System for preventing robot from grabbing multiple plates at one time

Abstract

The utility model belongs to the technical field of automobile equipment manufacturing, and particularly relates to a system for preventing a robot from grabbing a plurality of plates at a time, which comprises the robot, a field detection device and a line body controller, the field detection device comprises a digital quantity signal module, and the digital quantity signal module is connected with the wire body controller through a bus; the ultrasonic proximity switch is arranged in the motion trail range of the robot and located on the side edge of the digital quantity signal module, and the ultrasonic proximity switch is connected with the digital quantity signal module in a wired mode. The detection device can accurately identify and detect the number of plates grabbed by the robot at a time, and can well prevent subsequent process errors caused by the fact that the robot grabs the unqualified number of plates at a time, so that actual production requirements are met, and the limitation of an existing detection method is effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the automobile equipment manufacturing technical field, concretely relates to a system for preventing robot from grabbing multiple plate pieces at one time. BACKGROUND

[0002] In the field of automobile manufacturing, robots are usually used to grab plate pieces to be processed. Usually, a robot needs to grab only one plate piece in a single cycle. Since there is no isolation layer in the incoming plate pieces, all the plate pieces are stacked together, and the robot may also grab the lower layer of plate pieces when grabbing, or there may be a situation where the plate pieces are not grabbed. However, the existing detection method, i.e., using a proximity switch or a photoelectric switch, cannot determine how many plate pieces the robot has grabbed, thereby failing to meet the production requirement of grabbing only one plate piece at a time. SUMMARY

[0003] The utility model is aimed at the technical problem that it is impossible to determine whether the plate pieces grabbed by a robot at one time are single when the robot is used to grab plate pieces to be processed, and aims to provide a system for preventing a robot from grabbing multiple plate pieces at one time.

[0004] To solve the foregoing technical problem, the utility model provides a system for preventing a robot from grabbing multiple plate pieces at one time, which comprises a robot and further comprises an on-site detection device and a line body controller.

[0005] The on-site detection device comprises:

[0006] A digital signal module, which is connected to the line body controller through a bus;

[0007] An ultrasonic proximity switch, which is arranged in the motion track range of the robot and located at the side of the digital signal module, and is connected to the digital signal module through a wire.

[0008] Optionally, in the system for preventing a robot from grabbing multiple plate pieces at one time as described above, the robot is provided with a suction cup or a magnetic piece, and the robot grabs the detection object through the suction cup or the magnetic piece.

[0009] Optionally, in the system for preventing a robot from grabbing multiple plate pieces at one time as described above, the ultrasonic proximity switch and the digital signal module are connected through an electrical signal cable.

[0010] Optionally, in the system for preventing a robot from grabbing multiple plate pieces at one time as described above, the pulse signal input end and the detection signal output end of the ultrasonic proximity switch are respectively connected to the input and output ports of the digital signal module.

[0011] Optionally, in the system for preventing the robot from grabbing multiple board pieces at one time as described above, the ultrasonic proximity switch has two detection signal output ends, a single-layer board piece output end and a zero-layer board piece output end, and the two detection signal output ends are connected to two input / output ports of the digital signal module.

[0012] Optionally, in the system for preventing the robot from grabbing multiple board pieces at one time as described above, the ultrasonic proximity switch has three detection signal output ends, a multi-layer board piece output end, a single-layer board piece output end and a zero-layer board piece output end, and the three detection signal output ends are connected to three input / output ports of the digital signal module.

[0013] Optionally, in the system for preventing the robot from grabbing multiple board pieces at one time as described above, the ultrasonic proximity switch comprises an ultrasonic transmitting probe and an ultrasonic receiving probe, the ultrasonic transmitting probe and the ultrasonic receiving probe are arranged on a mounting bracket at a preset distance, and a detection area is formed between the ultrasonic transmitting probe and the ultrasonic receiving probe.

[0014] Optionally, in the system for preventing the robot from grabbing multiple board pieces at one time as described above, when the robot grabs the to-be-detected piece to the detection area, the distance between the ultrasonic transmitting probe and the to-be-detected piece is 20mm-30mm.

