CN212399574U - Automatic vehicle body transfer system based on robot - Google Patents
Automatic vehicle body transfer system based on robot Download PDFInfo
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- CN212399574U CN212399574U CN202021016921.4U CN202021016921U CN212399574U CN 212399574 U CN212399574 U CN 212399574U CN 202021016921 U CN202021016921 U CN 202021016921U CN 212399574 U CN212399574 U CN 212399574U
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Abstract
The utility model relates to a robot-based automatic vehicle body transferring system, which comprises a visual identification station, an intelligent robot and a workpiece bracket, wherein the visual identification station is provided with a visual identification area, and a plurality of visual identification cameras A are arranged around the visual identification area; the intelligent robot is used for transferring workpieces from the visual recognition station, and comprises a base capable of moving automatically and an intelligent manipulator arranged on the base, wherein the front end of the intelligent manipulator is connected with a workpiece bracket, the workpiece bracket is provided with a positioning two-dimensional code and a visual recognition camera B, the positioning two-dimensional code is used for positioning the intelligent robot, and the visual recognition camera B is used for accurately scanning positioning holes in the bottom of the workpieces so as to facilitate adjustment and alignment of the bracket between tools; the system optimizes and improves the original switching equipment, improves the precision and efficiency of workpiece switching, and is favorable for the fast-beat operation of the whole production equipment.
Description
Technical Field
The utility model belongs to the technical field of the automotive production automation equipment technique and specifically relates to an automatic system of hanging that changes of automobile body based on robot.
Background
In an automobile production workshop, when a workpiece needs to be statically switched, the conventional layout can be broken through, the production processes of various parts of an automobile are different, different carriers can be used for conveying the automobile body in different production stages of the automobile body, meanwhile, the workpiece needs to be identified in an advancing mode, if a color, a vehicle type and two covers of four doors are opened, the switching needs to be carried out one by one, multiple different devices are usually needed to be combined and used in different carrier switching processes, the devices cannot be positioned in the switching processes, the switching time of the carriers is too long, the production rhythm is severely limited, the devices are complex in structure, and the carriers need to be arranged in a straight line or in parallel in the switching processes, so that the requirements on sites are great.
Disclosure of Invention
The utility model aims at exactly providing a precision, the overall arrangement problem of hanging equipment in work piece switching process are changeed in automation to above-mentioned automobile body, provide an automatic system of hanging that changes of automobile body based on robot, this system optimizes original switching equipment and improves, has promoted the precision and the efficiency of work piece switching, is favorable to going on of the fast beat operation of whole production facility.
The utility model has the following concrete scheme: a robot-based automatic vehicle body transferring system comprises a visual identification station, an intelligent robot and a workpiece bracket, wherein the visual identification station is provided with a visual identification area, and a plurality of visual identification cameras A are arranged around the visual identification area; the intelligent robot is used for transferring workpieces from the visual recognition station, the intelligent robot comprises a base capable of moving automatically and an intelligent manipulator arranged on the base, the front end of the intelligent manipulator is connected with a workpiece bracket, the workpiece bracket is provided with a positioning two-dimensional code and a visual recognition camera B, the positioning two-dimensional code is used for positioning the intelligent robot, and the visual recognition camera B is used for accurately scanning positioning holes in the bottom of the workpieces so as to facilitate adjustment alignment of the bracket between workers.
Further, the utility model discloses in respectively be equipped with a visual identification camera A on four angles in visual identification district, lean on preceding position, opposite side to lean on the back position in one side in visual identification district to be equipped with a visual identification camera A respectively.
Further, in the utility model discloses in intelligent machine hand is five manipulators.
Further, in the utility model discloses in the work piece bracket is U-shaped fork structural shape, and the both sides of U-shaped fork structure all are equipped with location two-dimensional code and visual identification camera B, and wherein the location two-dimensional code of each side sets up respectively at the anterior of U-shaped fork structure and rear portion, and visual identification camera B then sets up between two location two-dimensional codes, and each side of U-shaped fork structure all is equipped with two visual identification camera B.
