Tapping system with robot-free teaching

Abstract

The present disclosure provides a tapping system using a robot without demonstration, which comprises a host computer, an image acquisition module, a robot and a tapping gun; the host computer is in communication connection with the image acquisition module, the robot and the tapping gun respectively; the tapping gun is fixed on the robot; the image acquisition module is used for acquiring a target image of a workpiece to be tapped and sending the target image to the host computer; the host computer is used for sending a driving instruction to the robot to drive the robot to drive the tapping gun to tap. The present disclosure acquires the target image of the workpiece to be tapped by the image acquisition module and sends it to the host computer, so that the host computer sends a driving instruction to the robot to drive the robot to drive the tapping gun to tap, realizes automatic positioning of the workpiece without demonstration, improves production efficiency, ensures positioning accuracy and processing quality of the workpiece and reduces cost.

Description

Technical Field

[0001] This disclosure relates to the field of processing equipment technology, and more particularly to a teachless tapping system using a robot. Background Technology

[0002] In current manufacturing, "small batch" or "non-batch" and "customized" products are difficult to produce efficiently and automatically, and are mostly produced manually or semi-automatically. This results in low output, poor quality, and high costs for these products. One of the main reasons for the inability to automate production is the inability to accurately position these workpieces; without positioning, processing is impossible. Current workpiece positioning methods are mainly based on visual positioning using "template matching" technology. However, for "small batch" or "non-batch" products, the time and financial cost of creating templates outweighs that of manual positioning, making it unsuitable.

[0003] Currently, for the positioning of "small batch" or "no batch" workpieces, the workpiece position is generally measured manually using a coordinate measuring machine, or the workpiece is scanned by a 3D vision camera and then matched with the point cloud model. This results in problems such as low production efficiency, poor processing quality, and high cost when tapping the workpiece. Utility Model Content

[0004] The technical problem to be solved by this disclosure is to overcome the shortcomings of existing technologies in tapping "small batch" or "no batch" workpieces, such as low production efficiency, poor processing quality and high cost, and to provide a teaching-free tapping system using a robot.

[0005] This disclosure solves the above-mentioned technical problems through the following technical solution:

[0006] This disclosure provides a teachless tapping system using a robot, the tapping system including a host computer, an image acquisition module, a robot, and a tapping gun;

[0007] The host computer is communicatively connected to the image acquisition module, the robot, and the tapping gun, respectively.

[0008] The tapping gun is fixed to the robot;

[0009] The image acquisition module is used to acquire a target image of the workpiece to be tapped and send the target image to the host computer.

[0010] The host computer is used to send drive commands to the robot to drive the robot to drive the tapping gun to perform tapping.

[0011] Optionally, the tapping system includes one of the image acquisition modules;

[0012] The image acquisition module is fixed to the robot.

[0013] Optionally, the tapping system includes multiple image acquisition modules;

[0014] The tapping system also includes a support structure;

[0015] The image acquisition module is fixed to the support structure.

[0016] Optionally, the tapping gun includes a sliding sleeve, a feed shaft, a servo motor, and a tap;

[0017] The sliding sleeve is fixed to the robot, and the tap is fixed to the propulsion shaft;

[0018] The servo motor is used to drive the feed shaft to move along the sliding sleeve, so as to drive the tap to perform tapping.

[0019] Optionally, the tapping system further includes a tap magazine;

[0020] The tapping gun also includes a clamping mechanism;

[0021] The clamping mechanism is used to clamp the tap into the tap magazine and to clamp a new tap from the tap magazine.

[0022] Optionally, the tapping system further includes a track;

[0023] The robot is used to move along the track.

[0024] Optionally, the tapping system further includes a braking element;

[0025] The braking element is used to fix the robot to the track.

[0026] Optionally, the braking element includes a clamping mechanism.

[0027] Optionally, the tapping system further includes a laser ranging module;

[0028] The laser ranging module is used to collect the tapping height information of the workpiece.

[0029] Optionally, the image acquisition module includes a 2D (Two-Dimensional) camera.

[0030] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this disclosure.

[0031] The positive and progressive effects of this disclosure are as follows:

[0032] This disclosure acquires a target image of the workpiece to be tapped using an image acquisition module and sends it to a host computer. The host computer then sends a drive command to the robot, which drives the tapping gun to perform tapping. This achieves automated positioning of the workpiece without teaching, improves production efficiency, ensures the positioning accuracy and processing quality of the workpiece, and reduces costs. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the teaching-free tapping system using a robot according to Embodiment 1 of this disclosure;

[0034] Figure 2 This is a schematic diagram of the first position of the image acquisition module in the teachless tapping system using a robot according to Embodiment 2 of this disclosure;

[0035] Figure 3 This is a schematic diagram of the second position of the image acquisition module in the teachless tapping system using a robot according to Embodiment 2 of this disclosure;

