CN110877151A - Vision-guided engine cylinder unstacking detection robot equipment and method thereof - Google Patents
Vision-guided engine cylinder unstacking detection robot equipment and method thereof Download PDFInfo
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- CN110877151A CN110877151A CN201910985369.5A CN201910985369A CN110877151A CN 110877151 A CN110877151 A CN 110877151A CN 201910985369 A CN201910985369 A CN 201910985369A CN 110877151 A CN110877151 A CN 110877151A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/362—Laser etching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
- B23K26/142—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor for the removal of by-products
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1694—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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Abstract
The invention relates to a visual guidance engine cylinder unstacking detection robot device and a method thereof. The invention has the advantages that the robot has a joint robot system, a visual guide engine cylinder unstacking detection robot end effector, a visual detection marking system, a control system, a transmission system and a stacking station, is convenient to operate, saves time and labor, realizes accurate carrying and automatic detection marking of unstacking and stacking in engine cylinder production, and effectively improves the production efficiency; the heavy carrying work which is repeated by workers is replaced, the increasing labor cost is reduced, and the method has high economic benefit value and value popularization and use. The safety protection system is arranged, so that the safety of personnel in a workshop is guaranteed, the probability of safety accidents is reduced, and the requirement of modern safety production is met.
Description
Technical Field
The invention relates to the technical field of engine cylinder block production automation, in particular to vision-guided engine cylinder block unstacking detection robot equipment and a method thereof.
Background
The engine cylinder body has a complex structure, is divided into cast iron or cast aluminum, is the most important part of an automobile engine, and has the functions of providing installation and support of each engine and parts thereof, ensuring accurate positions of moving parts such as a piston, a connecting rod, a crankshaft and the like during working and ensuring ventilation, cooling and lubrication of the engine.
In the field of engine cylinder block production, manual unstacking and assembling are mainly adopted, and for the engine cylinder blocks with complex structures and heavy quality, when manual unstacking and assembling are carried out on the cylinder blocks, the labor intensity is high, the carrying efficiency is low, and safety accidents are easy to occur; and with the rise of labor cost year by year, under the situation, the requirements of modern production can not be met obviously by adopting manual work to carry out unstacking and assembling on cylinder body production.
In order to overcome the problems, the invention patent with the application number of CN201510894665.6 and the name of a robot carrying clamp and a carrying system of an engine cylinder body based on vision comprises a clamp body used for clamping the cylinder body, wherein the clamp body is connected with the carrying robot body, the clamp body is provided with a vision system used for identifying the cylinder body and obtaining the position coordinate of the cylinder body, a detection system used for judging whether the clamp body is in place before carrying the cylinder body, and a pneumatic control system used for controlling the clamp body to clamp the cylinder body; the vision system, the detection system and the pneumatic control system are all connected with a control system of the transfer robot. The robot carrying clamp can realize automation and intellectualization of cylinder body carrying, and is high in carrying efficiency, low in production cost and high in carrying safety. However, the present invention has the following problems: the structure function is single, the clamping effect is not good, and the development requirement of an automatic production line cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a vision-guided engine cylinder unstacking detection robot device and a method thereof.
The technical scheme for realizing the purpose of the invention is as follows: a visual guidance engine cylinder unstacking detection robot equipment and a method thereof are provided with a joint robot system, a visual guidance engine cylinder unstacking detection robot end effector, a visual detection marking system, a control system, a conveying system and a stacking station; visual guide engine cylinder block detection robot end effector of breaking a jam connect in joint robot system, visual detection beats mark system with control system is located the upper right side of joint robot system, transfer system is located joint robot system's left side, the pile up neatly station has a plurality of and even symmetric position joint robot system's upper and lower both sides.
According to the technical scheme, the joint robot system comprises a joint robot, a robot guide rail and a robot controller, the joint robot is fixed on the robot guide rail, the joint robot and the robot guide rail are electrically connected to the robot controller, a track extension line of the robot guide rail is perpendicular to the conveying system, and the robot controller is adjacent to the control system.
Above-mentioned technical scheme end executor utensil of visual guide engine cylinder block detection robot that breaks a jam has robot mounting flange mechanism, tilting mechanism, clamping mechanism, visual positioning system, signal detection system, robot mounting flange mechanism connect in joint robot system, tilting mechanism connect in robot mounting flange mechanism, clamping mechanism install in tilting mechanism, visual positioning system with signal detection system locates tilting mechanism.