Further, in the utility model discloses in visual identification camera A with visual identification camera B adopts one of ZED camera, kinect camera, mynt eye camera.
The utility model discloses an to the optimal design of current system, faster production beat of adaptation car mill that can be better and less space requirement for the switching precision of work piece is higher, and efficiency can promote.
Drawings
Fig. 1 is a schematic view of the general structure of the top view direction of the present invention (the intelligent robot is not shown in the figure);
fig. 2 is the utility model discloses well intelligent robot structure schematic diagram.
In the figure: 1-visual identification camera A, 2-visual identification district, 3-work piece bracket, 4-work pieces, 5-location two-dimensional code, 6-intelligent manipulator, 7-base, 8-visual identification camera B.
Detailed Description
Referring to fig. 1 and 2, the utility model relates to a robot-based automatic vehicle body transferring system, which comprises a visual identification station, an intelligent robot and a workpiece bracket, wherein the visual identification station is provided with a visual identification area 2, and a plurality of visual identification cameras A1 are arranged around the visual identification area; the intelligent robot is used for transferring workpieces from the visual recognition station, the intelligent robot comprises a base 7 capable of moving automatically and an intelligent manipulator 6 arranged on the base, the front end of the intelligent manipulator is connected with a workpiece bracket 3, the workpiece bracket is provided with a positioning two-dimensional code 5 and a visual recognition camera B8, the positioning two-dimensional code is used for positioning the intelligent robot, and the visual recognition camera B is used for accurately scanning a positioning hole in the bottom of the workpiece so as to facilitate alignment adjustment of the bracket between workers.
The visual identification area in this embodiment is actually a three-dimensional space frame structure, and the visual identification camera A can set up certain height in order to conveniently carry out visual identification and the location of shooing to work piece and intelligent robot.
Furthermore, in this embodiment, a visual recognition camera a is respectively arranged at four corners of the visual recognition area, and a visual recognition camera a is respectively arranged at a position near the front of one side of the visual recognition area and a position near the back of the other side of the visual recognition area, so that no dead angle is shot as much as possible, and the recognition and positioning are more accurate.
Further, the intelligent manipulator in the embodiment is a five-axis manipulator, the five-axis manipulator can be obtained by purchasing an industrial five-axis robot arm of german custody and card company, the specific model can be selected according to actual needs, and the specific use can refer to related principles and use specifications during purchasing.
Further, in this embodiment the work piece bracket is U-shaped fork structural shape, and the both sides of U-shaped fork structure all are equipped with location two-dimensional code and visual identification camera B, and wherein the location two-dimensional code of each side sets up respectively at the anterior portion and the rear portion of U-shaped fork structure, and visual identification camera B then sets up between two location two-dimensional codes, and each side of U-shaped fork structure all is equipped with two visual identification camera B.
Further, in this embodiment, the vision recognition camera a and the vision recognition camera B adopt one of a ZED camera, a kinect camera, and a mynt eye camera.
During operation, the carrier takes the workpiece to move to the transfer station, the visual recognition camera A recognizes the workpiece, and after recognition, the intelligent robot carries the special workpiece bracket to grab the workpiece 4, and after grabbing, the workpiece is transferred to a workpiece discharging position in a designated area, and the workpiece is put down.
The above process is a general operation process of the present invention.
In the production process, information such as vehicle type data (such as models and colors) is transmitted step by step, recorded information of equipment is recorded in a carrier memory, the information is often lost when a workpiece is off-line, and vehicle type information is matched again when the workpiece is loaded, so that the set visual identification area can well read related vehicle type data information.
During specific implementation, the layout and the style are determined according to customer requirements, related mechanical parts are designed according to the style, then the electric system and the sensor thereof are installed and manually debugged according to the positions of the mechanical parts, the feasibility of the system is confirmed, the motor is electrified and inching debugged, the normal operation of each point of the electric control system is ensured, and the whole system enters the main PLC for system debugging.