[0036] Figure 4 This is a schematic diagram of the module of the teaching-free tapping system using a robot according to Embodiment 2 of this disclosure;

[0037] Figure 5 This is a schematic diagram of the first position of the feed shaft and the sliding sleeve in the teachless tapping system using a robot according to Embodiment 2 of this disclosure;

[0038] Figure 6 This is a schematic diagram of the second position of the feed shaft and the sliding sleeve in the teachless tapping system using a robot according to Embodiment 2 of this disclosure;

[0039] Figure 7 This is a schematic diagram of the clamping mechanism releasing the tap in the teachless tapping system using a robot according to Embodiment 2 of this disclosure;

[0040] Figure 8 This is a schematic diagram showing the position of the robot and the track in the teachless tapping system using a robot according to Embodiment 2 of this disclosure.

[0041] Figure 9 This is a schematic diagram showing the position of the brake component in the teachless tapping system using a robot according to Embodiment 2 of this disclosure.

[0042] Figure 10 This is a schematic diagram of the teaching-free tapping system using a robot, which is an embodiment of the present disclosure. Detailed Implementation

[0043] The present disclosure is further illustrated below by way of embodiments, but the present disclosure is not limited to the scope of the embodiments described herein.

[0044] The prefixes such as "first" and "second" used in this disclosure are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this disclosure does not constitute a limitation on the described objects. The description of the described objects is given in the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0045] Example 1

[0046] This embodiment provides a teach-free tapping system using a robot, such as... Figure 1 As shown, the tapping system includes a host computer 81, an image acquisition module 82, a robot 83, and a tapping gun 84;

[0047] The host computer 81 is communicatively connected to the image acquisition module 82, the robot 83, and the tapping gun 84, respectively.

[0048] The tapping gun 84 is fixed on the robot 83;

[0049] The image acquisition module 82 is used to acquire the target image of the workpiece to be tapped and send the target image to the host computer 81;

[0050] The host computer 81 is used to send drive commands to the robot 83 to drive the robot 83 to drive the tapping gun 84 to perform tapping.

[0051] Specifically, the workpiece includes automotive body panel molds. The tapping gun is mounted on the robot's end flange. A workpiece placement platform is set up, with a designated area for workpiece placement. This area's size is within the image acquisition module's reach range; the platform does not require leveling. Before tapping, the worker places the workpiece to be tapped on the work area. As long as it doesn't exceed the designated area, the workpiece can be placed arbitrarily within a certain angle range. The image acquisition module captures images of the positioning holes on the workpiece, obtaining target images and sending them to the host computer. Upon receiving the target image, the host computer automatically analyzes it to obtain the tapping position information, generates drive commands based on the tapping position information, and sends these commands to the robot. This drives the robot to move the tapping gun for tapping, achieving automatic robot positioning without templates, calibration, or teaching.

[0052] In this embodiment, the target image of the workpiece to be tapped is acquired by the image acquisition module and sent to the host computer, so that the host computer sends a drive command to the robot to drive the tapping gun to perform tapping. This realizes the automated positioning of the workpiece without teaching, improves production efficiency, ensures the positioning accuracy and processing quality of the workpiece, and reduces costs.

[0053] Example 2

[0054] This embodiment provides a teaching-free tapping system using a robot, which is a further improvement on Embodiment 1.

[0055] In one feasible embodiment, the tapping system includes an image acquisition module 82;

[0056] The image acquisition module 82 is fixed on the robot 83.

[0057] Specifically, the image acquisition module is installed on the robot's end flange. For example... Figure 2 and Figure 3 As shown, the tapping gun is fixed to the end flange of the robot, and the image acquisition module is fastened to the tapping gun via a bracket using positioning slots and positioning bolts. The host computer drives the robot to move, thereby causing the image acquisition module to acquire the target image. When the workpiece size is small, the robot may not be used.

[0058] In this solution, an image acquisition module fixed to the robot is set up to ensure the effective acquisition of target images.

[0059] In another feasible embodiment, the tapping system includes multiple image acquisition modules 82;

[0060] like Figure 4 As shown, the tapping system also includes a support structure 85;

[0061] The image acquisition module 82 is fixed on the support structure 85.

[0062] Specifically, the number of image acquisition modules is determined based on the size of the workpiece being identified and whether the camera is fixed to the robot's end effector. When the image acquisition module captures images within its accuracy range, it can cover a certain area, i.e., the effective area. If the workpiece is large, far exceeding the effective area captured by the image acquisition module, multiple image acquisition modules can be used. These multiple image acquisition modules are positioned using pin holes and secured to a support structure with bolts. The support structure can be a solid, immovable support.

[0063] In this solution, multiple image acquisition modules fixed to the support structure are set up to ensure effective acquisition of target images.

