A jig for calibrating a robot for unmanned vehicle module

Abstract

The application provides a jig for calibrating a robot of an unmanned vehicle module, and relates to the technical field of unmanned vehicle production. The jig for calibrating the robot of the unmanned vehicle module comprises a mounting assembly and a suction assembly. The suction assembly comprises a control unit and at least two electromagnets, and the control unit is connected with the at least two electromagnets. At least two suction areas are arranged in the mounting assembly. At least one electromagnet is arranged in each suction area. The jig does not need to be replaced when switching production models, has high work efficiency, can reduce jig management costs, and can reduce wear caused by replacement, so as to ensure the positioning accuracy of the jig and the mold calibration accuracy.

Description

Technical Field

[0001] This application relates to the field of unmanned vehicle production technology, specifically to a fixture for a robot used for calibrating unmanned vehicle modules. Background Technology

[0002] In the parallel production and R&D of multiple generations of autonomous vehicles, various calibration modules are involved. These calibration modules vary in size, and even within the same type, different models are included. On the production line, calibration modules are handled by calibration robots using end effectors, i.e., jigs, to pick up and move transfer plates used to fix the modules. Typically, the jig's load capacity is no less than 200 kg. Existing jigs are fixed-size jigs, including a rigid support body and vacuum suction cups mounted on it. In use, the rigid support body is mounted to the robot's end effector via mechanical grippers.

[0003] The existing fixtures have the following problems when in use: 1. Since different models and sizes of calibration modules correspond to different fixtures, when switching production models on the production line, the entire fixture needs to be replaced manually, which is time-consuming, inefficient, and has high fixture management costs. 2. Mechanical chucks are prone to wear during frequent model changes, leading to a decrease in positioning accuracy and thus affecting calibration accuracy. Utility Model Content

[0004] This application addresses the problems existing in the prior art by providing a fixture for a robot calibrating unmanned vehicle modules. This fixture eliminates the need for model change when switching production models, has high operational efficiency, reduces fixture management costs, and minimizes wear caused by model changeovers, thereby ensuring the positioning accuracy of the fixture and the accuracy of the mold calibration.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: a fixture for a calibration robot for unmanned vehicle modules, comprising an installation component and an adsorption component; The adsorption assembly includes a control unit and at least two electromagnets, with the control unit connected to the at least two electromagnets; At least two adsorption areas are arranged within the mounting assembly; At least one electromagnet is installed in each adsorption area.

[0006] In some embodiments, at least two adsorption regions are arranged sequentially from the inside to the outside; When there is only one electromagnet in the adsorption area, at least one electromagnet in the adsorption area is arranged along a first straight line. When there are two electromagnets in the adsorption area, at least two electromagnets in the adsorption area are arranged along a first straight line, or at least two electromagnets in the adsorption area are arranged axially symmetrically along a first straight line. When the number of electromagnets in the adsorption area is at least three and is odd, the at least three electromagnets in the adsorption area are arranged along the first straight line, or the at least three electromagnets in the adsorption area are respectively arranged on the first straight line and on both sides of the first straight line, and the electromagnets arranged on both sides of the first straight line are arranged axially symmetrically along the first straight line. When the number of electromagnets in the adsorption area is at least three and is even, the at least three electromagnets in the adsorption area are arranged along the first straight line, or the at least three electromagnets in the adsorption area are arranged axially symmetrically along the first straight line, or the at least three electromagnets in the adsorption area are respectively arranged on the first straight line and on both sides of the first straight line, and the electromagnets arranged on both sides of the first straight line are arranged axially symmetrically along the first straight line.

[0007] In some embodiments, the mounting components include a mounting plate, a first frame, and a second frame; The first frame is connected between the mounting plate and the second frame; At least two electromagnets are mounted on the second frame.

[0008] In some embodiments, the second frame is rectangular.

[0009] In some embodiments, the middle part of the second frame is connected to the first frame along a first direction, the first direction being a direction perpendicular to a first straight line, and at least two adsorption regions are arranged sequentially from the inside to the outside with the middle part of the second frame along the first direction as the center.

