CN110877151B - Visual guide engine cylinder unstacking detection robot device and method thereof - Google Patents
Visual guide engine cylinder unstacking detection robot device and method thereof Download PDFInfo
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- CN110877151B CN110877151B CN201910985369.5A CN201910985369A CN110877151B CN 110877151 B CN110877151 B CN 110877151B CN 201910985369 A CN201910985369 A CN 201910985369A CN 110877151 B CN110877151 B CN 110877151B
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- 238000001514 detection method Methods 0.000 title claims abstract description 89
- 230000000007 visual effect Effects 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 93
- 239000012636 effector Substances 0.000 claims description 29
- 239000000428 dust Substances 0.000 claims description 17
- 230000007306 turnover Effects 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 10
- 238000007689 inspection Methods 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 4
- 238000010330 laser marking Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 15
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000011179 visual inspection Methods 0.000 description 7
- 230000007547 defect Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000009414 blockwork Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- VNTLIPZTSJSULJ-UHFFFAOYSA-N chromium molybdenum Chemical compound [Cr].[Mo] VNTLIPZTSJSULJ-UHFFFAOYSA-N 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
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- 238000001816 cooling Methods 0.000 description 1
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- 238000002309 gasification Methods 0.000 description 1
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- 238000005461 lubrication Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002633 protecting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Plasma & Fusion (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to visual guide engine cylinder unstacking detection robot equipment and a method thereof. The invention has the advantages that the operation is convenient, the time and the labor are saved, the precise carrying and the automatic detection marking of the unstacking and stacking of the engine cylinder body production are realized, and the production efficiency is effectively improved; replaces the repeated heavy carrying work of workers, reduces the increasing labor cost, has high economic benefit value and is popularized and used. The safety protection system is arranged, so that the safety of personnel in a workshop is ensured, the probability of safety accidents is reduced, and the requirements of modern safety production are met.
Description
Technical Field
The invention relates to the technical field of production automation of engine cylinders, in particular to visual guide engine cylinder unstacking detection robot equipment and a visual guide engine cylinder unstacking detection method.
Background
The engine cylinder body has a complex structure, is divided into cast iron and cast aluminum, is the most important part of an automobile engine, and has the functions of providing the installation, support and guarantee of the accurate positions of the engines and parts thereof when moving parts such as pistons, connecting rods, crankshafts and the like work, and guaranteeing the ventilation, cooling and lubrication of the engines.
In the field of engine cylinder production, manual unstacking and assembling are mainly adopted, and when the manual unstacking and assembling of the engine cylinder with complex structure and heavy mass are adopted, 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 requirement of modern production can not be obviously met by adopting manual cylinder production unstacking and assembling.
In order to overcome the problems, the invention patent with the application number of CN201510894665.6, named as a robot carrying clamp and a carrying system of an engine cylinder based on vision, comprises a clamp body for clamping the cylinder, wherein the clamp body is connected with the carrying robot body, and is provided with a vision system for identifying the cylinder and acquiring the position coordinates of the cylinder, a detection system for judging whether the clamp body is in place before carrying the cylinder, and a pneumatic control system for controlling the clamp body to clamp the cylinder; the vision system, the detection system and the pneumatic control system are all connected with the control system of the transfer robot. The robot carrying clamp can realize automation and intellectualization of carrying the cylinder body, and has high carrying efficiency, low production cost and high carrying safety. However, this invention also has the following problems: the structure function is single, and the clamping effect is not very good, can not satisfy the development demand of automated production line.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides visual guide engine cylinder unstacking detection robot equipment and a method thereof.
The technical scheme for realizing the aim of the invention is as follows: a visual guide engine cylinder unstacking detection robot device and a method thereof are provided, wherein the visual guide engine cylinder unstacking detection robot device comprises a joint robot system, a visual guide engine cylinder unstacking detection robot end effector, a visual detection marking system, a control system, a conveying system and a stacking station; the visual guide engine cylinder unstacking detection robot end effector is connected to the joint robot system, the visual detection marking system and the control system are located on the upper right side of the joint robot system, the conveying system is located on the left side of the joint robot system, and the stacking station is provided with a plurality of evenly and symmetrically located on the upper side and the lower side of the joint robot system.
Above-mentioned technical scheme the joint robot system has joint robot, robot guide rail and robot controller, the joint robot be fixed in the robot guide rail, the joint robot with the robot guide rail electricity connect in the robot controller, the track extension line of robot guide rail with conveying system mutually perpendicular, the robot controller is adjacent control system.
