CN109969773A - A kind of centralising device and centering method for automobile top cover - Google Patents
A kind of centralising device and centering method for automobile top cover Download PDFInfo
- Publication number
- CN109969773A CN109969773A CN201910261266.4A CN201910261266A CN109969773A CN 109969773 A CN109969773 A CN 109969773A CN 201910261266 A CN201910261266 A CN 201910261266A CN 109969773 A CN109969773 A CN 109969773A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- location
- gripper equipment
- handgrip
- hopper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
Abstract
The present invention relates to automobile production field, specifically a kind of centralising device and centering method for automobile top cover.A kind of centralising device and centering method for automobile top cover, it is characterized in that: gripper equipment connects robot control cabinet, the bottom of gripper equipment fixes on the ground by the way that fixed frame is rotatable, gripper equipment end connects handgrip, the side of gripper equipment is equipped with fine positioning hopper, the other side of gripper equipment is equipped with braced frame, location of workpiece correcting device set there are six and the braced frame placed vertically of location of workpiece correcting device on, the bottom of location of workpiece correcting device is in the form of a column, and the top of location of workpiece correcting device is in cone.Compared with the existing technology, by the gradient of taper guide post, position when placing to workpiece is corrected automatically, without the energy, environmental protection and without security risk；Workpiece is identified by sensor, achievees the purpose that be communicated with other equipment, realizes automation.
Description
Technical field
The present invention relates to automobile production field, specifically a kind of centralising device and centering side for automobile top cover
Method.
Background technique
As the highest industry of current the degree of automation, the demand to various automation equipments increasingly increases automobile manufacture industry
Add, for the not high station of automobile production beat, be not only able to satisfy productive temp, but also cost can be reduced, and can be accurately fixed to workpiece
The device requirement of position increasingly increases, and automobile top cover is as the cover board at the top of automobile bodies, from a design point of view, it is most important that
Automobile top cover how with front and rear window frames and pillar interface point smooth transition, in the hope of best visual impression and the smallest sky can be obtained
Atmidometer, and everything makes requirement of the automobile top cover for precise positioning high.
Summary of the invention
The present invention in order to overcome the deficiencies of the prior art, designs a kind of centralising device and centering method for automobile top cover,
The problem of overcoming the grip in hopper, can not being accurately positioned, using hopper is positioned, robot hopper crawl, be put into middle, right
Middle to the secondary crawl of platform in workpiece precise positioning, robot, to realize what robot accurately controlled workpiece handgrip precision
Purpose.
To achieve the above object, a kind of centralising device and centering method for automobile top cover, including gripper equipment are designed,
Fine positioning hopper, braced frame, it is characterized in that: the gripper equipment, fine positioning hopper and braced frame are set on the ground, handgrip
Device connects robot control cabinet, and the bottom of gripper equipment fixes on the ground by the way that fixed frame is rotatable, gripper equipment end
Portion connects handgrip, and the side of gripper equipment is equipped with fine positioning hopper, and the other side of gripper equipment is equipped with braced frame, the support
Frame is equipped with location of workpiece correcting device, location of workpiece positioning device and location of workpiece identification sensor, the location of workpiece
Correcting device set there are six and the braced frame placed vertically of location of workpiece correcting device on, the bottom of location of workpiece correcting device
It is in the form of a column, the top of location of workpiece correcting device is in cone；It is set in the braced frame on the inside of location of workpiece correcting device
There are several location of workpiece positioning devices, the location of workpiece positioning device is for holding automobile top cover, the location of workpiece positioning
The side of device is equipped with workpiece fixation and recognition sensor；
Its centering method includes the following steps: that S1, worker are shifted hopper on fine positioning hopper by transport trolley, and by worker
Judgement executes automatic mode or Auto-Sensing Mode, executes automatic mode and then executes S2, executes Auto-Sensing Mode and then executes S9；S2 starts
Automatic mode, worker exit working region, and clamping signal lamp is waited to light；Whether in place S3, fine positioning hopper detect hopper, if
Then alarm latency does not correct simultaneously return step S2 in place, and positioning device cylinder clamping is waited if in place and is judged for the first time
In place whether stroke, alarm if not in place, if in place by gripper equipment control handgrip to the workpiece in fine positioning hopper into
Row crawl；S5, the handgrip on gripper equipment detect location of workpiece height in hopper according to range sensor and adjust appearance with height
State, grabbing workpiece after adjustment；S6, whether in place the cylinder clamping workpiece on handgrip judges stroke second, if not in place
It then alarms, has gripper equipment that workpiece is put on centralising device if in place；S7, after being put on centralising device, handgrip unclamps, by
Whether the sensor detection location of workpiece of centralising device is correct, if incorrect then follow the steps S8, otherwise terminates if correct；
S8, if the sensor detection location of workpiece is in out of position, vibrator movement, under the action of taper correcting device,
Workpiece is set to return to correct position；S9 starts Auto-Sensing Mode, fine positioning hopper cylinder and handgrip cylinder self-test, whether judges self-test
Pass through, terminate self-test if passing through, if otherwise not by alarming.