Above-mentioned technical scheme tilting mechanism has two tilting mechanism cylinders, first installing support and second installing support, and great first installing support and less second installing support are Jiong font and are located same perpendicular, two tilting mechanism cylinders are connected respectively in the both sides of first installing support, and the both sides of first installing support below are connected with the both sides rotatable shaft of second installing support below respectively.
Above-mentioned technical scheme clamping mechanism has clamping mechanism mounting panel, the first step motor of clamping mechanism and clamping jaw, the clamping mechanism mounting panel intersects perpendicularly and is fixed in the top of second installing support, the both ends of clamping mechanism mounting panel are equipped with the first step motor of clamping mechanism, the below of the first step motor of clamping mechanism is connected with the clamping jaw.
According to the technical scheme, the clamping mechanism mounting plate is further provided with a clamping mechanism second stepping motor, and the clamping mechanism second stepping motor is connected to one of the clamping mechanism first stepping motors.
Above-mentioned technical scheme visual detection marking system has the laser instrument support, the laser instrument support is equipped with the laser instrument, the laser instrument electricity is connected with laser controller, the left side of laser instrument support is equipped with the protection casing, be equipped with the detection camera of two parallels on the protection casing, the upper and lower both sides of the detection camera of two parallels are equipped with the camera light source.
According to the technical scheme, an industrial dust collector is further arranged below the laser support and connected with two dust hoods which are respectively located on the upper side and the lower side of the laser.
Above-mentioned technical scheme control system has the switch board, the upper portion perpendicular of switch board is equipped with the upper end display, be equipped with the lower extreme display on the well upper portion inclined plane of switch board, the well lower part of switch board is equipped with human-computer interaction input mechanism, human-computer interaction input mechanism collapsible to the inside of switch board, the top of switch board is equipped with the safety warning lamp, the lower extreme display with be equipped with the function button between the display of upper end.
According to the technical scheme, the conveying system is further connected with a safety protection system, the conveying system and the safety protection system are enclosed to form a square shape, the safety protection system is provided with a safety protection net, a safety door, protection gratings and a feeding and discharging channel, and the protection gratings are located on two sides of the feeding and discharging channel.
A visual guidance engine cylinder block unstacking detection robot unstacking detection method comprises the following steps:
step 1, feeding a material frame, wherein a system sends a robot feeding request, and a robot moves to a stacking station;
and 7, placing the workpiece on a conveying line by the robot for further processing.
After the technical scheme is adopted, the invention has the following positive effects:
(1) the invention has the advantages that the robot has a joint robot system, a visual guide engine cylinder unstacking detection robot end effector, a visual detection marking system, a control system, a transmission system and a stacking station, is convenient to operate, saves time and labor, realizes accurate carrying and automatic detection marking of unstacking and stacking in engine cylinder production, and effectively improves the production efficiency; the heavy carrying work which is repeated by workers is replaced, the increasing labor cost is reduced, and the method has high economic benefit value and value popularization and use.
(2) The safety protection system is arranged, so that the high-efficiency automatic production is realized, the safe production environment is provided, the mistaken intrusion of workers into a construction area is prevented, the safety of the workers in a workshop is guaranteed, the probability of safety accidents is reduced, and the requirement of modern safety production is met.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of a three-dimensional structure of an end effector of a visual guidance engine cylinder unstacking detection robot according to the invention; (ii) a
FIG. 4 is a schematic diagram of the visual inspection marking system of the present invention;
fig. 5 is a schematic perspective view of the control system of the present invention.