[0015] Optionally, in the system for preventing the robot from grabbing multiple board pieces at one time as described above, the distance between the ultrasonic transmitting probe and the ultrasonic receiving probe is 50mm-150mm.

[0016] The distance between the center point between the ultrasonic transmitting probe and the ultrasonic receiving probe and the center point of the ultrasonic receiving probe is greater than 75mm.

[0017] Optionally, in the system for preventing the robot from grabbing multiple board pieces at one time as described above, the center line between the ultrasonic transmitting probe and the ultrasonic receiving probe is parallel or at an acute angle to the first direction.

[0018] Optionally, in the system for preventing the robot from grabbing multiple board pieces at one time as described above, when the center line between the ultrasonic transmitting probe and the ultrasonic receiving probe is at an acute angle to the first direction, the angle is 20°-30°.

[0019] Optionally, in the system for preventing the robot from grabbing multiple board pieces at one time as described above, the line body controller adopts a PLC controller.

[0020] The utility model discloses a positive progress effect lies in: the utility model discloses can accurate identification detection robot once the number of board piece of grabbing, can very good prevent robot once the unqualified quantity board piece of grabbing causes subsequent process error, thereby satisfy actual production needs, effectively solved the limitation of existing detection method. BRIEF DESCRIPTION OF DRAWINGS

[0021] The disclosure of the utility model will be more apparent with reference to the drawings. It should be understood that these drawings are only for the purpose of illustration, and are not intended to limit the scope of protection of the utility model. In the drawings:

[0022] Fig. 1 It is a kind of connection schematic diagram of the utility model;

[0023] Fig. 2 It is a kind of installation structure diagram of ultrasonic proximity switch of the utility model;

[0024] Fig. 3 It is another installation structure diagram of ultrasonic proximity switch of the utility model. DETAILED DESCRIPTION

[0025] The embodiments of the utility model will be described below by specific concrete examples, and the person skilled in the art can easily understand other advantages and effects of the utility model from the content disclosed in the specification. The utility model can also be implemented or applied by another different specific embodiment, and each detail in the specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the utility model.

[0026] It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0027] In the description of the utility model, it should be noted that for orientation words, if there are terms "outer side", "middle section", "inner", "outer" and the like indicate the orientation and positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and not indicating or implying that the indicated device or element must have a specific orientation, structure and operation in a specific orientation, and cannot be understood as limiting the specific protection scope of the utility model.

[0028] In addition, if there are terms "first", "second", only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the "first", "second" feature can be explicitly or implicitly include one or more features, and the meaning of "several", "several" in the description of the utility model is two or more than two, unless otherwise explicitly specified.

[0029] Reference Figs. 1 to 3This utility model provides a system to prevent a robot from grabbing multiple boards at once. The system includes a robot, a field detection device, and a line controller 10.

[0030] The on-site testing device includes a digital signal module 20 and an ultrasonic proximity switch 30.

[0031] The digital signal module 20 is connected to the line controller 10 via a bus connection. The bus connection between the two can use existing technologies, such as DeviceNet, EtherNet IP, ProfiNet, ProfiBus, etc. The appropriate bus technology can be selected based on the site conditions.

[0032] The ultrasonic proximity switch 30 is located within the robot's motion trajectory and is situated to the side of the digital signal module 20. The ultrasonic proximity switch 30 is wired to the digital signal module 20.

[0033] The field detection device of this invention is installed in the automotive production line environment, while the line controller 10 is installed at a remote location far from the automotive production line. The ultrasonic proximity switch 30 of this invention is not connected to other field controllers, but rather connected to the remote line controller 10 via a digital signal module 20. This is because the control signals in automotive production lines are typically extremely complex, requiring a large amount of hardware, and the control capabilities of field controllers are usually limited, making them unsuitable for expansion needs.

[0034] In use, the robot grasps the part to be inspected and moves it within the detection range of the ultrasonic proximity switch 30. The ultrasonic proximity switch 30 detects the number of board layers and feeds the detection result back to the digital signal module 20. The digital signal module 20 then transmits the detection result to the line controller 10 via a bus. The line controller 10 compares the detection result with a preset number of board layers. If the detection result is 1 layer, the number of board layers grasped by the robot is acceptable, and subsequent processes can continue. Otherwise, if the number of board layers grasped by the robot is unacceptable, the line controller 10 can promptly stop the production line for adjustment.

