Automatic switching equipment for multiple vehicle types

Abstract

The utility model belongs to the technical field of automobile production lines, and particularly relates to automatic switching equipment for multiple automobile types. Comprising a roller bed component used for circularly conveying follow fixtures, and the follow fixtures bear white vehicle bodies of different vehicle types; the roller bed locking component is configured to fix the follow fixture when the follow fixture reaches a switching position; the positioning pin assembly is installed on the follow fixture, and the positioning pin assembly is matched with pin holes in different vehicle types; the visual assembly is used for detecting the positioning deviation of the follow fixture; the robot assembly comprises a servo gripper, and the servo gripper adjusts the position of the positioning pin assembly according to the data of the visual assembly; the control system is used for receiving vehicle type signals and coordinating actions of the roller bed locking component, the visual component and the positioning pin component; rapid switching of different vehicle types is achieved, and no beat loss exists.

Description

Technical Field

[0001] This utility model belongs to the field of automobile production line technology, and specifically relates to an automatic switching device for multiple vehicle models. Background Technology

[0002] Multi-model robotic automatic shifting systems are commonly used in body-in-white welding lines. Currently, due to the limited capacity of the self-circulating line, it cannot accommodate too many models, and frequent switching can easily cause time loss. In China, the overall fixture switching method is mostly adopted, which results in long model switching time and large fixture footprint.

[0003] In the existing technology, the overall switching system of multi-model assembly fixtures (including one-line switching library, cross-shaped switching library, T-shaped switching library, etc.) can only meet the independent use of one model at a time. Multiple switching will occupy the production cycle and affect production efficiency. On the other hand, the warehouse fixture system, in order to realize the production of multiple models, has a large footprint due to the large size of the fixtures, and requires a lot of storage space to store the model fixtures for switching.

[0004] Therefore, there is an urgent need for an automatic switching device for multiple vehicle models that can solve the problems of large footprint, reduced production cycle time, and impact on production efficiency. Utility Model Content

[0005] To address the above problems, this utility model proposes an automatic switching device for multiple vehicle models, comprising:

[0006] A roller bed assembly is used for cyclically conveying a traveling fixture, which carries the body-in-white of different vehicle models;

[0007] The roller bed locking component is configured to fix the accompanying fixture when the accompanying fixture reaches the switching position;

[0008] The locating pin assembly is installed on the accompanying fixture and matches the pin holes on different vehicle models.

[0009] Vision components are used to detect positioning deviations of the accompanying fixture;

[0010] The robot component includes a servo gripper that adjusts the position of a positioning pin component based on data from a vision component;

[0011] The control system receives vehicle model signals and coordinates the movements of the roller bed locking components, vision components, and positioning pin components.

[0012] Furthermore, the servo gripper includes:

[0013] The servo module is installed on the gripper body. Two servo modules are connected to the motor through a T-axis reducer. The servo module is equipped with a pin; the pin matches the adjustment hole on the traveling fixture.

[0014] The locking unit, mounted on the servo module, is used to secure the positioning pin assembly after its position has been adjusted.

[0015] Furthermore, the rolling bed locking component includes cylinders; two sets of cylinders are located on both sides of the switching position.

[0016] Furthermore, the visual component includes:

[0017] Ground camera and high-position camera; the ground camera is distributed on both sides of the rolling bed component, and the high-position camera is located above the traveling fixture; the ground camera is used to measure the positioning error of the traveling fixture;

[0018] The high-position camera is used to detect the offset of the pin hole.

[0019] Furthermore, the positioning pin assembly includes at least three sets of positioning pins; the first positioning pin set, the second positioning pin set, and the third positioning pin set are mounted on the accompanying fixture.

[0020] Furthermore, the robot component adjusts the position of the third positioning pin group according to the instructions of the control system.

[0021] Furthermore, the vision component is also used to calculate the bias.

[0022] Furthermore, the locking unit includes a pneumatic gripper or a hydraulic lock.

[0023] Furthermore, the roller bed locking component also includes a photoelectric sensor, which is used to detect the closed state of the cylinder.

[0024] Furthermore, the rolling bed locking component also includes a guide wheel and a tail locating pin; the head of the traveling fixture is fixed by the guide wheel, and the tail of the traveling fixture is fixed by the tail locating pin.