The gripper equipment is by handgrip pedestal, rotary base, bull stick, rocker arm, the first turntable, connector and the second turntable group
At the bottom of the gripper equipment is equipped with handgrip pedestal, and gripper equipment is fixed on the ground by handgrip pedestal, handgrip pedestal
Top is equipped with rotary base, and the rotary base is rotatable to be located on handgrip pedestal, passes through fixing seat above rotary base
Bull stick is connected, two sections of the front and back of the bull stick is fixed in fixing seat, it is arranged with connecting rod outside the middle part of bull stick, the one of connecting rod
End cap is located on bull stick, and the leading flank of the connecting rod other end is equipped with the first turntable, and first turntable is equipped with rocker arm, rocker arm
One end connect the first turntable, the other end of rocker arm is equipped with the second turntable, and first turntable is equipped with connector, the connection
Part connects handgrip.
The lower section of the fine positioning hopper is equipped with transport trolley, and fine positioning hopper is transported to gripper equipment by transport trolley
Grab station.
Compared with the existing technology, by the gradient of taper guide post, position when placing to workpiece carries out automatic the present invention
It corrects, without the energy, environmental protection and without security risk；Workpiece is identified by sensor, reaches and is led to other equipment
The purpose of news realizes automation.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the operation chart of robot in the present invention.
Fig. 3 is the structural schematic diagram of gripper equipment in the present invention.
Fig. 4 is the schematic diagram of centralising device centering in the present invention.
Fig. 5 is work flow diagram of the invention.
Referring to FIG. 1 to FIG. 5, wherein 1 is braced frame, and 2 be location of workpiece correcting device, and 3 be location of workpiece positioning dress
It sets, 4 be location of workpiece identification sensor, and 5 be gripper equipment, and 6 be handgrip, and 7 be fine positioning hopper, and 8 be transport trolley, and 9 be to grab
Hand pedestal, 10 be rotary base, and 11 be bull stick, and 12 be rocker arm, and 13 be the first turntable, and 14 be connector, and 15 be the second turntable.
Specific embodiment
The invention will now be described in further detail with reference to the accompanying drawings.
As shown in FIG. 1 to 3, the gripper equipment 5, fine positioning hopper 7 and braced frame 1 are set on the ground, handgrip dress
5 connection robot control cabinets are set, the bottom of gripper equipment 5 fixes on the ground by the way that fixed frame is rotatable, 5 end of gripper equipment
Portion connects handgrip 6, and the side of gripper equipment 5 is equipped with fine positioning hopper 7, and the other side of gripper equipment 5 is equipped with braced frame 1, institute
Braced frame 1 is stated equipped with location of workpiece correcting device 2, location of workpiece positioning device 3 and location of workpiece identification sensor 4, institute
State location of workpiece correcting device 2 set there are six and the braced frame 1 placed vertically of location of workpiece correcting device 2 on, the location of workpiece
The bottom of correcting device 2 is in the form of a column, and the top of location of workpiece correcting device 2 is in cone；In location of workpiece correcting device 2
The braced frame 1 of side is equipped with several location of workpiece positioning devices 3, and the location of workpiece positioning device 3 is for holding vehicle top
The side of lid, the location of workpiece positioning device 3 is equipped with workpiece fixation and recognition sensor 4.
