CN108724169A - Visual guidance automotive rear partition board puts together machines people - Google Patents
Visual guidance automotive rear partition board puts together machines people Download PDFInfo
- Publication number
- CN108724169A CN108724169A CN201710277664.6A CN201710277664A CN108724169A CN 108724169 A CN108724169 A CN 108724169A CN 201710277664 A CN201710277664 A CN 201710277664A CN 108724169 A CN108724169 A CN 108724169A
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- China
- Prior art keywords
- partition board
- rear partition
- automotive rear
- stacking
- articulated robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
It puts together machines people the present invention relates to visual guidance automotive rear partition board, include for putting the first feeding device of horn cover, the second feeding device for putting automotive rear partition board, articulated robot, the control unit being connected with the articulated robot and the clamping device for the automotive rear partition board to be clamped, the end of the wherein described articulated robot is equipped with de-stacking and assembly executive device, and the de-stacking is equipped with vision positioning device and Acetabula device with assembly executive device.Horn cover of the present invention and the automotive rear partition board guide the articulated robot by vision positioning and realize automatic assembling operation, avoid manual operation, not only increase the assembling accuracy of automotive rear partition board, and assembly work efficiency is greatly improved.
Description
Technical field
The invention belongs to the technical fields of auto parts and components assembly, refer in particular to visual guidance automotive rear partition board and put together machines
People.
Background technology
One piece of partition board is designed between the back seat backrest and boot of most of station wagon, since the partition board will
Boot is separated with interior of body, because of referred to herein as automotive rear partition board.The usual automotive rear partition board other than with isolation features,
Can also on the partition board store things, be typically provided horn cover on the automotive rear partition board, the horn cover is equivalent to lid
Plate has ventilative effect.Its manufacturing process is first to fix horn cover, and the horn cover is equipped with multiple screws, then will
Multiple through-holes on the primary rear bulkhead of die cast are corresponded to be installed on the screw on the horn cover, finally by tight
Gu, the processes such as gluing, ultimately form automotive rear partition board product.Currently, the de-stacking of automotive rear partition board and the dress with the horn cover
Match, all completed by manually, not only time-consuming and laborious but also efficiency is low；Furthermore after being also difficult to guarantee the automobile when manual operation
Partition board installation site in the production line it is accurate, to influence the price quality of process below；In addition, due to after the automobile every
The material of plate is usually glass fibre, and the body of injury worker is also easy when manually capturing and assembling.
Invention content
For this purpose, technical problem to be solved by the present invention lies in overcome manually automotive rear partition board is assembled in the prior art when
Lead to the problem that efficiency is low and installation accuracy is poor, one kind is provided and avoids manual operation and working efficiency and installation can be effectively improved
The visual guidance automotive rear partition board of precision puts together machines people.
The people in order to solve the above technical problems, the visual guidance automotive rear partition board of the present invention puts together machines, including be used to put
First feeding device of horn cover and the second feeding device for putting automotive rear partition board, further include articulated robot, with
The connected control unit of the articulated robot and the clamping device for the automotive rear partition board to be clamped, wherein the pass
The end for saving robot is equipped with de-stacking and assembly executive device, and the de-stacking is equipped with vision positioning device with assembly executive device
And Acetabula device, the vision positioning device determine the articulated robot and first feeding by described control unit
The relative position of horn cover and the articulated robot and second feeding device are got on the car the opposite of rear bulkhead on device
Behind position, guides the articulated robot and control the Acetabula device and capture horn cover and institute on first feeding device
It states the automotive rear partition board on the second feeding device and is seated on the clamping device.
In one embodiment of the invention, the de-stacking is additionally provided with caliberating device, the mark in assembly executive device
Determine device to include scaling board and hand calibrating block and fix on the ground and the ground calibrating block opposite with the hand calibrating block.
In one embodiment of the invention, the de-stacking further includes holder with assembly executive device and is arranged described
On the first side of holder for capture the horn cover the first sucker, be arranged in the holder the second side for capture it is described after
Second sucker of partition board, and the first side of the holder is equipped with hand calibrating block and ground calibrating block described in first group, the holder
The second side is equipped with hand calibrating block and ground calibrating block described in second group.
In one embodiment of the invention, the vision positioning device includes that setting executes dress in the de-stacking and assembly
The industrial camera and the camera light source mating with the industrial camera set.