In the figure: 1-joint robot system, 11-joint robot, 12-robot guide rail, 13-robot controller,
2-visual guidance engine cylinder unstacking detection robot end effector, 21-robot installation flange mechanism, 22-turnover mechanism, 23-clamping mechanism, 24-visual positioning system, 25-signal detection system, 221-turnover mechanism cylinder, 222-first installation support, 223-second installation support, 231-clamping mechanism installation plate, 232-clamping mechanism first step motor, 233-clamping jaw, 234-clamping mechanism second step motor,
3-visual detection marking system, 31-laser support, 32-laser, 33-laser controller, 34-industrial dust collector, 35-dust collection cover, 36-detection camera, 37-camera light source, 38-protective cover,
4-control system, 41-control cabinet, 42-upper end display, 43-lower end display, 44-man-machine interaction input mechanism, 45-safety warning lamp, 46-function button,
5-a conveying system, 6-a stacking station,
7-a safety protection system, 71-a safety protection net, 72-a safety door, 73-a protection grating and 74-a feeding and discharging channel.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are commonly used for products of the present invention, and are only used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the orientation is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 2, the invention comprises a joint robot system 1, a visual guidance engine cylinder unstacking detection robot end effector 2, a visual detection marking system 3, a control system 4, a conveying system 5 and a stacking station 6; visual guide engine cylinder block detection robot end effector 2 of breaking a jam connect in joint robot system 1, visual detection marking system 3 with control system 4 is located the upper right side of joint robot system 1, conveying system 5 is located joint robot system 1's left side, pile up neatly station 6 has a plurality of and even symmetric position in joint robot system 1's upper and lower both sides.
The technical scheme is that the robot comprises a joint robot system 1, a visual guide engine cylinder unstacking detection robot end effector 2, a visual detection marking system 3, a control system 4, a conveying system 5 and a stacking station 6; the visual guide engine cylinder unstacking detection robot tail end executor 2 is electrically connected to the tail end of the joint robot system 1, the visual detection marking system 3 and the control system 4 are located on the upper right side of the joint robot system 1, and the control system 4 carries out corresponding electronic control on the visual detection marking system 3, the conveying system 5 and the stacking station 6; the conveying system 5 is located on the left side of the joint robot system 1, and the stacking station 6 is provided with a plurality of uniform symmetrical positions on the upper side and the lower side of the joint robot system 1. The joint robot system 1 drives the vision-guided engine cylinder unstacking detection robot end effector 2 connected with the joint robot system to be arranged above the stacking station 6, engine cylinder workpieces stacked on the stacking station 6 are judged, position information of the engine cylinders to be unstacked is calculated, appearance of the engine cylinders is detected, and the vision-guided engine cylinder unstacking detection robot end effector 2 feeds back the position information and the appearance information to the joint robot system 1. The joint robot system 1 drives the visual guide engine cylinder unstacking detection robot end effector 2 connected with the joint robot system to unstack, grab the engine cylinder workpiece to the visual detection marking system 3 to perform visual detection and marking treatment. After marking, the joint robot system 1 drives the vision-induced trigger motor cylinder unstacking detection robot end effector 2 connected with the joint robot system to place the engine cylinder workpiece on the conveying system 5, and primary unstacking work is completed. And if the appearance of the engine block workpiece is detected to be defective in appearance in the appearance detection, removing the engine block workpiece.
The joint robot system 1 comprises a joint robot 11, a robot guide rail 12 and a robot controller 13, wherein the joint robot 11 is fixed on the robot guide rail 12, the joint robot 11 and the robot guide rail 12 are electrically connected to the robot controller 13, a track extension line of the robot guide rail 12 is perpendicular to the conveying system 5, and the robot controller 13 is adjacent to the control system 4. The end electricity of joint robot 11 is connected the end effector 2 of vision guide engine cylinder body detection robot that breaks a jam, robot controller 13 electricity is connected to control system 4, robot guide rail 12 can increase joint robot 11 and electricity is connected the working range of vision guide engine cylinder body detection robot end effector 2 that breaks a jam, robot guide rail 12's length can carry out corresponding regulation according to how much of pile up neatly station 6, in fig. 1 and fig. 2, has set up 8 pile up neatly stations 6, and robot guide rail 12's both sides all have and are equipped with 4, and robot guide rail 12's length extends to the fourth pile up neatly station 6 of robot guide rail 12 one side.