[0025] Beneficial effects

[0026] The advantages of this utility model over the prior art are as follows:

[0027] 1. The robot component of this application dynamically adjusts the positioning pin component and performs visual compensation through the vision component to achieve rapid switching between different vehicle models without cycle time loss; at the same time, the modular design and compact layout reduce the footprint of the fixture.

[0028] 2. This application uses a ground camera to scan the position of the accompanying fixture, detects the accuracy deviation in the X / Y / Z directions after the accompanying fixture is in place, and compensates for the loss of accuracy in repeated positioning of the accompanying fixture; at the same time, a high-position camera captures the position deviation of the pin hole after it is in place, calculates the deviation between the actual position and the target position to generate compensation data; and then the robot component corrects the motion trajectory based on the compensation data to eliminate mechanical errors.

[0029] 3. This application reduces the production input for vehicle model introduction and lowers the system manufacturing cost by switching robot components, simplifying the structure and increasing the utilization rate of equipment;

[0030] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained through the structures pointed out in the description and the accompanying drawings. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 A bottom view of the accompanying clamp in an embodiment of the present invention is shown.

[0033] Figure 2 A top view of the accompanying clamp in an embodiment of the present invention is shown.

[0034] Figure 3 It shows Figure 1 A magnified 3D view of point E in the middle.

[0035] Figure 4 It shows Figure 1 A magnified 3D view of point F in the middle.

[0036] Figure 5 A perspective view of the accompanying clamp in an embodiment of this utility model is shown.

[0037] Figure 6 A partially enlarged perspective view of the accompanying clamp in an embodiment of this utility model is shown.

[0038] Figure 7 A perspective view showing the positions of the accompanying clamp and vision component in an embodiment of this utility model is provided.

[0039] Figure 8A perspective view of the robot components in an embodiment of the present invention is shown.

[0040] Figure 9 The diagram shows a front view of the accompanying gripper and robot components in an embodiment of the present invention.

[0041] Figure 10 A side view of the accompanying gripper and robot components in an embodiment of the present invention is shown.

[0042] Figure 11 A perspective view of an embodiment of the present invention is shown where the pin is not inserted into the adjustment hole.

[0043] Figure 12 A perspective view of the pin being inserted into the adjustment hole in an embodiment of the present invention is shown.

[0044] In the diagram, 1. Accompanying fixture; 2. Vision component; 21. Ground camera; 22. High-position camera;

[0045] 3. Positioning pin assembly; 31. Positioning pin group 1; 32. Positioning pin group 2; 33. Positioning pin group 3;

[0046] 4. Robot components; 41. Servo module; 42. T-axis reducer; 43. Motor; 44. Pin; 45. Locking unit; 5. Cylinder;

[0047] 6. Photoelectric sensor; 7. Guide wheel; 8. Tail locating pin. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0049] This application provides an automatic switching device for multiple vehicle models, see reference. Figure 1 and Figure 5 It includes: a roller bed assembly, which is used to circulate and transport the accompanying fixture 1, the accompanying fixture 1 carrying the body-in-white of different models;

[0050] The rolling bed locking component is configured to fix the accompanying clamp 1 when the accompanying clamp 1 reaches the switching position;

[0051] refer to Figure 5 Positioning pin assembly 3 is installed on the accompanying clamp 1, and the positioning pin assembly 3 is matched with the pin holes on different vehicle models;

[0052] refer to Figure 7 Vision component 2 is used to detect the positioning deviation of the accompanying fixture 1;

[0053] refer to Figure 8 Robot component 4 includes a servo gripper, which adjusts the position of the positioning pin component 3 based on data from the vision component 2;

[0054] The control system is used to receive vehicle model signals and coordinate the movements of the roller bed locking component, vision component 2, and positioning pin component 3.

[0055] The accompanying fixture 1 circulates within the roller bed assembly to produce vehicles. Upon receiving a switching command, it identifies the current vehicle model on the accompanying fixture 1 using a barcode reader. The control system is a PLC control system, which receives the switching command and sends it to the robot component 4 and the roller bed locking component. After the accompanying fixture 1 reaches the designated switching position, the roller bed locking component clamps and fixes the accompanying fixture 1. The vision component 2 scans the position of the accompanying fixture 1. The vision component 2 uses point cloud technology on the white car body for multi-vehicle co-production, enabling short-time switching without production cycle loss.