In one embodiment of the invention, the de-stacking is equipped with assembly executive device for detecting the industrial phase
Machine to distance between the horn cover the first fibre optical sensor and for detect after the industrial camera to the automobile every
Second fibre optical sensor of distance between plate.
In one embodiment of the invention, the mechanical arm of the articulated robot passes through ring flange and the de-stacking and dress
It is connected with executive device, and the plane where the de-stacking and assembly executive device and angle that is formed is between the ring flange
30°-40°。
In one embodiment of the invention, the de-stacking and plane and the ring flange where assembly executive device it
Between the angle that is formed be 35 °.
In one embodiment of the invention, the clamping device is located on transmitting device, the transmitting device with it is described
Control unit is connected.
In one embodiment of the invention, described control unit include for gathered data data collecting system, with
The data collecting system connected data processing and control system, system early warning device and safety device.
In one embodiment of the invention, first feeding device includes guide rail and upper on the guide rail
Truck, and the guide rail is equipped with sensors in place.
The above technical solution of the present invention has the following advantages over the prior art：
Visual guidance automotive rear partition board of the present invention puts together machines people, including end is equipped with de-stacking and assembly executive device
Articulated robot, and the de-stacking with assembly executive device be equipped with vision positioning device and Acetabula device, the vision
Positioning device determines the relative position of the horn cover and the Acetabula device and automotive rear partition board by control unit, and
It controls the Acetabula device by the articulated robot and captures and be seated in the enterprising luggage of the clamping device and match, due to whole
In a course of work, the positioning of the horn cover and the automotive rear partition board is completed by the vision positioning device, and is guided
The articulated robot completes the Automated assembly operation of the automotive rear partition board, avoids manual operation, not only increases institute
The assembling accuracy stated, and working efficiency is greatly improved.
Description of the drawings
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is that visual guidance automotive rear partition board of the present invention puts together machines the stereogram of people；
Fig. 2 is that visual guidance automotive rear partition board of the present invention puts together machines the vertical view of people；
Fig. 3 is the stereogram of articulated robot of the present invention and de-stacking and assembly executive device；
Fig. 4 is the stereogram of de-stacking of the present invention and assembly executive device.
Reference sign：The first feeding devices of 10-, 11- horn covers, the second feeding devices of 20-, 21- automotive rear partition boards,
22- guide rails, 23- skip cars, 30- articulated robots, 31- mechanical arms, 32- ring flanges, 33- de-stackings and assembly executive device,
33A- industrial cameras, 33C- holders, the first suckers of 33D-, the second suckers of 33E-, the first fibre optical sensors of 33F-, the second light of 33G-
Fiber sensor, 33H- scaling boards, 33I- hand calibrating blocks, the ground 33J- calibrating block, 40- control units, 50- clamping devices, 60- transmission
Device.
Specific implementation mode
It please refers to Fig.1 with shown in Fig. 2, puts together machines people the present embodiment provides a kind of visual guidance automotive rear partition board, including
The first feeding device 10 for putting horn cover 11 and the second feeding device 20 for putting rear bulkhead 21 further include closing
Section robot 30, the control unit 40 being connected with the articulated robot 30 and the folder for the automotive rear partition board to be clamped
Device 50 is held, wherein the end of the articulated robot 30 is equipped with de-stacking and assembly executive device 33, the de-stacking is held with assembly
Luggage sets 33 and is equipped with vision positioning device and Acetabula device, and the vision positioning device is determined by described control unit 40
The relative position and the articulated robot 30 of the articulated robot 30 and horn cover 11 on first feeding device 10
It gets on the car with second feeding device 20 after the relative position of rear bulkhead 21, guides the articulated robot 30 and control the suction
Disk device captures the horn cover 11 on first feeding device 10 and the automotive rear partition board on second feeding device 20
It 21 and is seated on the clamping device 50.