[0035] In some embodiments, the robot is equipped with a suction cup or magnetic component, which allows the robot to grasp the object to be inspected.

[0036] Vacuum suction cups are preferred.

[0037] Magnets are preferred for magnetic components.

[0038] In some embodiments, the digital signal module 20 and the ultrasonic proximity switch 30 are connected by an electrical signal cable.

[0039] The electrical signal cable is preferably a six-core cable.

[0040] In some embodiments, the pulse signal input end and the detection signal output end of the ultrasonic proximity switch 30 are respectively connected to the input and output ports of the digital signal module 20.

[0041] The digital signal module 20 provides a pulse signal for the ultrasonic proximity switch 30. The digital signal module 20 also receives and transmits the detection results provided by the ultrasonic proximity switch 30.

[0042] In some embodiments, the ultrasonic proximity switch 30 has two detection signal output ends, which are respectively a single-layer plate output end and a zero-layer plate output end, and the two detection signal output ends are respectively connected to two input and output ports of the digital signal module 20.

[0043] In this embodiment, the detection results of the ultrasonic proximity switch 30 are two-layer or zero-layer.

[0044] In some embodiments, the ultrasonic proximity switch 30 has three detection signal output ends, which are respectively a multi-layer plate output end, a single-layer plate output end, and a zero-layer plate output end, and the three detection signal output ends are respectively connected to three input and output ports of the digital signal module 20.

[0045] In this embodiment, the detection results of the ultrasonic proximity switch 30 are three-layer, single-layer, or zero-layer. Among them, the detection result of the multi-layer is usually double-layer.

[0046] In specific implementation, when the three input and output ports are connected, the zero-layer to double-layer plate can be pre-defined to correspond to different signals. For example, when the input and output port 21 of the digital signal module 20 is high, it is a zero-layer plate; when the input and output port 22 of the digital signal module 20 is high, it is a single-layer plate; and when the input and output port 23 of the digital signal module 20 is high, it is a double-layer plate. The digital signal module 20 can transmit the detection results to the line body controller 10 according to the above signal conditions.

[0047] In some embodiments, referring to Fig. 2 and Fig. 3 , the ultrasonic proximity switch 30 includes an ultrasonic transmitting probe 31 and an ultrasonic receiving probe 32, the ultrasonic transmitting probe 31 and the ultrasonic receiving probe 32 are arranged on a mounting bracket 33 at a predetermined distance, and a detection area is formed between the ultrasonic transmitting probe 31 and the ultrasonic receiving probe 32.

[0048] In some embodiments, referring to Fig. 3 , when the robot grasps the to-be-detected piece to the detection area, the distance a between the ultrasonic transmitting probe 31 and the to-be-detected piece 40 is 20mm-30mm.

[0049] In some embodiments, referring to Fig. 3 , the distance d between the ultrasonic wave transmitting probe 31 and the ultrasonic wave receiving probe 32 is 50mm-150mm. The distance b between the center point between the ultrasonic wave transmitting probe 31 and the ultrasonic wave receiving probe 32 and the center point of the ultrasonic wave receiving probe 32 is greater than 75mm.

[0050] In some embodiments, referring to Fig. 2 , the center line between the ultrasonic wave transmitting probe 31 and the ultrasonic wave receiving probe 32 is parallel to the first direction.

[0051] Wherein the first direction is the direction perpendicular to the detection surface of the to-be-detected piece 40 when the to-be-detected piece 40 is in the detection area. For example, Fig. 2 as shown in the figure, the detection surface of the to-be-detected piece 40 is in the horizontal direction, and the first direction is in the vertical direction (i.e. the up-down direction).

[0052] In some embodiments, referring to Fig. 3 , the center line between the ultrasonic wave transmitting probe 31 and the ultrasonic wave receiving probe 32 is at an acute angle to the first direction.

[0053] Preferably, when the center line between the ultrasonic wave transmitting probe 31 and the ultrasonic wave receiving probe 32 is at an acute angle to the first direction, the angle β is 20°-30°.

