CN103342140B - Accompanying tracking system for robot - Google Patents
Accompanying tracking system for robot Download PDFInfo
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- CN103342140B CN103342140B CN201310224873.6A CN201310224873A CN103342140B CN 103342140 B CN103342140 B CN 103342140B CN 201310224873 A CN201310224873 A CN 201310224873A CN 103342140 B CN103342140 B CN 103342140B
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Abstract
The invention discloses an accompanying tracking system for a robot. The accompanying tracking system for the robot is high in automation level and low in cost. The accompanying tracking system for the robot comprises a production line, a robot device and an off-line accompanying device. The robot device comprises a robot walking mechanism, a robot and a handle, wherein the robot walking mechanism is arranged on the side of the production line, the robot is installed on the robot walking mechanism, and the handle is installed on the robot. The handle comprises a base, a handle body, a pair of laser sensors, a 2-dimensional camera and a camera light source. The off-line accompanying device comprises a truss, a pair of guide rails, an accompanying plate, a first belt mechanism, a second belt mechanism, a motor, an encoder, a belt clamping mechanism and a long pin telescoping mechanism. When the belt clamping mechanism clamps a belt of the first belt mechanism, the long pin telescoping mechanism and a belt of the second belt mechanism move along with the belt of the first belt mechanism; when the belt clamping mechanism loosens the belt of the first belt mechanism, the long pin telescoping mechanism and the belt of the second belt mechanism are pushed by workpieces moving on the production line to move.
Description
Technical field
The present invention relates to the device of a kind of robot pick-and-place spare tyre on auto production line, be specifically related to a kind of retinue track channel for robot.
Background technology
Current auto assembly workshop, has two kinds of methods to be put into by spare tyre with in the automobile boot of the slow movement of manufacturing line.
One method is: when automobile arrives spare tyre placement station, and the line of manufacturing line is known from experience stopping and being moved, and workman utilizes servo-unit to be lifted by spare tyre, and be placed in automobile boot by spare tyre again, after confirmation, then give a signal moves to next station by manufacturing line simultaneously.The shortcoming of the method is time-consuming, can cause the increase of car load time of setting up, and production capacity can decline.
Second method is: when automobile arrives spare tyre placement station, and the line body of manufacturing line does not stop continuing to move, and workman utilizes servo-unit to be lifted by spare tyre, and then workman must move and is placed in the rear-box of automobile by spare tyre.The shortcoming of the method is effort, and workman, when this station manipulation, can consume very large muscle power, during physically-draining, the probability of maloperation can increase greatly, and the line body of whole production line can be caused time serious to stop transport, simultaneously relatively serious owing to consuming one's strength, can cost of labor be increased.
Given this, the inexorable trend that robot transport spare tyre is automated production is used instead.But traditional robot retinue tracking technique, require that coder must be installed to the position of the drive motor main shaft of the connecting gear of auto production line, allow coder follow running velocity that drive motor main shaft rotates to obtain belt conveyor together, and send these information to robot, robot, according to these information, can capture or place the automobile of movement on a production line exactly.In order to improve the transformation efficiency of old auto production line, reduce improvement cost, can not transform the connecting gear of some old auto production lines, so just can not coder be installed on the servomotor of connecting gear, also just can not realize the object with line trace pick-and-place spare tyre of robot.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of retinue track channel for robot, it can improve automatization level, improves setting accuracy, reduces labour cost.