Above-mentioned is core technology scheme of the present invention, and visual guidance automotive rear partition board of the present invention puts together machines
People, wherein first feeding device 10 is for putting horn cover 11, second feeding device 20 for put after automobile every
Plate 21, and the end of the articulated robot 30 is equipped with de-stacking and assembly executive device 33, the de-stacking and assembly executive device
33 are equipped with vision positioning device and Acetabula device, and the vision positioning device first determines institute by described control unit 40
The relative position for stating articulated robot 30 and horn cover 11 on first feeding device 10, then guides the articulated robot
The Acetabula device is controlled to capture the horn cover 11 and be seated on the clamping device 50, then, the vision positioning dress
Set the phase that the articulated robot 30 and rear bulkhead 21 on second feeding device 20 are determined by described control unit 40
To position, guides the articulated robot 30 and control the Acetabula device crawl automotive rear partition board 21 and be seated in the folder
It holds on device 50, the automotive rear partition board 21 is clamped by the clamping device 50, and make the automotive rear partition board 21
On through-hole be accurately aimed at the screw on the horn cover 11, it is convenient subsequently to be assembled, due in whole work process, institute
It states horn cover 11 and the positioning of the automotive rear partition board 21 is automatically performed by the vision positioning device, guide the joint machine
Device people realizes automatic assembling operation, and all assembly processes are automated by the articulated robot, flexibility is completed, and are avoided
Manual operation, not only increases the assembling accuracy of automotive rear partition board 21, and working efficiency is greatly improved.
As shown in figure 3, the mechanical arm 31 of the articulated robot 30 is executed by ring flange 32 and the de-stacking with assembly
Device 33 is connected, and the angle formed between the plane and the ring flange 32 at 33 place of the de-stacking and assembly executive device is
Acute angle, so as to avoid robot singular point.Specifically, the de-stacking with where assembly executive device 33 plane with it is described
When the angle formed between ring flange 32 is 30 ° -40 °, it is possible to prevente effectively from robot singular point, and when the de-stacking and assembly
When the angle formed between plane and the ring flange 32 where executive device 33 is 35 °, the de-stacking executes dress with assembly
33 are set to can be freely moved.
As shown in figure 4, the vision positioning device includes being arranged in the de-stacking and the industry in assembly executive device 33
Camera 33A and the camera light source mating with the industrial camera 33A, by the industrial camera 33A to first feeding
The automotive rear partition board 21 of horn cover 11 and second feeding device 20 is taken pictures on device 10, determines the horn cover 11
And the position of the automotive rear partition board 21, realize automotive rear partition board robot automation's assembling work of visual guidance.
The de-stacking includes holder 33C and the use being arranged on first sides holder 33C with assembly executive device 33
In the first sucker 33D for capturing the horn cover 11 and it is arranged in the holder 33C the second sides for capturing the rear bulkhead
21 the second sucker 33E, wherein the quantity of the first sucker 33D and the second sucker 33E are multiple, to be conducive to
The firm crawl horn cover 11 and the automotive rear partition board 21.In the present embodiment, using four first suckers
33D captures the horn cover 11 to be conducive to stablize；Using three the second sucker 33E, to be conducive to stablize crawl
The automotive rear partition board 21.
It is additionally provided on the holder 33C for detecting the industrial camera 33A to of distance between the horn cover 11
One fibre optical sensor 33F and for detecting the industrial camera 33A to the second light of distance between the automotive rear partition board 21
Fiber sensor 33G can ensure the industrial camera 33A to the horn cover 11 by the first fibre optical sensor 33F
Distance obtains the loudspeaker after being conducive to the processing after taking pictures by the industrial camera 33A using described control unit 40
The position of cover 11；The industrial camera 33A can be ensured to the automotive rear partition board 21 by the second fibre optical sensor 33G
Distance, obtain the vapour after being conducive to the processing after taking pictures by the industrial camera 33A using described control unit 40
The position of vehicle rear bulkhead 21.