The gripper equipment 5 is by handgrip pedestal 9, rotary base 10, bull stick 11, rocker arm 12, the first turntable 13, connector 14
It is formed with the second turntable 15, the bottom of the gripper equipment 5 is equipped with handgrip pedestal 9, and gripper equipment 5 is fixed by handgrip pedestal 9
On the ground, the top of handgrip pedestal 9 is equipped with rotary base 10, and the rotary base 10 is rotatable to be located on handgrip pedestal 9,
The top of rotary base 10 connects bull stick 11 by fixing seat, and two sections of the front and back of the bull stick 11 is fixed in fixing seat, bull stick
Connecting rod is arranged with outside 11 middle part, one end of connecting rod is set on bull stick 11, and the leading flank of the connecting rod other end is equipped with
First turntable 13, first turntable 13 are equipped with rocker arm 12, and one end of rocker arm 12 connects the first turntable 13, rocker arm 12 it is another
End is equipped with the second turntable 15, and first turntable 15 is equipped with connector 14, and the connector 14 connects handgrip 6.
The lower section of the fine positioning hopper 7 is equipped with transport trolley 8, and fine positioning hopper 7 is transported to handgrip by transport trolley 8 and fills
Set 5 crawl station.
As shown in figure 4, the location of workpiece correcting device 2 is made of six roots of sensation taper guide post, every taper guide post point
It is not connected on one piece of L-type link block, L-type link block is mounted in braced frame 1, and the location of workpiece positioning device 3 is by eight
A supporting block composition, the location of workpiece identification sensor 4 are made of 2 sensors, and supporting block and sensor are fixed on support
On frame 1.The fine positioning hopper 7 and gripper equipment 5 are separately connected warning device.
The surrounding of centralising device in the present invention arranges that six taper fine positioning guide post, workpiece as shown in stain are put into
When centralising device, workpiece slides down automatically under the action of six taper fine positioning guide posts, along tapered slope, and workpiece is encountered
When the supporting block of location of workpiece positioning device 3, stop, taper fine positioning guide post controls workpiece four in the horizontal direction at this time
Freedom degree, to complete centering.
As shown in figure 5, centering method of the invention includes the following steps: that S1, worker are shifted onto hopper by transport trolley
On fine positioning hopper, and judged to execute automatic mode or Auto-Sensing Mode by worker, executes automatic mode and then execute S2, execute self-test
Mode then executes S9；S2 starts automatic mode, and worker exits working region, and clamping signal lamp is waited to light；S3, fine positioning material
Case detect hopper whether in place, if not in place if alarm latency amendment and return step S2, if waiting positioning device in place
Cylinder clamping and first time judge that whether in place stroke, alarms if not in place, if controlling handgrip by gripper equipment in place
Workpiece in fine positioning hopper is grabbed；S5, the handgrip on gripper equipment detect workpiece in hopper according to range sensor
Position height simultaneously adjusts posture, grabbing workpiece after adjustment with height；S6, the cylinder clamping workpiece on handgrip, sentences for the second time
In place whether line-break journey, alarm if not in place, if having gripper equipment that workpiece is put on centralising device in place；S7 is put into
Whether after on centralising device, handgrip unclamps, correct by the sensor detection location of workpiece of centralising device, if incorrect, executes
Step S8, on the contrary terminate if correct；S8, if the sensor detection location of workpiece is in out of position, vibrator movement,
Under the action of taper correcting device, workpiece is made to return to correct position；S9 starts Auto-Sensing Mode, fine positioning hopper cylinder and grabs
Luck cylinder self-test, judges whether self-test passes through, and terminates self-test if passing through, if otherwise not by alarming.Wherein vibrator is set
In the side of location of workpiece correcting device 2, the frame entirety vibration of location of workpiece correcting device 2 is driven, to help taper
Correcting device promotes workpiece to return to correct position；The clamping signal lamp position can be placed in the side of fine positioning hopper 7
On fence, refer to that hopper positioning mechanism clamps the indicator light of hopper.Overstroke in step S3 and step S6 refers to locating clip
Whether the stroke of tight cylinder is covered.