[0056] Robot component 4 adjusts the position of positioning pin component 3 on the accompanying fixture 1 through the servo gripper according to the position information of the target vehicle model as needed, so that the position of positioning pin component 3 matches the position of the corresponding vehicle model;

[0057] This application achieves rapid switching between different vehicle models without cycle time loss by dynamically adjusting the positioning pin component 3 through the robot component 4 and performing visual compensation through the vision component 2; at the same time, it reduces the fixture footprint through modular design and compact layout.

[0058] Based on the conventional fixture design principle, this application adds a robot component 4 to implement a prying scheme. It adopts a simple mechanical structure and integrates a vision component 2, which can meet the application of welding fixtures for multiple parts of large fixtures and multiple vehicle models. This satisfies the requirements of multi-vehicle co-production, reduces the difficulty of equipment design, processing, manufacturing, installation and maintenance, and greatly solves the problem of space occupation of body-in-white line fixtures, thereby improving body manufacturing efficiency and reducing equipment manufacturing and maintenance costs.

[0059] This application makes effective use of the workshop layout and occupies a small space volume.

[0060] In one embodiment of this utility model, the servo gripper includes:

[0061] refer to Figure 8Servo modules 41 are mounted on the gripper body. Two servo modules 41 are connected to the motor 43 via a T-axis reducer 42. Each servo module 41 has a pin 44 mounted on it. The pin 44 has an adjustment hole on the accompanying clamp 1 (see reference). Figure 11 and Figure 12 c) in the text matches;

[0062] The locking unit 45 is installed on the servo module 41 and is used to fix the positioning pin assembly 3 after the position is adjusted.

[0063] When adjusting the position of the positioning pin assembly 3 using the servo gripper, the servo module 41 is first moved as a whole by the drive mechanism of the servo module 41, thereby moving the pin 44 and the locking unit 45 to the vicinity of the target position of the positioning pin assembly 3; then, the motor 43 drives the servo modules 41 on both sides to move inward or outward (towards or backwards) simultaneously through the T-shaft reducer 42, so that the pin 44 is adapted to the adjustment hole spacing of different models on the accompanying fixture 1; the servo gripper moves the positioning pin assembly 3 in the X, Y, and Z directions, so that the position of the positioning pin assembly 3 corresponds to the pin hole of the matching model; at the same time, the vision component 2 corrects the position of the machine system and the position of the positioning pin assembly 3, so that the positioning pin assembly 3 is accurately inserted into the pin hole of the target model;

[0064] After the positioning pin assembly 3 is fully inserted into the pin hole of the target vehicle, the locking unit 45 is activated to clamp the positioning pin and prevent it from loosening; the vision assembly 2 is used for detection, and the control system confirms that the fixing pin system is in place and the accompanying clamp 1 is fixed correctly.

[0065] Then, the rolling bed locking component releases the accompanying clamp 1, and the accompanying clamp 1 continues to circulate within the rolling bed component; the preceding robot continues to weld the current model, and the subsequent robot has synchronously completed the switch, achieving seamless connection.

[0066] The servo gripper also includes a manual latch 44 ( Figure 8 a) and valve island assembly ( Figure 8 b) Manual latch 44 serves as an emergency and debugging interface for the automation system, ensuring high availability and operational flexibility; Valve island assembly: as the central hub of pneumatic control, it enables precise coordination of locking, driving, and other actions.

[0067] In one embodiment of this utility model, reference is made to... Figure 1 and Figure 2 The roller bed locking component includes cylinders 5; two sets of cylinders 5 are located on both sides of the switching position.

[0068] When clamping and fixing the accompanying fixture 1, the accompanying fixture 1 is fixed by activating the cylinder 5; after the switching is completed, the accompanying fixture 1 is released by releasing the cylinder 5, so that the accompanying fixture 1 can continue to work.

[0069] In one embodiment of this utility model, reference is made to... Figure 7 The visual component 2 includes:

[0070] Ground camera 21 and high-position camera 22; ground camera 21 is distributed on both sides of the roller bed component, and high-position camera 22 is located above the accompanying fixture 1; the ground camera 21 is used to measure the positioning error of the accompanying fixture 1.

[0071] The high-position camera 22 is used to detect the offset of the pin hole.

[0072] The vision component 2 is also used to calculate the deviation.