[0064] In one feasible embodiment, the tapping gun 84 includes a sliding sleeve 841, a feed shaft 842, a servo motor 843, and a tap 844;

[0065] The sliding sleeve 841 is fixed on the robot 83, and the tap 844 is fixed on the push shaft 842;

[0066] The servo motor 843 is used to drive the feed shaft 842 to move along the sliding sleeve 841, so as to drive the tap 844 to perform tapping.

[0067] Specifically, the robot's handheld tapping gun's feed shaft is fixed within a linear sleeve and driven by a servo motor. This design offers significantly higher positioning accuracy and coaxiality than typical robot movements. During tapping, the robot moves above the hole, aligning the tapping gun's feed shaft with the hole's axis. The servo motor then drives the feed shaft to slide along the sleeve, and the tapping gun's rotation axis coordinates with the feed shaft to complete the tapping operation. Figure 5 As shown, the propulsion shaft does not extend beyond the sliding sleeve; Figure 6 As shown, the push shaft extends from the sliding sleeve. During the tapping process, the robot is only responsible for accurately positioning the tapping point. Afterward, the six-axis brake is locked, and only the push shaft completes the pressing action, eliminating the multi-axis linkage error of the robot. This not only avoids tap breakage but also results in more precise threads, and the force and depth of the push are easier to control.

[0068] In this solution, a servo motor drives the feed shaft to move along the sliding sleeve, thereby driving the tap to perform tapping, which ensures the safety of the tap and improves the accuracy and quality of tapping.

[0069] In one feasible embodiment, the tapping system also includes a tap magazine 86;

[0070] The tapping gun 84 also includes a clamping mechanism 845;

[0071] The clamping mechanism 845 is used to clamp the tap 844 to the tap magazine 86 and to clamp a new tap from the tap magazine 86.

[0072] Specifically, after tapping one hole on the workpiece, the host computer determines whether the tap needs to be replaced for the next hole. If a tap replacement is needed, a clamping mechanism retrieves the tap from the tap magazine, completing the tapping of the next hole. This process is repeated to complete the tapping of the entire workpiece. The clamping mechanism employs a pneumatic pull stud design for machine tool cutting, ensuring stable clamping, reliable structure, automatic centering, and rapid and reliable tap clamping and release. Figure 7 The diagram shown is a schematic of the clamping mechanism releasing the tap.

[0073] In this solution, the tap is clamped to the tap magazine by the clamping mechanism, and a new tap is clamped from the tap magazine, which ensures the flexible replacement of taps and can meet the tapping requirements of different diameters and depths. Only the taps in the tap magazine need to be changed to meet the tapping requirements of different types of workpieces.

[0074] In one feasible embodiment, the tapping system also includes a track 87;

[0075] Robot 83 is used to move along track 87.

[0076] Specifically, such as Figure 8As shown, the track 87 is driven by a rack and pinion, the robot 83 is mounted on the slider 831, the track 87 is mounted on the track base 871, and the slider 831 slides on the track 87 to make the robot 83 move along the track.

[0077] In this solution, by equipping the robot with a track, the robot's reachable range can be expanded, while avoiding robot posture limitations or pipeline interference problems. This solution can meet the tapping needs of workpieces of different sizes, shapes, and tapping positions.

[0078] In one feasible embodiment, the tapping system also includes a braking element 88;

[0079] Brake 88 is used to fix the robot to track 87.

[0080] In this solution, by setting a braking component, the robot can be prevented from moving around during operation, thus ensuring tapping accuracy.

[0081] In one feasible embodiment, the brake element 88 includes a clamping mechanism 881.

[0082] Specifically, such as Figure 9 As shown, the clamping mechanism 881 is installed on the track 87. When the robot 83 is working, it clamps the slider 831 below the robot 83 to fix the slider 831, thereby limiting the robot 83 to an accurate position, preventing the robot from moving around, and improving the accuracy of the robot when working.

[0083] In this solution, the robot is fixed to the track by a clamping mechanism, which can prevent the robot from moving around during operation and ensure tapping accuracy.

[0084] In one feasible embodiment, the tapping system also includes a laser ranging module 89;

[0085] The laser ranging module 89 is used to collect the tapping height information of the workpiece.

[0086] In this solution, the tapping height information of the workpiece is collected by a laser ranging module, which ensures the accuracy and reliability of the tapping height information.

[0087] In one feasible embodiment, the image acquisition module 82 includes a 2D camera 821.

[0088] In this solution, a 2D camera is used to acquire the target image of the workpiece to be tapped, ensuring the accuracy and reliability of the target image.

[0089] In addition, the tapping system also includes a camera calibration kit. The camera calibration kit is used to calibrate the 2D camera and reference positioning elements. The reference positioning elements can be holes.