The present invention in use, gripper equipment 5 with handgrip 6 from the inner grip of fine positioning hopper 7, gripper equipment 5 turns to 180
Automobile top cover is put into centralising device by degree, the release of handgrip 6, and automobile top cover is entangled in the location of workpiece correcting device 2 of centralising device
Under just, it to be close to location of workpiece correcting device 2 and falls, location of workpiece positioning device 3 is supported workpiece, after workpiece is fallen, work
Part location identification sensor 4 judges whether the location of workpiece is correct.
Claims (3)
1. a kind of centralising device and centering method for automobile top cover, including gripper equipment, fine positioning hopper, braced frame,
It is characterized in that: the gripper equipment (5), fine positioning hopper (7) and braced frame (1) are set on the ground, gripper equipment (5) connection
The bottom of robot control cabinet, gripper equipment (5) fixes on the ground by the way that fixed frame is rotatable, gripper equipment (5) end
It connects handgrip (6), the side of gripper equipment (5) is equipped with fine positioning hopper (7), and the other side of gripper equipment (5) is equipped with support frame
Frame (1), the braced frame (1) are equipped with location of workpiece correcting device (2), location of workpiece positioning device (3) and the location of workpiece
Identification sensor (4), the location of workpiece correcting device (2) set there are six and location of workpiece correcting device (2) place vertically
In braced frame (1), the bottom of location of workpiece correcting device (2) is in the form of a column, and the top of location of workpiece correcting device (2) is in circular cone
Shape；Braced frame (1) on the inside of location of workpiece correcting device (2) is equipped with several location of workpiece positioning devices (3), described
Location of workpiece positioning device (3) is positioned for holding automobile top cover, the side of the location of workpiece positioning device (3) equipped with workpiece
Identification sensor (4)；
Its centering method includes the following steps: that S1, worker are shifted hopper on fine positioning hopper by transport trolley, and by worker
Judgement executes automatic mode or Auto-Sensing Mode, executes automatic mode and then executes S2, executes Auto-Sensing Mode and then executes S9；S2 starts
Automatic mode, worker exit working region, and clamping signal lamp is waited to light；Whether in place S3, fine positioning hopper detect hopper, if
Then alarm latency does not correct simultaneously return step S2 in place, and positioning device cylinder clamping is waited if in place and is judged for the first time
In place whether stroke, alarm if not in place, if in place by gripper equipment control handgrip to the workpiece in fine positioning hopper into
Row crawl；S5, the handgrip on gripper equipment detect location of workpiece height in hopper according to range sensor and adjust appearance with height
State, grabbing workpiece after adjustment；S6, whether in place the cylinder clamping workpiece on handgrip judges stroke second, if not in place
It then alarms, has gripper equipment that workpiece is put on centralising device if in place；S7, after being put on centralising device, handgrip unclamps, by
Whether the sensor detection location of workpiece of centralising device is correct, if incorrect then follow the steps S8, otherwise terminates if correct；
S8, if the sensor detection location of workpiece is in out of position, vibrator movement, under the action of taper correcting device,
Workpiece is set to return to correct position；S9 starts Auto-Sensing Mode, fine positioning hopper cylinder and handgrip cylinder self-test, whether judges self-test
Pass through, terminate self-test if passing through, if otherwise not by alarming.
2. a kind of centralising device and centering method for automobile top cover according to claim 1, it is characterized in that: described grab
Arm device (5) is by handgrip pedestal (9), rotary base (10), bull stick (11), rocker arm (12), the first turntable (13), connector (14)
It is formed with the second turntable (15), the bottom of the gripper equipment (5) is equipped with handgrip pedestal (9), and gripper equipment (5) passes through handgrip base
Seat (9) fixes on the ground, and the top of handgrip pedestal (9) is equipped with rotary base (10), and the rotary base (10) is rotatable
It is located on handgrip pedestal (9), the top of rotary base (10) connects bull stick (11) by fixing seat, the front and back of the bull stick (11)
Two sections are fixed in fixing seat, and connecting rod is arranged with outside the middle part of bull stick (11), and one end of connecting rod is set on bull stick (11),
The leading flank of the connecting rod other end is equipped with the first turntable (13), and first turntable (13) is equipped with rocker arm (12), rocker arm
(12) one end connects the first turntable (13), and the other end of rocker arm (12) is equipped with the second turntable (15), first turntable (15)
It is equipped with connector (14), the connector (14) connects handgrip (6).