[0073] The position of the accompanying fixture 1 is scanned by three ground cameras 21, and the accuracy deviation (±0.1mm) in the X / Y / Z directions after the accompanying fixture 1 is in place is detected to compensate for the loss of repeatability accuracy of the accompanying fixture 1.

[0074] After the high-position camera 22 captures the pin hole position deviation, it calculates the deviation between the actual position and the target position to generate compensation data; then the robot component 4 corrects the motion trajectory based on the compensation data to eliminate mechanical errors (such as repeatability error ±0.06mm);

[0075] The error adjustment method for visual component 2 is as follows:

[0076] Robot repeatability error ±0.06mm; fixed camera measurement error ±0.1mm; fixed camera's connection error with the pin hole of the accompanying fixture 1 ±0.1mm; accompanying fixture 1 consistency error ±0.1mm; robot component 4 execution error ±0.15mm; motor 43 execution error ±0.05mm;

[0077] In one embodiment of the present invention, the positioning pin assembly 3 includes at least three sets of positioning pins; the first positioning pin set 31, the second positioning pin set 32 ​​and the third positioning pin set 33 are mounted on the accompanying clamp 1.

[0078] The robot component 4 adjusts the position of the third positioning pin group 33 according to the instructions of the control system.

[0079] Positioning pin group 31 is fixed and used to position the cabin; positioning pin group 32 is used to control the Z-axis position of the center floor; positioning pin group 33 is used to control the rear floor and can be adjusted in the XYZ directions (see reference). Figure 6The robot moves along the X, Y, and Z axes to match the pin holes of different car models. After receiving the switching command, the servo gripper adjusts the position of the third positioning pin group 33 to match the position of the target car model. The pin 44 enters the adjustment hole of the accompanying fixture 1, and the accompanying fixture 1 unlocks the guide rail lock between the third positioning pin group 33, causing the third positioning pin group 33 to move in the Y direction (see reference). Figure 9 Then, robot component 4 continues to move, driving the third positioning pin group 33 to move in the X and Z directions to complete the switching (see reference). Figure 10 ).

[0080] In one embodiment of this utility model, reference is made to... Figure 8 The locking unit 45 includes a pneumatic gripper or a hydraulic lock.

[0081] The No. 3 positioning pin group 33 is fixed by pneumatic grippers or hydraulic locks; pneumatic or hydraulic locking can be completed in milliseconds, seamlessly integrated into the production line cycle; and the position accuracy is verified by sensors in the PLC control system.

[0082] In one embodiment of this utility model, reference is made to... Figure 7 The rolling bed locking component also includes a photoelectric sensor 6, which is used to detect the closed state of the cylinder 5.

[0083] When the photoelectric sensor 6 detects the closed state of cylinder 5, it will trigger an emergency stop if an abnormality is found.

[0084] In one embodiment of this utility model, reference is made to... Figure 3 and Figure 4 The rolling bed locking component also includes a guide wheel 7 and a tail positioning pin 8; the head of the traveling clamp 1 is fixed by the guide wheel 7, and the tail of the traveling clamp 1 is fixed by the tail positioning pin 8.

[0085] Specific switching process:

[0086] 1. The accompanying fixture 1 enters the measuring station, and the lifting roller bed lowers the accompanying fixture 1 onto the fixed fixture;

[0087] 2. The PLC control system sends the accompanying fixture No. 1 and the arrival signal to the vision component 2;

[0088] 3. The high-position camera 22 at the bottom measures the pin hole of the accompanying fixture 1 to establish the current BASE coordinate system of the accompanying fixture 1;

[0089] 4. The high-position camera 22 above measures (measuring spheres), identifies the current vehicle model, and determines the error value;

[0090] 5. The tail robot with vision component 2 measures the measuring ball, identifies the current vehicle model, and determines the error value (deviation value of the same positioning pin for different vehicle models);

[0091] 6. Vision component 2 uses a fixed path to capture and measure basic data to guide the pin 44 of robot component 4 to perform actions, and starts to adjust the position of the third positioning pin group 33 by dialing, and the servo gripper follows the trajectory.

[0092] 7. After the dialing is completed, the vision component 2 re-measures the position of the adjusted No. 3 positioning pin group 33. If it meets the tolerance requirements (less than 0.5mm), the roller bed is raised and the accompanying fixture 1 is transported out of the station. Otherwise, the dialing is performed again (0.5-2mm). If it is greater than 2mm, manual intervention is required until the error meets the standard.