Above-mentioned technical scheme the vision guide engine cylinder block unstacking detection robot end effector has robot mounting flange mechanism, tilting mechanism, clamping mechanism, vision 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, vision 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 font and lie in same perpendicular, two tilting mechanism cylinders are connected in the both sides of first installing support respectively, but the both sides of first installing support below are connected with the both sides rotation axis of second installing support below respectively.
Above-mentioned technical scheme clamping mechanism has clamping mechanism mounting panel, clamping mechanism first step motor and clamping jaw, the clamping mechanism mounting panel is perpendicular crossing and be fixed in the top of second installing support, the both ends of clamping mechanism mounting panel are equipped with clamping mechanism first step motor, clamping mechanism first step motor's below is connected with the clamping jaw.
According to the technical scheme, the clamping mechanism mounting plate is further provided with the second clamping mechanism stepping motor, and the second clamping mechanism stepping motor is connected to one of the first clamping mechanism stepping motors.
Above-mentioned technical scheme visual detection marking system has the laser instrument support, the laser instrument support has the laser instrument, the laser instrument electricity is connected with the laser controller, the left side of laser instrument support is equipped with the protection casing, be equipped with two parallel detection cameras on the protection casing, the upper and lower both sides of two parallel detection cameras are equipped with the camera light source.
According to the technical scheme, the industrial dust collector is further arranged below the laser bracket and connected with two dust hoods, and the two dust hoods are respectively located on the upper side and the lower side of the laser.
Above-mentioned technical scheme control system has the switch board, upper end display has been established to the upper portion perpendicular of switch board, 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 man-machine interaction input mechanism, man-machine interaction input mechanism is collapsible to the inside of switch board, the top of switch board is equipped with the safety warning light, the lower extreme display with be equipped with function button between the upper end display.
Above-mentioned technical scheme conveying system still is connected with safety protection system, conveying system with safety protection system encloses into a mouthful font, safety protection system has safety protection net, emergency exit, protection grating and goes up unloading passageway, protection grating is located go up the both sides of unloading passageway.
A visual guide engine cylinder unstacking detection method for a unstacking detection robot comprises the following steps:
step 1, feeding a material frame, wherein a system sends a robot feeding request, and the robot moves to a stacking station;
step 2, a vision system of a robot end effector photographs and positions a workpiece in a material frame;
step 3, the robot positions coordinates according to a visual system of the end effector, adjusts the gesture and grabs the workpiece;
step 4, the robot moves to a detection station, and a visual detection system detects a 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 back to the material frame by the robot;
step 6, after the laser marking is finished, the vision system reads the marking content again to confirm, and the result is written into the system;
and 7, placing the workpiece on a conveying line by a 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 operation is convenient, the time and the labor are saved, the accurate carrying and the automatic detection marking of the unstacking and stacking of the engine cylinder body production are realized, and the production efficiency is effectively improved; replaces the repeated heavy carrying work of workers, reduces the increasing labor cost, has high economic benefit value and is popularized and used.
(2) The safety protection system is arranged, so that the safety protection system has high-efficiency automatic production, provides a safe production environment, prevents workers from intruding into a construction area by mistake, ensures the safety of the workers in a workshop, reduces the probability of safety accidents and meets the requirements of modern safety production.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended 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 the three-dimensional structure of the end effector of the visual guide engine block unstacking inspection robot of the present invention; the method comprises the steps of carrying out a first treatment on the surface of the
FIG. 4 is a schematic diagram of a visual inspection marking system according to the present invention;
fig. 5 is a schematic perspective view of a control system according to the present invention.
In the figure: 1-joint robot system, 11-joint robot, 12-robot rail, 13-robot controller,
2-vision guiding engine cylinder unstacking detection robot end effector, 21-robot mounting flange mechanism, 22-tilting mechanism, 23-clamping mechanism, 24-vision positioning system, 25-signal detection system, 221-tilting mechanism cylinder, 222-first mounting bracket, 223-second mounting bracket, 231-clamping mechanism mounting plate, 232-clamping mechanism first stepping motor, 233-clamping jaw, 234-clamping mechanism second stepping motor,
3-visual inspection marking system, 31-laser bracket, 32-laser, 33-laser controller, 34-industrial dust collector, 35-dust collecting cover, 36-inspection camera, 37-camera light source, 38-protective cover,
4-control system, 41-control cabinet, 42-upper display, 43-lower display, 44-human-computer interaction input mechanism, 45-safety warning lamp, 46-function button,
5-conveying system, 6-stacking station,
7-safety protection system, 71-safety protection net, 72-emergency exit, 73-protection grating, 74-unloading passageway.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the 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 invention, as 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 made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be noted that: like reference numerals and letters refer to like items in the following figures, and thus, once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction 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 explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 to 2, the invention is provided with an articulated robot system 1, a visual guidance engine cylinder body 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 end effector 2 is connected to 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, 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 evenly and symmetrically located on the upper side and the lower side of the joint robot system 1.
