] An end effector mistake proofing detection device comprises a detection assembly and a mounting assembly; the detection assembly comprises a fixing frame and a sensor, the sensor has a plurality of sensors, and the plurality of sensors are mounted on the fixing frame; the mounting assembly comprises a stand and a mounting disc, the stand is arranged on the opposite side of the fixing frame, the mounting disc is hung on the stand, and the end effector is mounted on the mounting disc; an inductive proton is mounted on each end effector, and the position of the inductive proton is aligned with the position of the sensor.

[0007] Optionally, the top end of the stand is provided with a positioning pin, the top of the mounting disc is provided with a mounting plate, a positioning hole is formed in the mounting plate, and the positioning hole of the mounting plate is mounted on the positioning pin of the stand.

[0008] Optionally, the positioning pin comprises a cylindrical segment and a conical segment, the diameter of the cylindrical segment is matched with the positioning hole, the conical segment is located on the upper side of the cylindrical segment, the diameter of the lower end of the conical segment is the same as that of the cylindrical segment, and the diameter of the upper end of the conical segment is smaller than that of the lower end.

[0009] Optionally, the stand is provided with a supporting block, the supporting block is located on the side of the stand facing the fixing frame, the bottom of the mounting disc is provided with a mounting seat, and the mounting seat is mounted on the supporting block.

[0010] Optionally, the upper end of the support block has a V-shaped protrusion protruding upward, and the lower end of the mounting seat has a V-shaped groove matched with the V-shaped protrusion; or the upper end of the support block is provided with a V-shaped groove recessed downward, and the lower end of the mounting seat has a V-shaped protrusion matched with the V-shaped groove.

[0011] Optionally, the end pickers are installed on the left and right sides of the mounting disc, and the end pickers are installed with the sensing protons close to one end of the mounting disc.

[0012] Optionally, the detection assembly is installed on the protective net, and the stand is located on the opposite side of the protective net.

[0013] Optionally, the fixing frame comprises a fixing plate, a first support and a second support, the fixing plate is fixedly installed on the protective net, the first support is installed on the fixing plate, the second support is installed on the first support, and the sensor is installed on the second support.

[0014] Optionally, the first support has a first long groove arranged in the vertical direction, and a screw is installed on the fixing plate through the first long groove, and the second support has a second long groove arranged in the horizontal direction, and a screw is installed on the first support through the second long groove.

[0015] Optionally, the detection assembly has two groups, and each group of detection assemblies has two sensors.

[0016] One or more technical solutions provided in the embodiments of the utility model have at least the following technical effects or advantages:

[0017] After replacing the end pickers, the mounting disc on which the end pickers have been installed is installed on the stand, since the sensing protons are installed on each end picker, the number and position of the sensing protons can be detected by the sensor on the fixing frame at this time, and the end pickers matched with the new parts are checked, and then the correctness of the end pickers is detected, so that the robot can correctly grab and carry the automobile parts, the safety accidents caused by the incorrect configuration of the end pickers are reduced, and the safety and stability of the equipment are improved.

[0018] The advantages of the additional aspects of the utility model will be given in the following description, some of which will become apparent from the following description, or be understood through the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings accompanying the specification of the utility model form a part of the utility model and are used to provide a further understanding of the utility model, and the schematic embodiments of the utility model and the description thereof are used to explain the utility model, and do not constitute an improper limitation on the utility model. In addition, the mutual distance or size is exaggerated for showing the position of each part, and the schematic diagram is only used for illustration.

[0020] Figure 1 is a schematic diagram of a detection device provided by an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of an end effector installation provided by an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of a stand provided by an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of a mounting disc and stand cooperation provided by an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of a detection assembly provided by an embodiment of the present application;

[0025] Figure 6 is a schematic diagram of a fixing frame provided by an embodiment of the present application;

[0026] In the figure: 1, end effector; 2, stand; 21, positioning pin; 22, supporting block; 3, mounting disc; 31, mounting plate; 32, mounting seat; 4, protective net; 5, detection assembly; 51, fixing plate; 52, first support; 53, second support; 54, sensor; 6, induced proton; DETAILED DESCRIPTION

[0027] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise indicated, all technical and scientific terms used in the present application have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. In addition, it should be understood that when the terms "comprise" and / or "include" are used in the present specification, they indicate the presence of a feature, step, operation, device, component and / or their combination.

[0028] Term explanation:

[0029] End effector: a mounting disc mounted on a robot, used for grabbing and carrying stamping parts.