[0010] In some embodiments, the second frame includes two first side frames and two second side frames, the two first side frames being parallel to each other, the two second side frames being parallel to each other, and the electromagnet being mounted on the two first side frames; the first straight line is the straight line connecting the centers of the two first side frames.

[0011] In some embodiments, a mounting plate is mounted on one end of a first frame along a second direction, and a second frame is mounted on the other end of a first frame along a second direction, the second direction representing the direction along a first straight line.

[0012] In some embodiments, the first frame includes two first rods, which are arranged symmetrically along a first straight line; A mounting plate is installed between one end of the two first rods along the second direction, and a second frame is installed between the other ends of the two first rods along the second direction.

[0013] In some embodiments, the control unit includes a processor, an instruction input device, and an execution circuit. The instruction input device is connected to the processor, the processor is connected to the execution circuit, and at least two electromagnets are respectively connected to the execution circuit.

[0014] In some embodiments, the electromagnet is a de-energized electromagnet.

[0015] Compared with the prior art, this application has the following advantages: By setting electromagnets in different adsorption areas, and in conjunction with the control unit, electromagnets located in different adsorption areas can be switched on to suit calibration modules of different models and sizes. This eliminates the need for module replacement, resulting in high work efficiency and reduced fixture management costs. Furthermore, since there is no need to manually replace fixtures at the robot's end effector, wear caused by module replacement can be reduced, thus ensuring the positioning accuracy of the fixture and consequently, the calibration accuracy. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the fixture used in the unmanned vehicle module calibration robot of this application; Figure 2 This is a schematic diagram showing the position of the electromagnet on the mounting assembly in the fixture used for calibrating robot modules of unmanned vehicles in this application; Figure 3 This is a schematic diagram of the structure of the components installed in the fixture used for the calibration robot of unmanned vehicle modules in this application; Figure 4 This is a schematic diagram showing the connection relationship of the adsorption components in the fixture used for calibrating robot modules of unmanned vehicles in this application.

[0017] In the attached drawings, the reference numerals are as follows: 100, mounting component; 110, mounting plate; 111, mounting hole; 120, first frame; 121, first rod; 122, second rod; 130, second frame; 131, first side frame; 132, second side frame; 140, first connecting bolt; 150, second connecting bolt; 160, third connecting bolt; 170, adsorption area; 200, adsorption component; 210, electromagnet; 220, control unit; 221, instruction input device; 222, processor; 223, execution circuit; A, first direction; B, second direction. Detailed Implementation

[0018] To clearly illustrate the technical features of this solution, the implementation methods of this application will be described in detail below with reference to the accompanying drawings and embodiments. This will allow for a full understanding and implementation of how this application uses technical means to solve technical problems and achieve corresponding technical effects. The embodiments of this application and the various features within them can be combined with each other without conflict, and the resulting technical solutions are all within the protection scope of this application.

[0019] See Figure 1 This application provides a fixture for calibrating a robot for unmanned vehicle modules, including a mounting component 100 and an adsorption component 200. The adsorption assembly 200 includes a control unit 220 and at least two electromagnets 210, with the control unit 220 connected to the at least two electromagnets 210. The mounting component 100 is mounted on the end effector of the robot, and at least two adsorption areas 170 are arranged inside the mounting component 100. At least one electromagnet 210 is installed in each adsorption area 170.

[0020] In use, the control unit 220 controls the electromagnet 210 to turn on or off according to different control commands, so as to turn on the electromagnet 210 located in at least one adsorption area 170, thereby adapting to the use of calibration modules of different models and sizes. The turning on of the electromagnet 210 located in different adsorption areas 170 can be applied to calibration modules of different models and sizes. When switching production models on the production line, it is only necessary to control the electromagnet 210 corresponding to at least one adsorption area 170 to turn on according to different control commands, so as to perform pick-up and transfer operations on the corresponding model or size of calibration module. There is no need to change the model, which has high work efficiency and can reduce fixture management costs. At the same time, since there is no need to manually change the fixture at the end of the robot, the wear caused by the model change can be reduced, thus ensuring the positioning accuracy of the fixture, thereby ensuring the calibration accuracy.