The invention has the core technical scheme that the system comprises an articulated 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 actuator 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 positioned on the right upper side of the joint robot system 1, and the control system 4 performs corresponding electronic control on the visual detection marking system 3, the conveying system 5 and the stacking station 6; the conveying system 5 is positioned at the left side of the joint robot system 1, and the stacking stations 6 are uniformly and symmetrically positioned at the upper side and the lower side of 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 the upper portion of the stacking station 6, judges and calculates the position information of the engine cylinder to be unstacked and detects the appearance of the engine cylinder, and the visual guide 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 perform unstacking work, and grabs engine cylinder workpieces to the visual detection marking system 3 to perform visual detection and marking. After marking, the joint robot system 1 drives the visual guide engine cylinder body unstacking detection robot end effector 2 connected with the joint robot system to put the engine cylinder body workpiece on the conveying system 5, so that one unstacking operation is completed. And if the appearance detection finds that the engine cylinder body workpiece has appearance defects, removing the engine cylinder body workpiece.
The joint robot system 1 is provided with 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 with 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. The end of the joint robot 11 is electrically connected with the end effector 2 of the visual guidance engine cylinder unstacking detection robot, the robot controller 13 is electrically connected to the control system 4, the robot guide rail 12 can enlarge the working range of the joint robot 11 and the end effector 2 of the visual guidance engine cylinder unstacking detection robot electrically connected with the joint robot, the length of the robot guide rail 12 can be correspondingly adjusted according to the number of stacking stations 6, in fig. 1 and 2, 8 stacking stations 6 are arranged, 4 robot guide rails 12 are arranged on two sides of the robot guide rail 12, and the length of the robot guide rail 12 extends to a fourth stacking station 6 on one side of the robot guide rail 12.
Referring to fig. 3, the visual guidance engine cylinder unstacking detection robot end effector 2 is provided with a robot mounting flange mechanism 21, a turnover mechanism 22, a clamping mechanism 23, a visual positioning system 24 and a signal detection system 25, wherein the robot mounting flange mechanism 21 is connected with the joint robot system 1, the turnover mechanism 22 is connected with the robot mounting flange mechanism 21, the clamping mechanism 23 is mounted on the turnover mechanism 22, and the visual 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 the engine cylinder workpiece, the turnover mechanism 22 rotates the engine cylinder workpiece at 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, detect and transmit the position information and the appearance information of the engine cylinder workpiece to the robot controller 13 for processing. If the appearance detection finds that the engine cylinder body workpiece has appearance defects, the engine cylinder body 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 -shaped and are positioned 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 below the first mounting bracket 222 are respectively connected with two sides of the lower side of the second mounting bracket 223 in a rotatable shaft manner. When the angle of the engine block workpiece needs to be adjusted, the two turnover mechanism cylinders 221 are pushed downwards to 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 block workpiece and drives the engine block workpiece to rotate around the rotatable shaft together. To ensure sustainable operation and wear resistance and compression resistance of the rotatable shaft, 45 steel, 40 steel or 42 chromium molybdenum steel can be selected as the material.
The clamping mechanism 23 is provided with a clamping mechanism mounting plate 231, a clamping mechanism first stepping motor 232 and clamping jaws 233, the clamping mechanism mounting plate 231 is perpendicularly intersected 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 clamping mechanism first stepping motor 232, and the clamping jaws 233 are connected below the clamping mechanism first stepping motor 232. According to the signal positioning of the visual positioning system 24 and the signal detecting system 25, the two first stepping motors 232 of the clamping mechanisms drive the clamping jaws 233 below to extend downwards to the holes on the upper surface of the engine cylinder body workpiece for clamping.
The clamping mechanism mounting plate 231 is further provided with a clamping mechanism second stepper motor 234, the clamping mechanism second stepper motor 234 being connected to one of the clamping mechanism first stepper motors 232. The second stepping motor 234 of the clamping mechanism can adjust the distance between the first stepping motors 232 of the two clamping mechanisms, and the distance between the clamping jaws 233 below the first stepping motors 232 of the corresponding two clamping mechanisms is also adjusted, so that the clamping device can grasp engine cylinder workpieces of different models.