See fig. 3, the end effector 2 of the vision-guided engine cylinder unstacking detection robot has a robot mounting flange mechanism 21, a turnover mechanism 22, a clamping mechanism 23, a vision positioning system 24 and a signal detection system 25, the robot mounting flange mechanism 21 is connected to the joint robot system 1, the turnover mechanism 22 is connected to the robot mounting flange mechanism 21, the clamping mechanism 23 is installed on the turnover mechanism 22, and the vision positioning system 24 and the signal detection system 25 are arranged on the turnover mechanism 22. Specifically, the robot mounting flange mechanism 21 is electrically connected to the end of the joint robot 11 in the joint robot system 1. The clamping mechanism 23 is used for clamping an engine cylinder workpiece, the turnover mechanism 22 rotates the engine cylinder workpiece in an angle, the visual positioning system 24 and the signal detection system 25 are electrically connected to the robot controller 13, and the visual positioning system 24 and the signal detection system 25 collect and detect position information and appearance information of the engine cylinder workpiece and transmit the position information and the appearance information to the robot controller 13 for processing. If the appearance of the engine cylinder workpiece is detected to be defective in appearance in the appearance detection, the engine cylinder workpiece is removed
The turnover mechanism 22 is provided with two turnover mechanism cylinders 221, a first mounting bracket 222 and a second mounting bracket 223, the larger first mounting bracket 222 and the smaller second mounting bracket 223 are both Jiong-shaped and located on the same vertical plane, the two turnover mechanism cylinders 221 are respectively connected to two sides of the first mounting bracket 222, and two sides of the lower portion of the first mounting bracket 222 are respectively connected with two sides of the lower portion of the second mounting bracket 223 through rotatable shafts. When the angle of the engine cylinder block workpiece needs to be adjusted, the two turnover mechanism cylinders 221 are ejected downwards and push the second mounting bracket 223 to rotate around the rotatable shaft, and the clamping mechanism 23 on the second mounting bracket 223 clamps the engine cylinder block workpiece and drives the engine cylinder block workpiece to rotate around the rotatable shaft together. In order to ensure the continuous operation and the wear resistance and pressure resistance of the rotatable shaft, 45 steel, 40 steel or 42 chromium-molybdenum steel can be selected as materials.
The clamping mechanism 23 is provided with a clamping mechanism mounting plate 231, a first clamping mechanism stepping motor 232 and a clamping jaw 233, the clamping mechanism mounting plate 231 is vertically crossed and fixed at the top of the second mounting bracket 223, the two ends of the clamping mechanism mounting plate 231 are provided with the first clamping mechanism stepping motor 232, and the clamping jaw 233 is connected below the first clamping mechanism stepping motor 232. According to the signal positioning of the vision positioning system 24 and the signal detection system 25, the first stepping motor 232 of the two clamping mechanisms drives the clamping jaw 233 below to extend downwards to a hole on the upper surface of the workpiece of the engine cylinder body for clamping.
The clamping mechanism mounting plate 231 is further provided with a clamping mechanism second stepping motor 234, and the clamping mechanism second stepping motor 234 is connected to one of the clamping mechanism first stepping motors 232. The distance between the two first stepping motors 232 of the clamping mechanism can be adjusted by the second stepping motor 234 of the clamping mechanism, and the distance between the clamping jaws 233 below the corresponding first stepping motors 232 of the two clamping mechanisms is also adjusted, so that the invention can grab engine cylinder workpieces of different models.
Referring to fig. 4, the visual inspection marking system 3 has a laser support 31, the laser support 31 is provided with a laser 32, the laser 32 is electrically connected with a laser controller 33, a protection cover 38 is arranged on the left side of the laser support 31, the protection cover 38 is provided with two parallel inspection cameras 36, and camera light sources 37 are arranged on the upper and lower sides of the two parallel inspection cameras 36. Before marking, the laser controller 33 is used for turning on the camera light source 37, the detection camera 36 is started to carry out appearance visual detection on the engine cylinder block workpiece to be marked, and the appearance visual detection is not completely the same as that in the end effector 2 of the visual guide engine cylinder block unstacking detection robot due to the angle adjustment of the engine cylinder block workpiece by the turnover mechanism 22. And if the appearance of the engine cylinder workpiece is detected to be defective in appearance in the appearance detection, removing the engine cylinder workpiece. After the appearance visual inspection is finished, the laser 32 marks the engine cylinder workpiece.
An industrial dust collector 34 is further arranged below the laser bracket 31, the industrial dust collector 34 is connected with two dust hoods 35, and the two dust hoods 35 are respectively located on the upper side and the lower side of the laser 32. When the laser 32 marks an engine cylinder workpiece, the engine cylinder workpiece is suddenly heated under the action of laser, so that the part of the workpiece to be processed is locally gasified and then condensed into particles, and metal dust can appear. The industrial dust collector 34 is connected with two dust collecting hoods 35 for respectively carrying out dust collection treatment on two sides of the laser 32, so that a clean and pollution-free working environment is guaranteed.