A kind of technical scheme realizing above-mentioned purpose is: a kind of retinue track channel for robot, comprise manufacturing line, robot device and line to accompany outward device, described robot device comprises and is arranged on described manufacturing line robot running gear on one side, is arranged on the robot on robot running gear and the hand be arranged on robot is grabbed, wherein, described hand packet capturing is drawn together a base, is grabbed body, a pair laser sensor, a 2D camera and a camera light source on the other hand, wherein, the tail end of described base is connected with the arm end of described robot; Described hand grabs the front portion that body is arranged on described base; Described a pair laser sensor is arranged on the head both sides of described base; Described 2D camera and camera light source are installed in the middle of the head of described base; Described line is accompanied outward, and device comprises a truss, pair of guide rails, to be had strong market potential telescoping mechanism with andante, the first belt mechanism, the second belt mechanism, a motor, a coder, a belt clamping mechanism and, wherein, described truss installa-tion is in the side of described manufacturing line; Described pair of guide rails and described manufacturing line are arranged on the upper end of described truss abreast; Describedly be arranged in described pair of guide rails movably with andante; In described first belt mechanism and described second belt mechanism one, an other places is arranged on the upper end of described truss, make the belt of the belt of described first belt mechanism and described second belt mechanism abreast between described pair of guide rails, and the belt of described second belt mechanism is connected to described with on the lower surface of andante; The output shaft of described motor is connected with the synchronous pulley of described first belt mechanism; Described coder is connected with the synchronous pulley of described second belt mechanism; The belt of corresponding described first belt mechanism of described belt clamping mechanism is connected to described with on andante; Described telescoping mechanism of having strong market potential is positioned at the inner side of described truss and is connected to described with on andante; When the belt of the first belt mechanism described in described belt clamping gear grips, the belt of described have strong market potential telescoping mechanism and described second belt mechanism moves with the belt of described first belt mechanism, when described belt clamping mechanism unclamps the belt of described first belt mechanism, described in the have strong market potential belt of telescoping mechanism and described second belt mechanism push movement by the workpiece of movement on described manufacturing line.
The above-mentioned retinue track channel for robot, wherein, described hand is grabbed body and is arranged on described base by grabbing cylinder on the other hand.
The above-mentioned retinue track channel for robot, wherein, described 2D camera is arranged on described base by a camera connecting panel, and described camera light source to be arranged on described base by a rebound and to be arranged on described 2D camera by a light source connecting panel.
The above-mentioned retinue track channel for robot, wherein, described belt clamping mechanism comprise one be arranged on described with the clamping cylinder on andante upper surface, the clamping plate that are arranged on the pressing plate on the throw rod of clamping cylinder and are arranged on the cylinder body of clamping cylinder.
The above-mentioned retinue track channel for robot, wherein, described in telescoping mechanism of having strong market potential comprise one and be connected to and described be connected to having strong market potential on the throw rod of telescopic cylinder with the telescopic cylinder on the side of andante and one.
The above-mentioned retinue track channel for robot, wherein, described motor is arranged on inside the top of described truss by motor support base, described coder is arranged on outside the top of described truss by encoder support, and described coder is connected with a synchronous pulley of described second belt mechanism by coupler.
The above-mentioned retinue track channel for robot, wherein, the top board that described truss comprises underframe, some adjustment legs and being arranged on underframe bottom are arranged on underframe upper end, described guide rails assembling is on described top board.
The above-mentioned retinue track channel for robot, wherein, described line device of accompanying outward also comprises one and is arranged on drag chain outside described truss, and one of this drag chain is connected to described with on andante.
The above-mentioned retinue track channel for robot, wherein, described line accompany outward device also comprise one be arranged on described truss top and with the described energy disperser corresponding with the height of andante.
The technical scheme of the retinue track channel for robot of the present invention, can directly be arranged on by old manufacturing line by assembling and setting is good in advance line device of accompanying outward at the scene.This line device of accompanying outward can trace into the moving velocity of the workpiece on manufacturing line outside manufacturing line, and send this velocity information to robot, complete robot and place part to the object on this workpiece with manufacturing line, thus the improvement cost of old production line can be reduced, improve transformation efficiency.
Retinue track channel for robot of the present invention can be applicable to different automobile spare tire carrying and installation, automatically can detect and distinguish whether automobile spare tire preceding working procedure misplaces simultaneously; Automatically can detect whether the case cover of automobile is opened, greatly can improve the productive temp that station installed by spare tyre; Spare tyre can be avoided to be reversed to be placed in automobile trunk, avoids causing later process to make mistakes; Workman really can be made to free from work that is heavy, that repeat, can work incessantly for 24 hours; Can labour cost be reduced, improve the quality of product; Can guarantee personal safety, improve work situation, reduce labor intensity, raise labour productivity, save material consumption and reduce productive costs.