[0030] In order to solve the technical problems mentioned in the background art, the present embodiment proposes an end effector mistake-proof detection device, as shown in Figure 1 , Figure 2 , which comprises a detection assembly 5 and a mounting assembly; the detection assembly 5 comprises a fixing frame and a sensor 54 (as shown in Figure 5 , Figure 6 ), and the sensor 54 has a plurality of sensors 54, each of which is mounted on the fixing frame. As shown in Figure 2 , Figure 4As shown, the mounting assembly includes a column 2 and a mounting plate 3, the column 2 is arranged on the opposite side of the fixed frame, the mounting plate 3 is hung on the column 2, and the end pickers 1 are mounted on the mounting plate 3. Each end picker 1 is mounted with a sensing proton 6 (only one sensing proton 6 is shown in the figure), and the position of the sensing proton 6 is aligned with the position of the sensor 54. Figure 4

[0031] The sensor 54 and the sensing proton 6 are both purchased components. The sensor 54 converts a physical signal into an electrical signal. In this embodiment, the sensor 54 can be a photoelectric sensor 54, which can detect the presence of the sensing proton 6 and convert it into an electrical signal. The photoelectric sensor 54 generally includes a light source and a photosensitive element, the light beam emitted by the light source is irradiated on the sensing proton 6 and then reflected back to the photosensitive element. When the sensing proton 6 is detected, the photosensitive element will generate an electrical signal, which is then sent to the PLC (Programmable Logic Controller) for processing. The sensing proton 6 is a small reflector or marker mounted on the end picker 1, which can reflect the light emitted by the sensor 54. The function of the sensing proton 6 is to provide a clear signal point so that the sensor 54 can accurately detect the position and state of the end picker 1.

[0032] In this embodiment, the detection assembly 5 has two groups, each group of detection assembly 5 has two sensors 54, i.e. a total of four sensors 54. For example, when there are three end pickers 1 mounted on the mounting plate 3, there are three sensing protons 6, the number of sensing protons 6 is three, and the positions of the three sensing protons 6 are obtained through the detection of the sensors 54, so as to determine whether the installation is correct.

[0033] After replacing the end picker 1, the mounting plate 3 on which the end picker 1 has been mounted is first mounted on the column 2. Since each end picker 1 is mounted with a sensing proton 6, the sensors 54 on the fixed frame can detect the number and position of the sensing protons 6 at this time, and check with the end picker 1 that needs to be matched with the new part. If they are consistent, the installation is correct and the equipment can continue to be used. If they are not consistent, the installation is incorrect and the end picker 1 needs to be replaced. Through the end picker error-proof detection device, the occurrence of safety accidents is greatly reduced, and the safety and stability of the equipment are improved.

[0034] As shown in the figure, the top end of the column 2 is provided with a positioning pin 21, and the top of the mounting plate 3 is provided with a mounting plate 31, the mounting plate 31 is provided with a positioning hole, and the positioning hole of the mounting plate 31 is mounted on the positioning pin 21 of the column 2. Through the cooperation of the positioning pin 21 and the positioning hole, the position of the mounting plate 3 and the end picker 1 is ensured to be accurate, so as to facilitate the subsequent detection. Figure 3 Figure 4

[0035] ​​​The positioning pin 21 comprises a cylindrical segment and a conical segment, the diameter of the cylindrical segment matches the positioning hole, ensuring the accurate alignment of the mounting disc 3 on the column 2, the conical segment is located on the upper side of the cylindrical segment, the diameter of the lower end of the conical segment is the same as that of the cylindrical segment, and the diameter of the upper end of the conical segment is smaller than that of the lower end, the centering function is provided through the conical segment, the mounting disc 3 is guided, and the installation difficulty is reduced.

[0036] The column 2 is provided with a support block 22, the support block 22 is located on the side of the column 2 facing the fixed frame, the bottom of the mounting disc 3 is provided with a mounting seat 32, and the mounting seat 32 is mounted on the support block 22. Through the cooperation of the support block 22 and the mounting seat 32, the stability of the mounting disc 3 is increased.

[0037] Specifically, the upper end of the support block 22 has an upwardly protruding V-shaped protrusion, and the lower end of the mounting seat 32 has a V-shaped groove matched with the V-shaped protrusion; or the upper end of the support block 22 is provided with a downwardly recessed V-shaped groove, and the lower end of the mounting seat 32 has a V-shaped protrusion matched with the V-shaped groove. Through the cooperation of the V-shaped protrusion and the V-shaped groove, the positioning accuracy of the mounting disc 3 is improved, the installation of the mounting disc 3 on the column 2 is more stable, and the installation and disassembly process is also facilitated.

[0038] The end picker 1 is installed on the left and right sides of the mounting disc 3, the end picker 1 is installed with the sensing proton 6 close to the mounting disc 3, the sensor 54 can effectively detect the sensing proton 6, so as to realize accurate identification and error-proof detection of the end picker 1.

[0039] The detection assembly 5 is installed on the protective net 4, and the column 2 is located on the opposite side of the protective net 4. The detection assembly 5 is installed and fixed by means of the existing protective net 4, the fixed base is reduced, and the cost is reduced.