Referring to fig. 5, the control system 4 has a control cabinet 41, an upper display 42 is disposed on an upper vertical surface of the control cabinet 41, a lower display 43 is disposed on an upper inclined surface of the control cabinet 41, a human-machine interaction input mechanism 44 is disposed on a lower middle portion of the control cabinet 41, the human-machine interaction input mechanism 44 is retractable into the control cabinet 41, a safety warning lamp 45 is disposed on a top portion of the control cabinet 41, and a function button 46 is disposed between the lower display 43 and the upper display 42.
As shown in fig. 1, the conveying system 5 is further connected with a safety protection system 7, the conveying system 5 and the safety protection system 7 form a square, the safety protection system 7 is provided with a safety protection net 71, a safety door 72, a protection grating 73 and a feeding and discharging channel 74, and the protection grating 73 is located on two sides of the feeding and discharging channel 74. In fig. 1, one safety door 72 is arranged on a safety protection net 71 positioned on the lower right of the articulated robot system 1, the number of the feeding and discharging channels 74 is determined according to the number of the stacking stations 6, the number of the feeding and discharging channels is 8 in fig. 1, and protection gratings 73 are arranged on two sides of the 8 feeding and discharging channels 74 to play a role in warning and protection. The whole safety protection system 7 provides a safe production environment, prevents workers from mistakenly intruding into a construction area, ensures the safety of the workers in a workshop, and reduces the probability of safety accidents.
The working principle of the invention is as follows:
the detection method comprises the following steps:
step 1, feeding a material frame, wherein a system sends a robot feeding request, and a robot moves to a stacking station;
and 7, placing the workpiece on a conveying line by the robot for further processing.
The joint robot 11 drives the end effector 2 of the visual guidance engine cylinder unstacking detection robot to be above the stacking station 6, and the end effector 2 of the visual guidance engine cylinder unstacking detection robot judges and calculates position information of the engine cylinder workpiece to be unstacked and sends the position information to the robot controller 13; and simultaneously, performing appearance detection on the surface of the engine cylinder block workpiece to be unstacked, and removing the engine cylinder block workpiece if the appearance of the engine cylinder block workpiece is detected to be defective in appearance detection. Then, the joint robot 11 drives the end effector 2 of the visual guidance engine cylinder unstacking detection robot to unstack, the end effector 2 of the visual guidance engine cylinder unstacking detection robot clamps the engine cylinder workpiece to the visual detection marking station 3, visual detection is firstly carried out, and if the engine cylinder workpiece is found to have an appearance flaw in the appearance detection, the engine cylinder workpiece is removed; then, a laser 32 is used for marking, and after the marking is finished, the engine cylinder body is placed on a conveying system 5, namely a conveying line, so that one-time unstacking work is completed.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a vision guide engine cylinder block detection robot equipment that breaks a jam which characterized in that: the device is provided with a joint robot system (1), a visual guide engine cylinder unstacking detection robot end effector (2), a visual detection marking system (3), a control system (4), a conveying system (5) and a stacking station (6); visual guide engine cylinder block detection robot end effector (2) of breaking a jam connect in joint robot system (1), visual detection marking system (3) with control system (4) are located the upper right side of joint robot system (1), conveying system (5) are located the left side of joint robot system (1), pile up neatly station (6) have a plurality of and even symmetrical position in the upper and lower both sides of joint robot system (1).
2. The vision-guided engine block unstacking detection robotic equipment as claimed in claim 1, wherein: the joint robot system (1) is provided with a joint robot (11), a robot guide rail (12) and a robot controller (13), the joint robot (11) is fixed on the robot guide rail (12), the joint robot (11) and the robot guide rail (12) are electrically connected to the robot controller (13), the track extension line of the robot guide rail (12) is perpendicular to the conveying system (5), and the robot controller (13) is adjacent to the control system (4).