Accompanying drawing explanation
Fig. 1 is the birds-eye view of the retinue track channel for robot of the present invention;
Fig. 2 is the structural representation of the retinue track channel for robot of the present invention;
Fig. 3 is side block diagram of grabbing for the hand in the retinue track channel of robot of the present invention;
Fig. 4 is opposite side block diagram of grabbing for the hand in the retinue track channel of robot of the present invention;
Fig. 5 is the block diagram of device of accompanying outward for the line in the retinue track channel of robot of the present invention;
Fig. 6 is the birds-eye view of device of accompanying outward for the line in the retinue track channel of robot of the present invention.
Detailed description of the invention
In order to understand technical scheme of the present invention better, be described in detail below by embodiment particularly:
Refer to Fig. 1 to Fig. 6, the retinue track channel for robot of the present invention, comprise manufacturing line 100, robot device 200 and line and to accompany outward device 300.
Robot device 200 comprises and is arranged on manufacturing line 100 robot running gear 21 on one side, is arranged on robot 22 on robot running gear 21 and the hand be arranged on robot 22 grabs 23.
Hand is grabbed 23(and is seen Fig. 3 and Fig. 4) comprise a base 231, grab body 232, a pair laser sensor 234,2D camera 235 and a camera light source 237 on the other hand, wherein, base 231 is zigzag and tail end is connected with the arm end of robot 22; Hand grabs body 232 by grabbing the front portion that cylinder 233 is arranged on base 231 on the other hand; A pair laser sensor 234 is arranged on the head both sides of base 231; 2D camera 235 is arranged in the middle of the head of base 231 by a camera connecting panel 236; Camera light source 237 is arranged on the head centre of base 231 by a rebound 238 and is arranged on 2D camera 235 by a light source connecting panel 239.
The line device 300(that accompanies outward is shown in Fig. 5 and Fig. 6) comprise a truss 30, pair of guide rails 31, to be had strong market potential telescoping mechanism 38 and drag chain 39 with andante 32, first belt mechanism 33, second belt mechanism 34, motor 35, coder 36, belt clamping mechanism 37, wherein:
Truss 30 is arranged on the side of auto production line 100, the top board 303 that truss 30 comprises underframe 301, some adjustment legs 302 and being arranged on underframe 301 bottom are arranged on underframe 302 upper end;
Pair of guide rails 31 and manufacturing line 100 are arranged on the top board 303 of truss 30 abreast;
Be arranged in pair of guide rails 31 with andante 32 movably by slide block; An energy disperser 320 is also installed to the height of plate 32 of should accompanying in the top of truss 30;
First belt mechanism 33 and the second belt mechanism 34 comprise the synchronous pulley held all the time and wrapped belt 330,340 on a pair synchronous pulley that are arranged on truss 30 for a pair respectively, in first belt mechanism 33 and the second belt mechanism 34 1, an other places is arranged on the upper end of truss 30, make the belt 340 of the belt 330 of the first belt mechanism and the second belt mechanism abreast between pair of guide rails 31, and the belt 340 of the second belt mechanism 34 is connected on the lower surface with andante 32;
Motor 35 is arranged on inside the top of truss 30 by motor support base 350, and this motor 35 is servomotor and output shaft is connected with a synchronous pulley of the first belt mechanism 33;
Coder 36 is arranged on outside the top of truss 30 by encoder support 360, and this coder 36 is connected with a synchronous pulley of the second belt mechanism 34 by coupler 361;
The belt 330 of corresponding first belt mechanism 33 of belt clamping mechanism 37 is connected to on andante 32, and this belt clamping mechanism 37 comprises one and is arranged on the clamping cylinder bearing 370 on andante 32 upper surface, the clamping cylinder 371 be arranged on clamping cylinder bearing 370, the clamping plate 373 that are arranged on the pressing plate 372 on the throw rod of clamping cylinder 371 and are arranged on the cylinder body of clamping cylinder 371;
Telescoping mechanism 38 of having strong market potential is positioned at the inner side of truss 30 and is connected to on andante 32, and this telescoping mechanism 38 of having strong market potential comprises and one is connected to the telescopic cylinder bearing 380 on the side of andante 32, is arranged on telescopic cylinder on cylinder saddle 380 381 and and is connected to the throw rod of telescopic cylinder 381 has strong market potential 382;
Drag chain 39 be arranged on the outside of truss 30 and one be connected to on andante 32 by a plate 390.