3. a kind of centralising device and centering method for automobile top cover according to claim 1, it is characterized in that: the essence
The lower section of blank positioning box (7) is equipped with transport trolley (8), and fine positioning hopper (7) is transported to gripper equipment (5) by transport trolley (8)
Crawl station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261266.4A CN109969773A (en) | 2019-04-02 | 2019-04-02 | A kind of centralising device and centering method for automobile top cover |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261266.4A CN109969773A (en) | 2019-04-02 | 2019-04-02 | A kind of centralising device and centering method for automobile top cover |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109969773A true CN109969773A (en) | 2019-07-05 |
Family
ID=67082405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910261266.4A Pending CN109969773A (en) | 2019-04-02 | 2019-04-02 | A kind of centralising device and centering method for automobile top cover |
Country Status (1)
| Country | Link |
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| CN (1) | CN109969773A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113213125A (en) * | 2021-04-21 | 2021-08-06 | 苏州澄富包装设备有限公司 | Temporary storage mechanism of liquid crystal display screen transfer equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0597078A (en) * | 1991-10-09 | 1993-04-20 | Mitsubishi Motors Corp | Roof panel assembling device |
| US20020158055A1 (en) * | 2000-04-10 | 2002-10-31 | Masao Watanabe | Welding system |
| CN103624939A (en) * | 2013-12-19 | 2014-03-12 | 重庆前卫宏华科技有限责任公司 | Full-automatic water gap side-cutting machine |
| CN203945017U (en) * | 2014-07-14 | 2014-11-19 | 重庆凌云汽车零部件有限公司 | Rear tow hook for vehicle support protection weldering welding tooling |
| CN204954224U (en) * | 2015-09-01 | 2016-01-13 | 奇瑞汽车股份有限公司 | Vapour car roof positioning fixture |
| CN205834039U (en) * | 2016-06-24 | 2016-12-28 | 浙江陆虎汽车有限公司 | Automobile top cover handgrip centering compound table |
| CN206952438U (en) * | 2017-06-28 | 2018-02-02 | 上汽通用汽车有限公司 | A kind of roof positioning support apparatus |
| CN210914310U (en) * | 2019-04-02 | 2020-07-03 | 上海冠致工业自动化有限公司 | Centering device for automobile roof |
-
2019
- 2019-04-02 CN CN201910261266.4A patent/CN109969773A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0597078A (en) * | 1991-10-09 | 1993-04-20 | Mitsubishi Motors Corp | Roof panel assembling device |
| US20020158055A1 (en) * | 2000-04-10 | 2002-10-31 | Masao Watanabe | Welding system |
| CN103624939A (en) * | 2013-12-19 | 2014-03-12 | 重庆前卫宏华科技有限责任公司 | Full-automatic water gap side-cutting machine |
| CN203945017U (en) * | 2014-07-14 | 2014-11-19 | 重庆凌云汽车零部件有限公司 | Rear tow hook for vehicle support protection weldering welding tooling |
| CN204954224U (en) * | 2015-09-01 | 2016-01-13 | 奇瑞汽车股份有限公司 | Vapour car roof positioning fixture |
| CN205834039U (en) * | 2016-06-24 | 2016-12-28 | 浙江陆虎汽车有限公司 | Automobile top cover handgrip centering compound table |
| CN206952438U (en) * | 2017-06-28 | 2018-02-02 | 上汽通用汽车有限公司 | A kind of roof positioning support apparatus |
| CN210914310U (en) * | 2019-04-02 | 2020-07-03 | 上海冠致工业自动化有限公司 | Centering device for automobile roof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113213125A (en) * | 2021-04-21 | 2021-08-06 | 苏州澄富包装设备有限公司 | Temporary storage mechanism of liquid crystal display screen transfer equipment |
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