[0021] Preferably, in practical applications, the adsorption surface of most calibration modules is planar. To meet the usage requirements of most calibration modules, the adsorption surfaces of each of the at least two electromagnets 210 are coplanar.

[0022] In some embodiments, at least two adsorption regions 170 are arranged sequentially from the inside to the outside; When the number of electromagnets 210 in the adsorption region 170 is one, at least one electromagnet 210 in the adsorption region 170 is arranged along the first straight line. When there are two electromagnets 210 in the adsorption region 170, at least two electromagnets 210 in the adsorption region 170 are arranged along the first straight line, or at least two electromagnets 210 in the adsorption region 170 are arranged axially symmetrically along the first straight line. When the number of electromagnets 210 in the adsorption region 170 is at least three and is odd, the at least three electromagnets 210 in the adsorption region 170 are arranged along the first straight line, or the at least three electromagnets 210 in the adsorption region 170 are respectively arranged on the first straight line and on both sides of the first straight line, and the electromagnets 210 arranged on both sides of the first straight line are arranged axially symmetrically along the first straight line. When the number of electromagnets 210 in the adsorption region 170 is at least three and is even, the at least three electromagnets 210 in the adsorption region 170 are arranged along the first straight line, or the at least three electromagnets 210 in the adsorption region 170 are arranged axially symmetrically along the first straight line, or the at least three electromagnets 210 in the adsorption region 170 are respectively arranged on the first straight line and on both sides of the first straight line, and the electromagnets 210 arranged on both sides of the first straight line are arranged axially symmetrically along the first straight line.

[0023] When switching to calibration modules of different models and sizes on the production line, the control unit 220 only controls the electromagnets 210 in one or more adsorption areas 170 to be activated, which can ensure the stability of the robot's end effector during the process of picking up and transferring the calibration module. See Figure 2 There are two adsorption areas 170, and each adsorption area 170 contains four electromagnets 210. The number of electromagnets 210 in each adsorption area 170 is at least three and is an even number. The electromagnets 210 in each adsorption area 170 are arranged axially symmetrically along the first straight line. In use, whether the four electromagnets 210 in the inner adsorption area 170 are turned on, the four electromagnets 210 in the outer adsorption area 170 are turned on, or all eight electromagnets 210 in both adsorption areas 170 are turned on, the adsorption positions of the calibration module and the electromagnets 210 are axially symmetrically distributed along the first straight line, thereby ensuring the stability of the robot end effector during the process of picking up and transferring the calibration module.

[0024] In existing technologies, to ensure the adsorption effect of vacuum suction cups, rigid support bodies often employ heavy steel structures. This results in a large fixture weight, which in turn leads to a high load on the robot's end effector, limiting the robot's operating speed and acceleration, and increasing energy consumption. To address this issue, see [link to relevant documentation]. Figure 2 , 3 In some embodiments, the mounting assembly 100 includes a mounting plate 110, a first frame 120, and a second frame 130. The mounting plate 110 is used to connect to the robot's end effector. The mounting plate has mounting holes 111 and is mounted to the robot's end effector via connecting bolts and mounting holes 111. The first frame 120 is connected between the mounting plate 110 and the second frame 130. The mounting plate 110 is connected to the first frame 120 via a second connecting bolt 150, and the second frame 130 is connected to the first frame 120 via a third connecting bolt 160. At least two electromagnets 210 are respectively mounted on the second frame 130 and are respectively connected to the second frame 130 via first connecting bolts 140. The structure is simple.

[0025] The advantage is that replacing the heavy rigid load-bearing body in traditional jigs with a frame structure can significantly reduce the weight of the jig, thereby reducing the load on the robot's end effector, ensuring the robot's operating speed and acceleration, and reducing energy consumption.

[0026] In some embodiments, the second frame 130 is rectangular, with a simple structure that facilitates the arrangement of the electromagnets 210.

[0027] Preferably, the second frame 130 is made of 80 series and / or 40 series industrial aluminum profiles. The second frame 130 is constructed from 80 series and / or 40 series industrial aluminum profiles using angle brackets and bolts, which further reduces the weight of the fixture and provides sufficient rigidity to support the design load of the fixture.