Referring to fig. 4, the visual inspection marking system 3 has a laser bracket 31, the laser bracket 31 is provided with a laser 32, the laser 32 is electrically connected with a laser controller 33, a protective cover 38 is arranged on the left side of the laser bracket 31, the protective cover 38 is provided with two parallel inspection cameras 36, and camera light sources 37 are arranged on the upper side and the lower side of the two parallel inspection cameras 36. Before marking, the laser controller 33 is used to turn on the camera light source 37, and the inspection camera 36 is started to perform visual inspection on the engine block workpiece to be marked, where the visual inspection on the appearance is not completely the same as the visual inspection on the appearance in the end effector 2 of the visual guide engine block unstacking inspection robot due to the angle adjustment of the engine block workpiece by the above-mentioned turning mechanism 22. And if appearance defects are found in the appearance detection of the engine cylinder body workpiece, removing the engine cylinder body workpiece. After the visual inspection of the appearance is completed, the laser 32 performs marking operation on the engine block 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 the engine block work, the engine block work is heated suddenly by the laser, resulting in local gasification and then condensation of the work processing portion into particles, and metal dust may occur. The industrial dust collector 34 is connected with two dust hoods 35 for respectively carrying out dust suction treatment on two sides of the laser 32, so as to provide a guarantee for clean and pollution-free working environment.
Referring to fig. 5, the control system 4 has a control cabinet 41, an upper end display 42 is disposed on a vertical surface of an upper portion of the control cabinet 41, a lower end display 43 is disposed on an inclined surface of an upper portion of the control cabinet 41, a man-machine interaction input mechanism 44 is disposed at a middle lower portion of the control cabinet 41, the man-machine interaction input mechanism 44 is retractable into the control cabinet 41, a safety warning lamp 45 is disposed at a top of the control cabinet 41, and a function button 46 is disposed between the lower end display 43 and the upper end display 42.
Referring to 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 enclose a shape of a Chinese character 'kou', the safety protection system 7 has a safety protection net 71, a safety door 72, a protection grating 73 and an up-down channel 74, and the protection grating 73 is located at two sides of the up-down channel 74. In fig. 1, one safety door 72 is arranged on a safety protection net 71 at the right lower part of the joint robot system 1, the number of the feeding and discharging channels 74 is determined according to the number of the stacking stations 6, 8 safety protection gratings 73 are arranged at two sides of the 8 feeding and discharging channels 74 in fig. 1, and the safety protection grating has warning and protecting effects. The whole safety protection system 7 provides a safe production environment, prevents workers from intruding into a construction area by mistake, 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 of the invention comprises the following steps:
step 1, feeding a material frame, wherein a system sends a robot feeding request, and the robot moves to a stacking station;
step 2, a vision system of a robot end effector photographs and positions a workpiece in a material frame;
step 3, the robot positions coordinates according to a visual system of the end effector, adjusts the gesture and grabs the workpiece;
step 4, the robot moves to a detection station, and a visual detection system detects a 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 back to the material frame by the robot;
step 6, after the laser marking is finished, the vision system reads the marking content again to confirm, and the result is written into the system;
and 7, placing the workpiece on a conveying line by a robot for further processing.
The joint robot 11 drives the visual guide engine cylinder unstacking detection robot end effector 2 to the position above the stacking station 6, and the visual guide engine cylinder unstacking detection robot end effector 2 judges and calculates the position information of the engine cylinder workpiece to be unstacked and sends the position information to the robot controller 13; and simultaneously, carrying out appearance detection on the surface of the engine cylinder block workpiece to be unstacked, and removing the engine cylinder block workpiece if appearance defects are found in the appearance detection. Then, the joint robot 11 drives the end effector 2 of the visual guide engine cylinder unstacking detection robot to unstacke, the end effector 2 of the visual guide engine cylinder unstacking detection robot clamps the engine cylinder workpiece to the visual detection marking station 3, visual detection is performed first, and if appearance defects are found in the engine cylinder workpiece in the appearance detection, the engine cylinder workpiece is removed; and then marking by using a laser 32, and placing the engine cylinder body on a conveying system 5, namely a conveying line after marking is finished, so as to finish one-time unstacking work.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no changes, substitutions, or alterations herein may be made without departing from the spirit or principles of the invention.