3. The vision-guided engine block unstacking detection robotic equipment as claimed in claim 1, wherein: visual guide engine cylinder block detection robot end effector of breaking a jam (2) has robot mounting flange mechanism (21), tilting mechanism (22), clamping mechanism (23), vision positioning system (24), signal detection system (25), robot mounting flange mechanism (21) connect in joint robot system (1), tilting mechanism (22) connect in robot mounting flange mechanism (21), clamping mechanism (23) install in tilting mechanism (22), vision positioning system (24) with tilting mechanism (22) are located in signal detection system (25).
4. The vision-guided engine block unstacking detection robotic equipment as claimed in claim 3, wherein: the turnover mechanism (22) is provided with two turnover mechanism cylinders (221), a first mounting bracket (222) and a second mounting bracket (223), the larger first mounting bracket (222) and the smaller second mounting bracket (223) are both Jiong-shaped and located on the same vertical plane, the two turnover mechanism cylinders (221) are respectively connected to two sides of the first mounting bracket (222), and two sides of the lower portion of the first mounting bracket (222) are respectively connected with two side rotatable shafts of the lower portion of the second mounting bracket (223).
5. The vision-guided engine block unstacking detection robotic equipment as claimed in claim 4, wherein: clamping mechanism (23) has clamping mechanism mounting panel (231), the first step motor of clamping mechanism (232) and clamping jaw (233), clamping mechanism mounting panel (231) intersect perpendicularly and are fixed in the top of second installing support (223), the both ends of clamping mechanism mounting panel (231) are equipped with the first step motor of clamping mechanism (232), the below of the first step motor of clamping mechanism (232) is connected with clamping jaw (233).
6. The vision-guided engine block unstacking detection robotic equipment of claim 5, wherein: the clamping mechanism mounting plate (231) is further provided with a clamping mechanism second stepping motor (234), and the clamping mechanism second stepping motor (234) is connected to one of the clamping mechanism first stepping motors (232).
7. The vision-guided engine block unstacking detection robotic equipment as claimed in claim 1, wherein: visual detection marking system (3) has laser instrument support (31), laser instrument support (31) are equipped with laser instrument (32), laser instrument (32) electricity is connected with laser controller (33), the left side of laser instrument support (31) is equipped with protection casing (38), protection casing (38) are equipped with detection camera (36) of two parallels, the upper and lower both sides of detection camera (36) of two parallels are equipped with camera light source (37).
8. The vision-guided engine block unstacking detection robotic equipment of claim 7, wherein: an industrial dust collector (34) is further arranged below the laser support (31), the industrial dust collector (34) is connected with two dust collection covers (35), and the two dust collection covers (35) are respectively located on the upper side and the lower side of the laser (32).
9. The vision-guided engine block unstacking detection robotic equipment as claimed in claim 1, wherein: the control system (4) is provided with a control cabinet (41), an upper end display (42) is arranged on the upper vertical surface of the control cabinet (41), a lower end display (43) is arranged on the inclined surface of the middle upper part of the control cabinet (41), a man-machine interaction input mechanism (44) is arranged on the middle lower part of the control cabinet (41), the man-machine interaction input mechanism (44) can be retracted into the control cabinet (41), a safety warning lamp (45) is arranged at the top of the control cabinet (41), a function button (46) is arranged between the lower end display (43) and the upper end display (42),
the conveying system (5) is further connected with a safety protection system (7), the conveying system (5) and the safety protection system (7) enclose a square shape, the safety protection system (7) is provided with a safety protection net (71), a safety door (72), a protection grating (73) and a feeding and discharging channel (74), and the protection grating (73) is located on two sides of the feeding and discharging channel (74).
10. A visual guidance engine cylinder block unstacking detection robot unstacking detection method is characterized by comprising the following steps:
step 1, feeding a material frame, wherein a system sends a robot feeding request, and a robot moves to a stacking station;
step 2, a vision system of the robot end effector shoots and positions the workpiece in the material frame;
step 3, the robot positions coordinates according to a visual system of the end effector, adjusts the posture and grabs the workpiece;
step 4, the robot moves to a detection station, and a visual detection system detects the workpiece according to requirements;
step 5, after the detection is finished, if the detection result is qualified, performing a marking process, and if the detection result is unqualified, placing the workpiece into a material returning frame by the robot;
step 6, after the laser marking is finished, the visual system reads the marking content again for confirmation, and the result is written into the system;
and 7, placing the workpiece on a conveying line by the robot for further processing.
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