The horn cover 11 and the vapour are accurately captured by the de-stacking and assembly executive device 33 in order to realize
The position of vehicle rear bulkhead 21 needs to demarcate to the tool center point of the articulated robot 30 and to the industrial camera 33A,
And determine the relationship of the polar coordinate system and the industrial camera 33A coordinate systems of the articulated robot 30.Specifically, the holder
Be additionally provided with caliberating device on 33C, the caliberating device include scaling board 33H, hand calibrating block 33I and fix on the ground and with
Ground calibrating block 33J opposite the hand calibrating block 33I；And first sides holder 33C are equipped with hand calibrating block described in first group
33I and ground calibrating block 33J makes described first group of hand calibrating block 33I and ground calibrating block 33J close to first sucker
33D, to be conducive to accurately capture the horn cover 11 by the first sucker 33D；It is set in the holder 33C the second sides
Hand calibrating block 33I described in having second group and ground calibrating block 33J makes described second group of hand calibrating block 33I and ground calibrating block
33J is close to the second sucker 33E, to be conducive to accurately capture the automotive rear partition board by the second sucker 33E
21.The tool center point scaling method of the wherein articulated robot 30 is：The hand calibrating block 33I is mounted on hand, institute
It states ground calibrating block 33J installations on the ground, is calculated, had by more touching described ground calibrating block 33J of the hand calibrating block 33I
Body demarcates the tool center point position of the articulated robot 30 by four-point method；The industrial camera 33A scaling methods are：It will
The scaling board 33H is placed in the lower section of the industrial camera 33A, and the scaling board is shot more times using the industrial camera 33H
Point on 33H obtains scaling and corrected parameter, to effectively prevent the deformation of object to be captured by calculating；It is described
The polar coordinate system of articulated robot 30 and the relationship of the industrial camera 33A coordinate systems are touched for more times by the hand calibrating block 33I
The point touched on the scaling board 33H calculates, and uses the rigid body translation algorithm, specific algorithm formula as follows：
Wherein,bP indicates coordinate of the hand calibrating block vertex in 30 basis coordinates system of articulated robot, andbP is from joint machine
The data that 30 teaching machine of people is read, T indicate translation vector of 30 basis coordinates system of articulated robot relative to camera coordinates system, R tables
Show spin matrix of 30 basis coordinates system of articulated robot relative to camera coordinates system,cP indicates hand calibrating block vertex in camera coordinates
Coordinate in system, andcP is the coordinate of industrial camera shooting photo post-processing gained.By taking touching 10 times as an example, that is, acquire 10 groups of numbers
According to, the numerical value of R and T are then calculated according to least square method, determine the polar coordinate system of the articulated robot 30 with it is described
After the relationship of industrial camera 33A coordinate systems, so that it may with realize accurately confirm the de-stacking with assemble executive device 33 with it is described
The relative position of horn cover 11 and the relative position of the de-stacking and assembly executive device 33 and the automotive rear partition board 21.
Second feeding device 20 includes guide rail 22 and the skip car 23 on the guide rail 22, makes the feeding
Vehicle 23 can be moved along the guide rail 22, facilitate worker's blowing, and the guide rail 22 is equipped with sensors in place, the skip car 23
It is equipped with locking device, can judge that the type of trolley can also judge whether trolley drives to by the sensors in place
The skip car 23 is locked, the movement of the skip car 23 is avoided once the skip car 23 reaches precalculated position in position.This reality
It applies in example, in order to ensure the working efficiency of assembly, on the both sides of the articulated robot 30 i.e. the first station and second station
Arrange first feeding device 10 and second feeding device 20 adjacent with first feeding device 10.
Described control unit 40 includes being connected for the data collecting system of gathered data, with the data collecting system
Data processing and control system, system early warning device and safety device, wherein the data collecting system is by the number after acquisition
According to the data processing and control system is sent to, the joint machine is sent to after the processing of the data processing and control system
Device people 30, the system early warning device can play automatic setup system forewarning function, and the safety device can have
Effect ensures the safety of automatic setup system.In the present embodiment, related in the tool center point scaling method of the articulated robot 30
And data, the polar coordinate system of the data that the industrial camera 33A scaling methods are related to and the articulated robot 30 and institute
The data involved in the relationship of industrial camera 33A coordinate systems are stated to be handled by the data processing and control system.
The clamping device 50 is located on transmitting device 60, and the transmitting device 60 is connected with described control unit 40, waits for
The automotive rear partition board 21 is assembled to after the completion of the horn cover 11, and described control unit 40 controls the fortune of the transmitting device 60
It is dynamic, the automotive rear partition board assembled is transported to next station.