Claims (5)
1. Visual guide engine cylinder body unstacking detection robot equipment, its characterized in that: the system comprises an articulated 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 end effector (2) is connected with the joint robot system (1), the visual detection marking system (3) and the control system (4) are positioned on the right upper side of the joint robot system (1), the conveying system (5) is positioned on the left side of the joint robot system (1), the stacking station (6) is provided with a plurality of evenly and symmetrically positioned on the upper side and the lower side of the joint robot system (1),
the visual guide engine cylinder unstacking detection robot end effector (2) is provided with a robot mounting flange mechanism (21), a turnover mechanism (22), a clamping mechanism (23), a visual positioning system (24) and a signal detection system (25), wherein the robot mounting flange mechanism (21) is connected with the joint robot system (1), the turnover mechanism (22) is connected with the robot mounting flange mechanism (21), the clamping mechanism (23) is mounted on the turnover mechanism (22), the visual positioning system (24) and the signal detection system (25) are arranged on the turnover mechanism (22),
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 -shaped and positioned on the same vertical plane, the two turnover mechanism cylinders (221) are respectively connected with two sides of the first mounting bracket (222), two sides below the first mounting bracket (222) are respectively connected with two sides below the second mounting bracket (223) in a rotatable shaft manner,
the clamping mechanism (23) is provided with a clamping mechanism mounting plate (231), a clamping mechanism first stepping motor (232) and clamping jaws (233), the clamping mechanism mounting plate (231) is vertically intersected 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 clamping mechanism first stepping motor (232), the clamping jaws (233) are connected below the clamping mechanism first stepping motor (232),
the clamping mechanism mounting plate (231) is also provided with a clamping mechanism second stepping motor (234), the clamping mechanism second stepping motor (234) is connected with one of the clamping mechanism first stepping motors (232),
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 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).
2. A vision-guided engine block unstacking inspection robot apparatus as set forth in claim 1, wherein: the vision detection marking system (3) is provided with a laser bracket (31), the laser bracket (31) is provided with a laser (32), the laser (32) is electrically connected with a laser controller (33), the left side of the laser bracket (31) is provided with a protective cover (38), the protective cover (38) is provided with two parallel detection cameras (36), and the upper side and the lower side of the two parallel detection cameras (36) are provided with camera light sources (37).
3. A vision-guided engine block unstacking inspection robot apparatus as set forth in claim 2, wherein: the laser device is characterized in that an industrial dust collector (34) is further arranged below the laser device support (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 device (32).
4. A vision-guided engine block unstacking inspection robot apparatus as set forth in claim 1, wherein: control system (4) have switch board (41), the upper portion perpendicular of switch board (41) is equipped with upper end display (42), be equipped with lower extreme display (43) on the well upper portion inclined plane of switch board (41), the well lower part of switch board (41) is equipped with human-computer interaction input mechanism (44), human-computer interaction input mechanism (44) collapsible to the inside of switch board (41), the top of switch board (41) is equipped with safety warning lamp (45), lower extreme display (43) with be equipped with function button (46) between upper end display (42), conveying system (5) still are connected with safety protection system (7), conveying system (5) with safety protection system (7) enclose into a mouthful font, safety protection system (7) have safety protection net (71), safety gate (72), protection grating (73) and go up unloading passageway (74), protection grating (73) are located the both sides of going up unloading passageway (74).
5. The unstacking detection method of the visual guide engine block unstacking detection robot apparatus as recited in claim 1, comprising the steps of:
step 1, feeding a material frame, wherein a system sends a robot feeding request, and the robot moves to a stacking station;
step 2, a vision system of a robot end effector photographs and positions a workpiece in a material frame;
step 3, the robot positions coordinates according to a visual system of the end effector, adjusts the gesture and grabs the workpiece;
step 4, the robot moves to a detection station, and a visual detection system detects a 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 back to the material frame by the robot;
step 6, after the laser marking is finished, the vision system reads the marking content again to confirm, and writes the result into the system;
and 7, placing the workpiece on a conveying line by a robot for further processing.
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| CN111975389A (en) * | 2020-08-28 | 2020-11-24 | 湛江德利车辆部件有限公司 | Production line based on visual identification robot |
| CN112660842A (en) * | 2021-01-07 | 2021-04-16 | 东风本田汽车有限公司 | Robot and vision-based feeding and discharging stacking device and feeding and discharging stacking method thereof |
| CN113021010A (en) * | 2021-03-11 | 2021-06-25 | 杭州三奥智能科技有限公司 | Automatic production line with vision guide robot for feeding and discharging, unstacking and stacking |
| CN114148085A (en) * | 2021-11-30 | 2022-03-08 | 芜湖市丰德科技有限公司 | Full-automatic metal electric part flowing water type printing machining center |
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