[0028] In some embodiments, the middle of the second frame 130 along the first direction A is connected to the first frame 120. The first direction A represents a direction perpendicular to the first straight line. At least two adsorption regions 170 are arranged sequentially from the inside to the outside with the middle of the second frame 130 along the first direction A as the center. This ensures that the electromagnets 210 in use are all located in the middle of the second frame 130 along the first direction A. Since the middle of the second frame 130 along the first direction A is connected to the first frame, the stability of use can be further guaranteed.

[0029] In some embodiments, the second frame 130 includes two first frame borders 131 and two second frame borders 132, the two first frame borders 131 being parallel to each other, and the two second frame borders 132 being parallel to each other. Electromagnets 210 are mounted on the two first frame borders 131; the first straight line is the straight line connecting the centers of the two first frame borders 131. Preferably, there are two adsorption regions 170, and each adsorption region 170 contains four electromagnets 210, which satisfies the requirements of the calibration mold.

[0030] Furthermore, the electromagnets 210 on the two first frame 131 are arranged symmetrically along the second straight line axis, which is the line connecting the centers of the two second frame 132. This further ensures the uniform distribution of the adsorption positions of the calibration module and the electromagnets 210, thereby ensuring the stability of the robot end effector during the process of picking up and transferring the calibration module.

[0031] In some embodiments, the mounting plate 110 is mounted on one end of the first frame 120 along the second direction B, and the second frame 130 is mounted on the other end of the first frame 120 along the second direction B. The second direction B represents the direction along the first straight line, so as to avoid interference between the robot and the calibration mold during operation.

[0032] In some embodiments, the first frame 120 includes two first rods 121, which are symmetrically arranged along a first straight line, to further ensure the stability of the robot end effector during the process of picking up and transferring the calibration module. A mounting plate 110 is installed between one end of the two first rods 121 along the second direction B, and a second frame 130 is installed between the other ends of the two first rods 121 along the second direction B.

[0033] Advantageously, the first frame 120 is configured as two first rods 121 symmetrically arranged along the first straight line, which is simple in structure, convenient in material sourcing and installation. The mounting plate 110 and the second frame 130 are respectively installed at both ends of the two first rods 121 along the second direction B, so that the first frame 120 is stably connected while ensuring that there is no interference between the robot and the calibration mold.

[0034] Preferably, the two first rods 121 are parallel to each other, and at least one second rod 122 is connected between the two first rods 121. The structure is simple and can ensure the overall stability of the first frame 120.

[0035] See Figure 4 In some embodiments, the control unit 220 includes a processor 222, an instruction input device 221, and an execution circuit 223. The instruction input device 221 is connected to the processor 222, and the processor 222 is connected to the execution circuit 223. At least two electromagnets 210 are respectively connected to the execution circuit 223. The instruction input device 221 is used to input control instructions, and the processor 222 is used to control the execution circuit 223 according to the control instructions to activate the electromagnets 210 located in at least one adsorption area 170, thereby adapting to the use of calibration modules of different models and sizes.

[0036] Preferably, at least two electromagnets 210 are connected to the execution circuit 223 via I / O signals or buses (such as EtherCAT), that is, at least two electromagnets 210 communicate with the execution circuit 223 via I / O signals or buses.

[0037] Furthermore, the control unit 220 includes a memory connected to the processor 222. The memory stores an electromagnet activation mapping table, and the control commands correspond to the electromagnet activation mapping table. That is, the processor 222 uses the electromagnet activation mapping table to activate the electromagnets 210 in different adsorption areas 170 to adapt to the use of calibration modules of different models and sizes.

[0038] Existing fixtures, when used with large loads of 200kg or more, still present the following risks with vacuum suction cup solutions: a failure in the air supply or an air leak could cause the workpiece to fall, posing a significant safety hazard and resulting in serious losses. To address this issue, in some embodiments, the electromagnet 210 is a de-energized electromagnet, i.e., a de-energized electromagnet that maintains magnetism even when the power is off. This de-energized electromagnet is magnetized when energized during normal operation. After picking up a workpiece, even if the electromagnet is de-energized, it can maintain its attraction force due to its own magnetic material, releasing only upon the application of a reverse current or a specific demagnetizing signal. This fundamentally avoids workpiece falls due to accidental power outages, providing the highest level of safety. Preferably, a 24V de-energized electromagnet is used, which has strong attraction force and can be quickly demagnetized, ensuring production efficiency.