Visual guidance automotive rear partition board of the present invention put together machines people operation principle it is as follows：
The hand calibrating block 33I is mounted on hand, described ground calibrating block 33J is installed on the ground, is demarcated by the hand
Block 33I tetra- times touching described ground calibrating block 33J calculate the tool center point position of the articulated robot 30；It secondly will be described
Scaling board 33H is placed in the lower section of the industrial camera 33A, is demarcated to the industrial camera 33A；Then pass through the rigid body
Become the relationship that scaling method determines the polar coordinate system and the industrial camera 33A coordinate systems of the articulated robot 30；Calibration is completed
Afterwards, the articulated robot 30 reaches taking pictures for horn cover 11 on first station by the first fibre optical sensor 33F
Position, is taken pictures by the industrial camera 33A, described information is passed to described control unit 40, by described control unit 40
Judge the position coordinates and deflection angle of the horn cover 11, then the horn cover 11 captured by the first sucker 33D,
And the horn cover 11 is delivered on the corresponding position of the clamping device 50；Then, the articulated robot 30 passes through institute
It states the second fibre optical sensor 33G and reaches first station and get on the car the picture-taking position of rear bulkhead 21, pass through the industrial camera
33A takes pictures, and described information is passed to described control unit 40, judges the automotive rear partition board 21 by described control unit 40
Position coordinates and deflection angle, then the automotive rear partition board 21 is captured by the second sucker 33E, and will be after the automobile
Partition board 21 is delivered on the clamping device 50, is assembled with the horn cover 11；After the completion of to be assembled, described control unit
The 40 control transmitting devices 60 move, and the first station assembly is completed；Then according to same method, assembly described second
Station, specifically, the articulated robot 30 reach horn cover in the second station by the first fibre optical sensor 33F
11 picture-taking position is taken pictures by the industrial camera 33A, the position of the horn cover 11 is judged by described control unit 40
Coordinate, then the horn cover 11 is captured by the first sucker 33D, and the horn cover 11 is delivered to the clamping device
On 50 corresponding position；Then, the articulated robot 30 reaches the second station by the second fibre optical sensor 33G
It gets on the car the picture-taking position of rear bulkhead 21, is taken pictures by the industrial camera 33A, and judged by described control unit 40 described
The position coordinates and deflection angle of automotive rear partition board 21, then the automotive rear partition board 21 is captured by the second sucker 33E, and
The automotive rear partition board 21 is delivered on the clamping device 50, is assembled with the horn cover 11；After the completion of to be assembled,
Described control unit 40 controls the movement of the transmitting device 60, and the second station assembly is completed；It recycles institute according to this constantly
The horn cover 11 and the automotive rear partition board 21 assembly stated on the first station and the second station are completed.
It should be noted that：It is above-mentioned when the first station assembles, feed supplement can be carried out to second station, to ensure described the
There are enough materials on two stations, similarly, when the second station is assembled, feed supplement can be carried out to the first station, thus
It is time-saving simultaneously, effectively increase working efficiency.
To sum up, technical solution of the present invention has the following advantages：
The people 1. visual guidance automotive rear partition board of the present invention puts together machines, including the first feeding device, the second feeding dress
It sets, articulated robot, the control unit being connected with the articulated robot and clamping device, wherein first feeding device
For putting horn cover, second feeding device is for putting automotive rear partition board, and the end of the articulated robot is equipped with
De-stacking and assembly executive device, the de-stacking is equipped with vision positioning device and Acetabula device with assembly executive device, described
Vision positioning device first determines the phase of the articulated robot and horn cover on the first feeding device by described control unit
To position, then guides the articulated robot and control the Acetabula device crawl horn cover and be seated in the clamping dress
It sets, then, the vision positioning device determines the articulated robot and second feeding by described control unit
Device is got on the car the relative position of rear bulkhead, then guide the articulated robot control the Acetabula device crawl it is described after every
Plate is simultaneously seated on the clamping device, the automotive rear partition board is clamped by the clamping device, and make the vapour
Through-hole on vehicle rear bulkhead is accurately aimed at the screw on the horn cover, convenient subsequently to be assembled, due to whole work process
By the opposite position of vision positioning device automatic decision articulated robot and horn cover and articulated robot and automotive rear partition board
It sets, guides the articulated robot and realize automatic assembling operation, and all assembly processes are automated by articulated robot, is flexible
Change and complete, avoids manual operation, not only increase the accuracy of assembly, and working efficiency is greatly improved.
The people 2. visual guidance automotive rear partition board of the present invention puts together machines, the de-stacking include branch with assembly executive device
Frame and the first sucker for capturing the horn cover being arranged on the first side of the holder and setting are in the holder the
The second sucker on two sides for capturing the rear bulkhead, to be conducive to the firm crawl horn cover and the automobile
Rear bulkhead.It is additionally provided on the holder for detecting the industrial camera to the first Fibre Optical Sensor of distance between the horn cover
Device and for detecting the industrial camera to the second fibre optical sensor of distance between the rear bulkhead.