During operation, carrier (AGV or handcart) is carrying the work piece and is getting into the specified area, visual identification camera A in the visual identification district is fixed a position and is discerned work piece bracket and the work piece on the intelligent robot, U-shaped fork structure on the intelligent robot stretches into the work piece bottom, visual identification camera B on the U-shaped fork structure supports simultaneously starts, scan the work piece bottom after starting, scan the locating hole, the gesture of adjusting U-shaped fork structure simultaneously, the adjustment of U-shaped fork structure position, still realize the adjustment through the five-axis manipulator of intelligence on the intelligent robot, namely, through the scanning of visual identification camera B to the locating hole, on transmitting position information to system PLC's treater, PLC treater gives intelligent robot down the instruction action again, quick correction.
The specific adjustment is realized by a software language, which is not described herein again.
And after the adjustment is finished, the workpiece bracket supports the workpiece and places the workpiece on the conveyor line bracket.
The utility model discloses a many to the single mode of changeing hanging, can multiple carrier carry the work piece, park in fixed area, can park at will in the region, carry out the gesture through peripheral visual identification station and confirm, last intelligent robot carries out the switching, whole in-process, and the robot gets the piece on the carrier and when placing on the production line, all is static process.
Claims (5)
1. The utility model provides an automatic system of hanging that changes of automobile body based on robot which characterized in that: the intelligent robot comprises a visual identification station, an intelligent robot and a workpiece bracket, wherein the visual identification station is provided with a visual identification area, and a plurality of visual identification cameras A are arranged around the visual identification area; the intelligent robot is used for transferring workpieces from the visual recognition station, the intelligent robot comprises a base capable of moving automatically and an intelligent manipulator arranged on the base, the front end of the intelligent manipulator is connected with a workpiece bracket, the workpiece bracket is provided with a positioning two-dimensional code and a visual recognition camera B, the positioning two-dimensional code is used for positioning the intelligent robot, and the visual recognition camera B is used for accurately scanning positioning holes in the bottom of the workpieces so as to facilitate adjustment alignment of the bracket between workers.
2. The robot-based automatic vehicle body transfer system of claim 1, wherein: the four corners of the visual identification area are respectively provided with a visual identification camera A, and the front part of one side of the visual identification area and the rear part of the other side of the visual identification area are respectively provided with a visual identification camera A.
3. The robot-based automatic vehicle body transfer system of claim 1, wherein: the intelligent manipulator is a five-axis manipulator.
4. The robot-based automatic vehicle body transfer system of claim 1, wherein: the workpiece bracket is in a U-shaped fork structure shape, the two sides of the U-shaped fork structure are respectively provided with a positioning two-dimensional code and a visual recognition camera B, the positioning two-dimensional code of each side is respectively arranged at the front part and the rear part of the U-shaped fork structure, the visual recognition camera B is arranged between the two positioning two-dimensional codes, and each side of the U-shaped fork structure is provided with two visual recognition cameras B.
5. The robot-based automatic vehicle body transfer system of claim 1, wherein: the vision identification camera A with vision identification camera B adopts one of ZED camera, kinect camera, mynt eye camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021016921.4U CN212399574U (en) | 2020-06-05 | 2020-06-05 | Automatic vehicle body transfer system based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021016921.4U CN212399574U (en) | 2020-06-05 | 2020-06-05 | Automatic vehicle body transfer system based on robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212399574U true CN212399574U (en) | 2021-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021016921.4U Active CN212399574U (en) | 2020-06-05 | 2020-06-05 | Automatic vehicle body transfer system based on robot |
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| Country | Link |
|---|---|
| CN (1) | CN212399574U (en) |
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2020
- 2020-06-05 CN CN202021016921.4U patent/CN212399574U/en active Active
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Denomination of utility model: A robot based automatic car body transfer system Effective date of registration: 20220617 Granted publication date: 20210126 Pledgee: Agricultural Bank of China Limited Huangshi lime kiln sub branch Pledgor: Sanfeng Intelligent Equipment Group Co.,Ltd. Registration number: Y2022980008121 |