[0093] During the switching process, let's take three models, A, B, and C, as examples;

[0094] The relative deviation of the positioning pins between models A and B is:

[0095] Group 1: X = 47mm, Y = 0mm, Z = 0mm; Group 2: X = 12mm, Y = 0mm, Z = 0mm; Group 3: X = 0mm, Y = 0mm, Z = 14.5mm; Group 4: X = 0mm, Y = 0mm, Z = 14.5mm;

[0096] The relative deviations of the positioning pins for models B and C are as follows: Group 1: X = 273mm, Y = 18mm, Z = 37mm; Group 2: X = 167mm, Y = 11mm, Z = 12mm; Group 3: X = 0mm, Y = 0mm, Z = 14.5mm; Group 4: X = 0mm, Y = 0mm, Z = 14.5mm.

[0097] The relative deviations of the positioning pins for models A and C are as follows: Group 1: X = 320mm, Y = 18mm, Z = 37mm; Group 2: X = 155mm, Y = 11mm, Z = 12mm; Group 3: X = 0mm, Y = 0mm, Z = 14.5mm; Group 4: X = 0mm, Y = 0mm, Z = 14.5mm; The positions of the positioning pins in group 33 of the third positioning pin group are adjusted according to the required model.

[0098] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions 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 multi-vehicle automatic switching device characterized by comprising: The utility model relates to a kind of rolling bed components, rolling bed components are used to circulate and transport trolley (1), the trolley (1) carries different vehicle body-in-white; Rolling bed locking component is configured to fix trolley (1) when trolley (1) reaches switching position; Positioning pin assembly (3) is installed on trolley (1), and positioning pin assembly (3) is matched with pin hole on different vehicles; Visual assembly (2) is used to detect positioning deviation of trolley (1); Robot assembly (4) includes servo gripper, and the position of positioning pin assembly (3) is adjusted according to the data of visual assembly (2); Control system is used to receive vehicle signal, and coordinate the action of rolling bed locking component, visual assembly (2) and positioning pin assembly (3). The servo gripper includes:

2. The multi-vehicle automatic switching device according to claim 1, characterized by Servo module (41) is installed on gripper body, two servo modules (41) are connected with motor (43) by T-shaped shaft reducer (42), and plug pin (44) is installed on servo module (41);Plug pin (44) is matched with adjusting hole on trolley (1); Locking unit (45) is installed on servo module (41), and positioning pin assembly (3) is fixed after adjusting position. The rolling bed locking component includes air cylinder (5);Two groups of air cylinder (5) are located on the two sides of switching position respectively.

3. The multi-vehicle automatic switching device according to claim 1, wherein The visual assembly (2) includes:

4. The multi-vehicle automatic switching device according to claim 1, wherein Ground camera (21) and high camera (22);Ground camera (21) is distributed on the two sides of rolling bed component, and high camera (22) is located above trolley (1);The ground camera (21) is used to measure positioning error of trolley (1); The high camera (22) is used to detect offset of pin hole. The positioning pin assembly (3) includes at least three groups of positioning pins;No. Positioning pin group (31), no. Positioning pin group (32) and no. Positioning pin group (33) are installed on trolley (1).

5. The multi-vehicle automatic switching device according to claim 1, wherein The robot assembly (4) adjusts the position of no. Positioning pin group (33) according to the instruction of control system.

6. The multi-vehicle automatic switching device according to claim 5, wherein The visual assembly (2) is also used for calculating deviation.

7. The multi-vehicle automatic switching device according to claim 4, wherein The locking unit (45) includes pneumatic gripper or hydraulic lock.

8. The multi-vehicle automatic switching device according to claim 2, wherein The rolling bed locking component further includes inductive photoelectric (6), and inductive photoelectric (6) is used to detect the closed state of air cylinder (5).

9. The multi-vehicle automatic switching device according to claim 3, wherein The rolling bed locking component further includes guide wheel (7) and tail positioning pin (8);Head of trolley (1) is fixed by guide wheel (7), and tail of trolley (1) is fixed by tail positioning pin (8).

10. The multi-vehicle automatic switching device according to claim 9, wherein ​

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