Obviously, the above embodiments are merely examples for clarifying the description, does not limit the embodiments.For
For those of ordinary skill in the art, other different form variations can also be made on the basis of the above description or are become
It is dynamic.There is no necessity and possibility to exhaust all the enbodiments.And obvious variation extended from this or change
It is dynamic still within the protection scope of the invention.
Claims (10)
- The people 1. a kind of visual guidance automotive rear partition board puts together machines includes the first feeding device and use for putting horn cover In the second feeding device for putting automotive rear partition board, it is characterised in that：Further include articulated robot, with the articulated robot phase The control unit connected and the clamping device for the automotive rear partition board to be clamped, wherein the end of the articulated robot is set There are de-stacking and assembly executive device, the de-stacking to be equipped with vision positioning device and Acetabula device, institute with assembly executive device It states vision positioning device and the articulated robot and horn cover on first feeding device is determined by described control unit Relative position and the articulated robot get on the car with second feeding device rear bulkhead relative position after, described in guiding Articulated robot controls the Acetabula device and captures horn cover and second feeding device on first feeding device On automotive rear partition board and be seated on the clamping device.
- The people 2. visual guidance automotive rear partition board according to claim 1 puts together machines, it is characterised in that：The de-stacking and dress With being additionally provided with caliberating device in executive device, the caliberating device include scaling board, hand calibrating block and fix on the ground and The ground calibrating block opposite with the hand calibrating block.
- The people 3. visual guidance automotive rear partition board according to claim 2 puts together machines, it is characterised in that：The de-stacking and dress With executive device further include holder and be arranged on the first side of the holder for capture the first sucker of the horn cover with And the second sucker for capturing the automotive rear partition board is set in the holder the second side, and set on the first side of the holder Hand calibrating block and ground calibrating block described in having first group, the holder the second side is equipped with hand calibrating block and ground described in second group Calibrating block.
- The people 4. visual guidance automotive rear partition board according to claim 1 puts together machines, it is characterised in that：The vision positioning Device includes the industrial camera being arranged in the de-stacking and assembly executive device and the camera mating with the industrial camera Light source.
- The people 5. visual guidance automotive rear partition board according to claim 4 puts together machines, it is characterised in that：The de-stacking and dress With executive device be equipped with for detect the industrial camera to the first fibre optical sensor of distance between the horn cover and For detecting the industrial camera to the second fibre optical sensor of distance between the automotive rear partition board.
- The people 6. visual guidance automotive rear partition board according to claim 1 puts together machines, it is characterised in that：The joint machine The mechanical arm of people is connected by ring flange with the de-stacking with assembly executive device, and the de-stacking and assembly executive device place Plane and the ring flange between the angle that is formed be 30 ° -40 °.
- The people 7. visual guidance automotive rear partition board according to claim 6 puts together machines, it is characterised in that：The de-stacking and dress It it is 35 ° with the plane where executive device and the angle formed between the ring flange.
- The people 8. visual guidance automotive rear partition board according to claim 1 puts together machines, it is characterised in that：The clamping device On transmitting device, the transmitting device is connected with described control unit.
- The people 9. the visual guidance automotive rear partition board according to claim 1 or 8 puts together machines, it is characterised in that：The control Unit include for gathered data data collecting system, be connected with the data collecting system data processing and control system, System early warning device and safety device.
- The people 10. visual guidance automotive rear partition board according to claim 1 puts together machines, it is characterised in that：On described first Material device includes guide rail and the skip car on the guide rail, and the guide rail is equipped with sensors in place.
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| CN201710277664.6A CN108724169A (en) | 2017-04-25 | 2017-04-25 | Visual guidance automotive rear partition board puts together machines people |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531599A (en) * | 2019-01-16 | 2019-03-29 | 江苏北人机器人系统股份有限公司 | A kind of battery case vision guide coating system |
| CN112975331A (en) * | 2021-03-24 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Automatic assembly equipment for balance shaft of heavy truck |
| CN114842079A (en) * | 2022-04-23 | 2022-08-02 | 四川大学 | Device and method for measuring pose of prefabricated intermediate wall in shield tunnel |
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| CN114842079A (en) * | 2022-04-23 | 2022-08-02 | 四川大学 | Device and method for measuring pose of prefabricated intermediate wall in shield tunnel |
| CN114842079B (en) * | 2022-04-23 | 2023-09-19 | 四川大学 | Equipment and method for measuring pose of prefabricated intermediate wall in shield tunnel |
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