[0039] Finally, it should be noted that the above content is only used to illustrate the technical solution of this application, and is not intended to limit the scope of protection of this application. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of this application shall not depart from the substance and scope of the technical solution of this application.

Claims

1. A fixture for calibrating unmanned vehicle modules, characterized in that, Includes mounting components and adsorption components; The adsorption assembly includes a control unit and at least two electromagnets, wherein the control unit is connected to the at least two electromagnets; At least two adsorption areas are arranged within the mounting assembly; At least one electromagnet is installed in each of the adsorption regions.

2. The fixture for calibrating unmanned vehicle modules according to claim 1, characterized in that, The at least two adsorption regions are arranged sequentially from the inside to the outside; When the number of electromagnets in the adsorption area is one, the at least one electromagnet in the adsorption area is arranged along a first straight line. When there are two electromagnets in the adsorption area, the at least two electromagnets in the adsorption area are arranged along a first straight line, or the at least two electromagnets in the adsorption area are arranged axially symmetrically along a first straight line. When the number of electromagnets in the adsorption area is at least three and is odd, the at least three electromagnets in the adsorption area are arranged along a first straight line, or the at least three electromagnets in the adsorption area are respectively arranged on the first straight line and on both sides of the first straight line, and the electromagnets arranged on both sides of the first straight line are arranged axially symmetrically along the first straight line. When the number of electromagnets in the adsorption area is at least three and is even, the at least three electromagnets in the adsorption area are arranged along a first straight line, or the at least three electromagnets in the adsorption area are arranged axially symmetrically along the first straight line, or the at least three electromagnets in the adsorption area are respectively arranged on the first straight line and on both sides of the first straight line, and the electromagnets arranged on both sides of the first straight line are arranged axially symmetrically along the first straight line.

3. The fixture for calibrating unmanned vehicle modules according to claim 2, characterized in that, The mounting components include a mounting plate, a first frame, and a second frame; The first frame is connected between the mounting plate and the second frame; The at least two electromagnets are respectively mounted on the second frame.

4. The fixture for calibrating unmanned vehicle modules according to claim 3, characterized in that, The second frame is rectangular.

5. The fixture for calibrating unmanned vehicle modules according to claim 4, characterized in that, The middle part of the second frame along the first direction is connected to the first frame, the first direction being a direction perpendicular to the first straight line, and the at least two adsorption regions are arranged sequentially from the inside to the outside with the middle part of the second frame along the first direction as the center.

6. The fixture for calibrating unmanned vehicle modules according to claim 5, characterized in that, The second frame includes two first borders and two second borders. The two first borders are parallel to each other, and the two second borders are parallel to each other. The electromagnet is mounted on the two first borders. The first straight line is the straight line connecting the centers of the two first borders.

7. The fixture for calibrating unmanned vehicle modules according to claim 3, characterized in that, The mounting plate is mounted on one end of the first frame along a second direction, and the second frame is mounted on the other end of the first frame along the second direction, whereby the second direction represents the direction along the first straight line.

8. The fixture for calibrating unmanned vehicle modules according to claim 7, characterized in that, The first frame includes two first rods, which are arranged symmetrically along the first straight line; The mounting plate is installed between one end of the two first rods along the second direction, and the second frame is installed between the other ends of the two first rods along the second direction.

9. The fixture for calibrating unmanned vehicle modules according to claim 1, characterized in that, The control unit includes a processor, an instruction input device, and an execution circuit. The instruction input device is connected to the processor, the processor is connected to the execution circuit, and the at least two electromagnets are respectively connected to the execution circuit.

10. The fixture for calibrating a robot for unmanned vehicle modules according to any one of claims 1-9, characterized in that, The electromagnet is a de-energized electromagnet.

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