[0054] In some embodiments, when the ultrasonic wave transmitting probe 31 and the ultrasonic wave receiving probe 32 are arranged oppositely, an offset of less than 1° or a bias of less than 1mm is allowed. That is, the two are allowed not to be arranged absolutely oppositely, and a certain angle or position offset is allowed during installation.

[0055] The ultrasonic wave transmitting probe 31 and the ultrasonic wave receiving probe 32 can be adjusted to a better detection angle by the above-mentioned embodiments and combinations thereof.

[0056] In some embodiments, the digital signal module 20 adopts TCDEI-8D0P-DYU-G04.

[0057] In some embodiments, the ultrasonic proximity switch 30 adopts UDC-30GM-085-3E3.

[0058] In some embodiments, the line body controller 10 adopts a PLC controller.

[0059] In some embodiments, the line body controller 10 adopts 1756-L84ES / 1756-L8SP of AB Company.

[0060] The utility model discloses make before the detailed explanation to the utility model with the drawings, and the ordinary skilled person in the art can make various change example to the utility model according to the above-mentioned explanation. Thus, certain details in the embodiment should not constitute the limitation to the utility model, and the utility model will take the range defined by the attached claim book as the protection scope.

Claims

1. A system for preventing a robot from picking up multiple pieces of sheet material at a time, the system for preventing a robot from picking up multiple pieces of sheet material at a time comprising a robot, wherein, The system for preventing the robot from grabbing multiple board pieces at one time further comprises an on-site detection device and a line body controller; The on-site detection device comprises: a digital signal module, which is connected to the line body controller through a bus; an ultrasonic proximity switch, which is arranged in the motion track of the robot and located at the side of the digital signal module, and is connected to the digital signal module through a wire.

2. The system for preventing a robot from picking up multiple sheets at a time of claim 1, wherein, The robot is provided with a suction cup or a magnetic piece, and the robot grabs the detection object through the suction cup or the magnetic piece.

3. The system for preventing a robot from picking up multiple sheets at a time of claim 1, wherein, The ultrasonic proximity switch and the digital signal module are connected through an electrical signal cable.

4. The system for preventing a robot from picking up multiple sheets at a time of claim 1, wherein, The pulse signal input end and the detection signal output end of the ultrasonic proximity switch are respectively connected to the input and output ports of the digital signal module.

5. The system for preventing a robot from picking up multiple sheets at a time of claim 4, wherein, The ultrasonic proximity switch has two detection signal output ends, which are respectively a single-layer board piece output end and a zero-layer board piece output end, and the two detection signal output ends are respectively connected to two input and output ports of the digital signal module. Alternatively, the ultrasonic proximity switch has three detection signal output ends, which are respectively a multi-layer board piece output end, a single-layer board piece output end and a zero-layer board piece output end, and the three detection signal output ends are respectively connected to three input and output ports of the digital signal module.

6. The system for preventing a robot from picking up multiple sheets at a time of claim 1, wherein, The line body controller adopts a PLC controller.

7. The system for preventing a robot from picking up multiple sheets at a time of any of claims 1 to 6, wherein, The ultrasonic proximity switch comprises an ultrasonic transmitting probe and an ultrasonic receiving probe, the ultrasonic transmitting probe and the ultrasonic receiving probe are arranged on a mounting bracket at a preset distance, and a detection area is formed between the ultrasonic transmitting probe and the ultrasonic receiving probe.

8. The system for preventing a robot from picking up multiple sheets at a time of claim 7, wherein, When the robot grabs the detection object to the detection area, the distance between the ultrasonic transmitting probe and the detection object is 20mm-30mm; The distance between the ultrasonic transmitting probe and the ultrasonic receiving probe is 50mm-150mm; The distance between the center point between the ultrasonic transmitting probe and the ultrasonic receiving probe and the center point of the ultrasonic receiving probe is greater than 75mm.

9. The system for preventing a robot from picking up multiple sheets at a time of claim 7, wherein, The center line between the ultrasonic transmitting probe and the ultrasonic receiving probe is parallel or at an acute angle to the first direction.

10. The system for preventing a robot from picking up multiple sheets at a time of claim 9, wherein, When the center line between the ultrasonic transmitting probe and the ultrasonic receiving probe is at an acute angle to the first direction, the angle is 20°-30°.

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