When belt clamping mechanism 37 clamps the belt 330 of the first belt mechanism 33, the belt 340 of telescoping mechanism 38 and the second belt mechanism 34 of having strong market potential moves with the belt 330 of the first belt mechanism 33, when belt clamping mechanism 37 unclamps the belt 330 of the first belt mechanism 33, the belt 340 of have strong market potential telescoping mechanism 38 and the second belt mechanism 34 is push movement by the workpiece of movement on manufacturing line 10.
The principle of work of the retinue track channel for robot of the present invention is: the moving velocity tracing into the workpiece with manufacturing line movement outside manufacturing line, and send this velocity information to robot, robot utilizes hand to grab automatic capturing part, again part is placed in workpiece, completes the object of robot with manufacturing line pick-and-place part.
Retinue track channel for robot of the present invention is applied to robot on auto production line during pick-and-place spare tyre, manufacturing line 100 is auto production line, workpiece is automobile 10, and part is spare tyre 40, and line device 300 of accompanying outward is just arranged on the side in the spare tyre material loading region of auto production line.
After the spare tyre 40 on spare tyre travel line 400 is had good positioning, hand can be grabbed 23 and be moved to above the spare tyre 40 of spare tyre travel line 400 by robot 22, then the 2D camera 235 pairs of spare tyres 40 utilizing hand to grab on 23 are taken pictures, when confirming that spare tyre 40 is not misplaced by workman and puts back, hand is grabbed body 232 and is placed in the middle of spare tyre 40 by robot 22, hand is grabbed cylinder 233 and is strutted, make hand grab body 232 spare tyre 40 is clenched, then robot 22 hand is grabbed 23 and spare tyre 40 be transported to the spare tyre material loading region of auto production line 100, wait for that automobile 10 enters spare tyre material loading region.When automobile 10 along with auto production line 100 move into spare tyre material loading region after, line is accompanied outward the top being positioned at truss 30 with andante 32 on device 300, now belt clamping mechanism 37 unclamps the belt 330 of the first belt mechanism 33, having strong market potential on telescoping mechanism 38 of having strong market potential 382 is stretched out and blocks automobile 10, make automobile 10 promote telescoping mechanism 38 of having strong market potential to travel forward, moved with telescoping mechanism 38 of having strong market potential by the belt 340 of the second belt mechanism 34 be connected with telescoping mechanism 38 of having strong market potential with andante 32, and drive the synchronous pulley of the second belt mechanism 34 to rotate, the coder 36 be connected with the synchronous pulley of the second belt mechanism 34 is made to obtain the moving velocity of automobile 10 and send this speed signal to robot 22.After robot 22 receives the speed signal of automobile 10, the laser sensor 234 pairs of automobiles 10 utilizing hand to grab on 23 distinguish, distinguish whether the back case lid of automobile 10 is opened, if do not opened, robot 22 can not go to place spare tyre 40, otherwise meeting and automobile 10 collide, and cause damage or accident; If the back case lid of automobile 10 opens, robot 22 can utilize hand to grab 2D camera 235 pairs of rear-box places on 23 and take pictures, automatically the position of rear-box is calculated, then hand is grabbed the placement location place that 23 are transported to spare tyre, hand is grabbed cylinder 233 and is retracted, after hand grabs 23 trams be placed on by spare tyre 40 in rear-box, robot 22 band is set about grabbing 23 and is automatically exited rear-box, goes to grab next spare tyre.When telescoping mechanism 38 of having strong market potential is promoted to move to the terminal of truss 30 by automobile 10, touch the proximity switch 50 being arranged on truss 30 terminal, make to have strong market potential 382 withdrawals of having strong market potential of telescoping mechanism 38, belt clamping mechanism 37 clamps the belt 330 of the first belt mechanism 33 simultaneously, because this belt 330 is connected with motor 35, drive this belt 330 to reverse by the rotation of motor 35 and