[0040] The fixed frame comprises a fixed plate 51, a first support 52 and a second support 53, the fixed plate 51 is fixedly installed on the protective net 4, the first support 52 is installed on the fixed plate 51, the second support 53 is installed on the first support 52, and the sensor 54 is installed on the second support 53. Through the installation and fixation of the sensor 54 by the first support 52 and the second support 53, the position of the sensor 54 can be flexibly adjusted.

[0041] Specifically, the first support 52 has a first long slot arranged in the vertical direction, and a screw is installed on the fixed plate 51 through the first long slot, the second support 53 has a second long slot arranged in the horizontal direction, and a screw is installed on the first support 52 through the second long slot. The long slots on the first support 52 and the second support 53 allow the screws to move therein, so as to adjust the position of the sensor 54.

[0042] When installing for the first time, first hang the mounting disc 3 on the column 2, install the male plug of the end effector 1 on the female seat of the mounting disc 3, ensure that the optical axis of the sensor 54 can irradiate the sensing proton 6 area on the male plug of the end effector 1, if not, adjust the first support 52 up and down or the second support 53 left and right, to ensure that the sensing proton 6 area can be irradiated.

[0043] According to the number of end effectors 1 of each part, install the sensing proton 6, the sensor 54 at each position detects whether there is a sensing proton 6 and sends all collected data to the PLC, the PLC converts and processes all data and compares whether the data is consistent with the data set in the parameter library, if consistent, it is considered that the end effector 1 is correct and is allowed to be replaced.

[0044] After pressing the detection button, the system starts to identify the end effector 1 ID "D1" and converts it to decimal, and compares it with the ID "D2" saved in the production parameter library. For example, the end effector 1 of product No. 76 reads D1: 01001100, which is converted to decimal 76 and compared with D2 of the formula, if D1=D2, the end effector is correct.

[0045] Although the specific embodiments of the utility model have been described above with reference to the drawings, it is not a limitation on the protection scope of the utility model, and those skilled in the art should understand that various modifications or deformations made by the skilled in the art on the basis of the technical scheme of the utility model without creative labor are still within the protection scope of the utility model.

Claims

1. A pick error detection device, characterized by, The utility model relates to a kind of detection assembly and installation assembly comprising: The detection assembly includes fixed frame and sensor, the sensor has multiple, multiple sensors are installed on the fixed frame; The installation assembly includes stand and installation disc, the stand is arranged at the opposite side of the fixed frame, the installation disc is hung on the stand, pickup is installed on the installation disc, and inductive proton is installed on each pickup, and the position of inductive proton is aligned with the position of the sensor. The top of the stand is provided with a positioning pin, and the top of the installation disc is provided with a mounting plate, the mounting plate is provided with a positioning hole, and the positioning hole of the mounting plate is installed on the positioning pin of the stand.

2. The end effector error detection device of claim 1, wherein, The positioning pin includes a cylindrical segment and a conical segment, the diameter of the cylindrical segment matches the positioning hole, the conical segment is located on the upper side of the cylindrical segment, the diameter of the lower end of the conical segment is the same as the diameter of the cylindrical segment, and the diameter of the upper end of the conical segment is smaller than the diameter of the lower end.

3. The end effector error detection device of claim 2, wherein, The stand is provided with a support block, the support block is located on the side of the stand facing the fixed frame, and the bottom of the installation disc is provided with a mounting seat, and the mounting seat is installed on the support block.

4. The end effector error detection device of claim 1, wherein, The upper end of the support block has a V-shaped protrusion protruding upward, and the lower end of the mounting seat has a V-shaped groove matching the V-shaped protrusion.

5. The end effector error detection device of claim 4, wherein, Alternatively, the upper end of the support block is provided with a V-shaped groove recessed downward, and the lower end of the mounting seat has a V-shaped protrusion matching the V-shaped groove. The pickup is installed on the left and right sides of the installation disc, and the inductive proton is installed on the end of the pickup close to the installation disc.

6. The end effector error detection device of claim 1, wherein, The detection assembly is installed on the protective net, and the stand is located on the opposite side of the protective net.

7. The end effector error detection device of claim 1, wherein The fixed frame includes a fixed plate, a first bracket and a second bracket, the fixed plate is fixedly installed on the protective net, the first bracket is installed on the fixed plate, the second bracket is installed on the first bracket, and the sensor is installed on the second bracket.

8. The end effector error detection device of claim 7, wherein, The first bracket has a first long slot arranged vertically, and a screw is installed on the fixed plate through the first long slot, the second bracket has a second long slot arranged horizontally, and a screw is installed on the first bracket through the second long slot.

9. The end effector error detection device of claim 8, wherein, The detection assembly has two groups, and each group of detection assembly has two sensors.

10. The end effector error detection device of claim 1, wherein, ​

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