[0090] During operation, the camera pose is calibrated using a camera calibration kit, and reference positioning elements are also calibrated. If the reference positioning elements are of the same type, the calibration is performed only once, and recalibration is not required for different workpieces or when the robot is moved to another location. "Same type" means that the reference positioning elements have the same shape, including circles, rectangles, etc.

[0091] If there is only one camera fixed to the robot, the camera calibration kit is placed on the ground or in a fixed position where there is sufficient margin in all directions for the robot. Hand-eye calibration is performed on the camera to determine its pose and to calibrate the reference positioning elements. If there are multiple cameras fixed to the support structure, the robot moves the camera calibration kit under each camera to calibrate its pose and to calibrate the reference positioning elements. After calibration, the position of the camera relative to the robot's end flange and the information of the reference positioning elements are obtained. The information of the reference positioning elements includes the reference image and the reference height information. The information of the reference positioning elements is compared with the target image of the workpiece to be tapped to obtain the tapping height information of the workpiece. The above calibration is a preparatory work before positioning. Once calibrated, it can be used continuously and does not need to be recalibrated until the workpiece is changed.

[0092] The working principle of the robot-based teachless tapping system in this embodiment is explained below with specific examples:

[0093] like Figure 10 As shown, the tapping gun 84 and the 2D camera 821 are fixed on the robot 83. The host computer 81 drives the robot 83 to move, thereby causing the 2D camera 821 to acquire the target image. The host computer 81 obtains the tapping position information based on the target image, generates a drive command, and sends the drive command to the robot 83. The robot 83 moves along the track 87 to the tapping position of the workpiece A, and the brake 88 fixes the robot 83 on the track 87. The servo motor 843 drives the propulsion shaft 842 to move along the sliding sleeve 841, thereby driving the tap 844 to perform tapping. After tapping one hole of the workpiece, the host computer 81 determines whether the tap needs to be replaced for the next hole. If the tap needs to be replaced, the tap is replaced from the tap magazine 86 through the clamping mechanism 845 to complete the tapping of the next hole. This process is repeated to complete the tapping operation of the entire workpiece.

[0094] In this embodiment, the target image of the workpiece to be tapped is acquired by the image acquisition module and sent to the host computer, so that the host computer sends a drive command to the robot to drive the tapping gun to perform tapping. This realizes the automated positioning of the workpiece without teaching, improves production efficiency, ensures the positioning accuracy and processing quality of the workpiece, and reduces costs.

[0095] While specific embodiments of this disclosure have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this disclosure, but all such changes and modifications fall within the scope of protection of this disclosure.

Claims

1. A tap system using a robot without teaching, characterized by, The tapping system includes a host computer, an image acquisition module, a robot, and a tapping gun; The host computer is communicatively connected to the image acquisition module, the robot, and the tapping gun, respectively. The tapping gun is fixed to the robot; The image acquisition module is used to acquire a target image of the workpiece to be tapped and send the target image to the host computer. The host computer is used to send drive commands to the robot to drive the robot to drive the tapping gun to perform tapping.

2. The teaching-free tapping system using a robot as described in claim 1, characterized in that, The tapping system includes one of the image acquisition modules; The image acquisition module is fixed to the robot.

3. The teaching-free tapping system using a robot as described in claim 1, characterized in that, The tapping system includes multiple image acquisition modules; The tapping system also includes a support structure; The image acquisition module is fixed to the support structure.

4. The teaching-free tapping system using a robot as described in claim 1, characterized in that, The tapping gun includes a sliding sleeve, a feed shaft, a servo motor, and a tap; The sliding sleeve is fixed to the robot, and the tap is fixed to the propulsion shaft; The servo motor is used to drive the feed shaft to move along the sliding sleeve, so as to drive the tap to perform tapping.

5. The teaching-free tapping system using a robot as described in claim 4, characterized in that, The tapping system also includes a tap magazine; The tapping gun also includes a clamping mechanism; The clamping mechanism is used to clamp the tap into the tap magazine and to clamp a new tap from the tap magazine.

6. The teaching-free tapping system using a robot as described in claim 1, characterized in that, The tapping system also includes a track; The robot is used to move along the track.

7. The teaching-free tapping system using a robot as described in claim 6, characterized in that, The tapping system also includes a braking component; The braking element is used to fix the robot to the track.

8. The teaching-free tapping system using a robot as described in claim 7, characterized in that, The braking component includes a clamping mechanism.

9. The teaching-free tapping system using a robot as described in claim 1, characterized in that, The tapping system also includes a laser ranging module; The laser ranging module is used to collect the tapping height information of the workpiece.

10. The teachingless tapping system using a robot as described in any one of claims 1-9, characterized in that, The image acquisition module includes a 2D camera.

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