telescoping mechanism 38 of having strong market potential sent back to the top of truss 30, now belt clamping mechanism 37 unclamps the belt 330 of the first belt mechanism 33, having strong market potential of telescoping mechanism 38 of having strong market potential 382 is stretched out and is waited for the arrival of next automobile 10.Energy disperser 320 makes to be connected to and can stop at the top of truss 30 reposefully with the belt clamping mechanism 37 on andante 32 and telescoping mechanism 38 of having strong market potential.Drag chain 39 for lifting-line accompany outward cable, power lead, signal wire (SW) and pneumatic element on device 300 tracheae and move with andante 32.
Those of ordinary skill in the art will be appreciated that, above embodiment is only used to the present invention is described, and be not used as limitation of the invention, as long as in spirit of the present invention, all will drop in Claims scope of the present invention the change of the above embodiment, modification.
Claims (9)
1. the retinue track channel for robot, comprise manufacturing line, robot device and line to accompany outward device, described robot device comprises and is arranged on described manufacturing line robot running gear on one side, is arranged on the robot on robot running gear and the hand be arranged on robot is grabbed, it is characterized in that
Described hand packet capturing is drawn together a base, is grabbed body, a pair laser sensor, a 2D camera and a camera light source on the other hand, and wherein, the tail end of described base is connected with the arm end of described robot; Described hand grabs the front portion that body is arranged on described base; Described a pair laser sensor is arranged on the head both sides of described base; Described 2D camera and camera light source are installed in the middle of the head of described base;
Described line is accompanied outward, and device comprises a truss, pair of guide rails, to be had strong market potential telescoping mechanism with andante, the first belt mechanism, the second belt mechanism, a motor, a coder, a belt clamping mechanism and, wherein, described truss installa-tion is in the side of described manufacturing line; Described pair of guide rails and described manufacturing line are arranged on the upper end of described truss abreast; Describedly be arranged in described pair of guide rails movably with andante; In described first belt mechanism and described second belt mechanism one, an other places is arranged on the upper end of described truss, make the belt of the belt of described first belt mechanism and described second belt mechanism abreast between described pair of guide rails, and the belt of described second belt mechanism is connected to described with on the lower surface of andante; The output shaft of described motor is connected with the synchronous pulley of described first belt mechanism; Described coder is connected with the synchronous pulley of described second belt mechanism; The belt of corresponding described first belt mechanism of described belt clamping mechanism is connected to described with on andante; Described telescoping mechanism of having strong market potential is positioned at the inner side of described truss and is connected to described with on andante; When the belt of the first belt mechanism described in described belt clamping gear grips, the belt of described have strong market potential telescoping mechanism and described second belt mechanism moves with the belt of described first belt mechanism, when described belt clamping mechanism unclamps the belt of described first belt mechanism, described in the have strong market potential belt of telescoping mechanism and described second belt mechanism push movement by the workpiece of movement on described manufacturing line.
2. the retinue track channel for robot according to claim 1, is characterized in that, described hand is grabbed body and is arranged on described base by grabbing cylinder on the other hand.
3. the retinue track channel for robot according to claim 1, it is characterized in that, described 2D camera is arranged on described base by a camera connecting panel, and described camera light source to be arranged on described base by a rebound and to be arranged on described 2D camera by a light source connecting panel.
4. the retinue track channel for robot according to claim 1, it is characterized in that, described belt clamping mechanism comprise one be arranged on described with the clamping cylinder on andante upper surface, the clamping plate that are arranged on the pressing plate on the throw rod of clamping cylinder and are arranged on the cylinder body of clamping cylinder.
5. the retinue track channel for robot according to claim 1, is characterized in that, described in telescoping mechanism of having strong market potential comprise one and be connected to and described be connected to having strong market potential on the throw rod of telescopic cylinder with the telescopic cylinder on the side of andante and one.
6. the retinue track channel for robot according to claim 1, it is characterized in that, described motor is arranged on inside the top of described truss by motor support base, described coder is arranged on outside the top of described truss by encoder support, and described coder is connected with a synchronous pulley of described second belt mechanism by coupler.
7. the retinue track channel for robot according to claim 1, is characterized in that, the top board that described truss comprises underframe, some adjustment legs and being arranged on underframe bottom are arranged on underframe upper end, described guide rails assembling is on described top board.
8. the retinue track channel for robot according to claim 1, is characterized in that, described line device of accompanying outward also comprises one and is arranged on drag chain outside described truss, and one of this drag chain is connected to described with on andante.
9. the retinue track channel for robot according to claim 1, is characterized in that, described line accompany outward device also comprise one be arranged on described truss top and with the described energy disperser corresponding with the height of andante.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310224873.6A CN103342140B (en) | 2013-06-07 | 2013-06-07 | Accompanying tracking system for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310224873.6A CN103342140B (en) | 2013-06-07 | 2013-06-07 | Accompanying tracking system for robot |
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| CN103342140A CN103342140A (en) | 2013-10-09 |
| CN103342140B true CN103342140B (en) | 2015-05-20 |
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| CN201310224873.6A Active CN103342140B (en) | 2013-06-07 | 2013-06-07 | Accompanying tracking system for robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104182584B (en) * | 2014-08-25 | 2018-05-25 | 上海发那科机器人有限公司 | A kind of construction design method of robot speed translation mechanism |
| CN106113055B (en) * | 2016-07-12 | 2018-06-22 | 郑真阳 | A kind of auto-unlocking robot |
| WO2019024071A1 (en) * | 2017-08-04 | 2019-02-07 | 深圳配天智能技术研究院有限公司 | Robot motion control method, motion control device and robot system |
| CN110733040A (en) * | 2019-10-28 | 2020-01-31 | 上海发那科机器人有限公司 | main tire installation robot system and method based on 3D visual tracking |
| CN115556851B (en) * | 2022-12-05 | 2023-04-14 | 一汽解放汽车有限公司 | Automatic assembly system for vehicle |
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| EP1522911A2 (en) * | 2003-10-07 | 2005-04-13 | Fanuc Ltd | Robotic tracking system for parts distribution |
| CN102179809A (en) * | 2009-10-13 | 2011-09-14 | 济南大学 | Robot for assembling and disassembling automobile wheel on braced chain coating line |
| CN103056884A (en) * | 2011-10-20 | 2013-04-24 | 株式会社安川电机 | Robot system and processed object manufacturing method |
| CN203345082U (en) * | 2013-06-07 | 2013-12-18 | 上海发那科机器人有限公司 | Follow-up tracking system for robot |
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| EP1522911A2 (en) * | 2003-10-07 | 2005-04-13 | Fanuc Ltd | Robotic tracking system for parts distribution |
| CN102179809A (en) * | 2009-10-13 | 2011-09-14 | 济南大学 | Robot for assembling and disassembling automobile wheel on braced chain coating line |
| CN103056884A (en) * | 2011-10-20 | 2013-04-24 | 株式会社安川电机 | Robot system and processed object manufacturing method |
| CN203345082U (en) * | 2013-06-07 | 2013-12-18 | 上海发那科机器人有限公司 | Follow-up tracking system for robot |
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