CN112428261B - Vehicle type switching error-proofing device based on end effector recognition and application method thereof - Google Patents
Vehicle type switching error-proofing device based on end effector recognition and application method thereof Download PDFInfo
- Publication number
- CN112428261B CN112428261B CN202011051066.5A CN202011051066A CN112428261B CN 112428261 B CN112428261 B CN 112428261B CN 202011051066 A CN202011051066 A CN 202011051066A CN 112428261 B CN112428261 B CN 112428261B
- Authority
- CN
- China
- Prior art keywords
- end effector
- vehicle type
- controller
- type switching
- device based
- 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.)
- Active
Links
- 239000012636 effector Substances 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004519 manufacturing process Methods 0.000 claims abstract description 10
- 230000015654 memory Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 3
- 239000013307 optical fiber Substances 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D53/00—Making other particular articles
- B21D53/88—Making other particular articles other parts for vehicles, e.g. cowlings, mudguards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
- G06K7/10861—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices sensing of data fields affixed to objects or articles, e.g. coded labels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of automobile production line device structures, and discloses a vehicle type switching error proofing device based on end effector identification. The invention also discloses a using method of the vehicle type switching error-proofing device based on the end effector identification. The vehicle type switching error-proofing device based on the end effector recognition and the application method thereof realize the automatic recognition of the end effector, ensure the accuracy and the efficiency of vehicle type switching, eliminate the hidden trouble of equipment faults and improve the running stability and the intelligent level of the whole production line.
Description
Technical Field
The invention relates to the technical field of automobile production line device structures, in particular to an automobile type switching error-proofing device based on end effector recognition and a use method thereof.
Background
The end effector is a conveying device which is arranged on a robot and used for grabbing and throwing automobile stamping parts through mechanisms such as a sucker and the like, and the structure of the end effector is extremely complex and special because of extremely complex and various automobile body parts, and the conveying of different parts needs to be switched to different end effector devices
To the production switching of different automobile punching parts, at present domestic producer all adopts the mode of manual switch end pick-up device, carries out manual change through the end pick-up of artifical naked eye discernment different parts, inefficiency moreover ubiquitous easy discernment mistake or change wrong problem, light then leads to end pick-up device and part shape mismatch to arouse end pick-up device damage or part deformation, heavy then causes end pick-up device to collide with press or mould and lead to equipment damage, lacks an intelligent mistake proofing device that can automatic identification end pick-up device type and automatic switch.
Disclosure of Invention
The invention aims to overcome the defects of the technology, and provides a vehicle type switching error-proofing device based on end effector identification and a use method thereof, which realize automatic end effector identification, ensure the accuracy and efficiency of vehicle type switching, eliminate equipment fault hidden trouble and improve the running stability and intelligent level of the whole production line.
In order to achieve the above purpose, the vehicle type switching error-proofing device based on the end effector identification comprises a plurality of robots and an end effector identification device corresponding to the robots, wherein the end effector identification device is connected with a controller, the controller is also connected with a vehicle type input device, the controller compares the end effector number acquired by the end effector identification device with the vehicle type number input by the vehicle type input device in real time, and the robots are controlled to replace the end effector according to a calculation result.
Preferably, the controller is connected with an alarm for receiving and prompting the end effector replacement result, the error-proof alarm prompt and the like from the controller, and the alarm is automatically eliminated after the whole vehicle type is converted.
Preferably, the end effector identification device reads the two-dimensional code, the bar code or the code carrier on the end effector through a code scanning gun or a code reader to obtain the number of the end effector.
Preferably, the vehicle type input device adopts a dial switch or a touch screen for input, and inputs vehicle type information into the controller for selecting a vehicle type to be switched.
Preferably, the end effector identification device and the vehicle type input device are connected with the controller through ethernet, optical fiber or serial communication.
Preferably, the controller is connected with a display, and is used for receiving and displaying the information of the end pick-up number, the vehicle model number and the vehicle model switching result information from the controller in real time.
The application method of the vehicle type switching error-proofing device based on the end effector recognition comprises the following steps:
a) Starting vehicle type switching:
B) The operator inputs the vehicle type number through the vehicle type input device, and the end effector identification device identifies the end effector number and inputs the controller;
C) The controller compares the vehicle model number input in the step B) with the end pick-up number, judges whether the end pick-up number is matched with the vehicle model number or not through a given condition, if the condition is met, the robot hand starts the automatic replacement process of the end pick-up, meanwhile, the vehicle model is automatically switched and started, otherwise, the step A) is returned;
D) Automatically updating the current end effector memory of the corresponding manipulator in the controller when the end effector is automatically replaced;
e) And C, the controller matches the memory of the current end pick-up devices of all the robots with the vehicle type number again, if the memory is consistent with the vehicle type number, the controller starts the automatic production operation of the whole line by outputting a signal, otherwise, the controller returns to the step A).
Preferably, the memory of the current end effector corresponding to the robot in the controller is required to be automatically updated by the system under the automatic replacement condition, and the memory of the current end effector corresponding to the robot in the controller cannot be changed by manually replacing the end effector, so that the phenomenon of error or confusion of the installation of the end effector possibly caused by manual intervention is avoided.
Preferably, the controller is connected with an alarm, and in the step C), if the condition is not met, the alarm alarms, and in the step E), if the condition is inconsistent, the alarm alarms.
Compared with the prior art, the invention has the following advantages:
1. Automatic identification of the end effector is realized, human errors are avoided, and hidden trouble of equipment is eliminated;
2. the accuracy and the efficiency of vehicle type switching are guaranteed, and the running stability and the intelligent level of the whole production line are improved.
Drawings
FIG. 1 is a schematic diagram of a vehicle type switching error proofing device based on end effector recognition;
FIG. 2 is a schematic diagram of a vehicle type switching error proofing device based on end effector recognition;
fig. 3 is a flowchart of the vehicle type switching error-proofing device based on the end effector recognition in use.
The reference numerals of the components in the drawings are as follows:
the device comprises a robot arm 1, an end effector identification device 2, a controller 3, a vehicle type input device 4, an alarm 5, a display 6, a two-dimensional code 7 and a bar code 8.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples.
As shown in fig. 1 and 2, the vehicle type switching error-proofing device based on the end effector recognition of the invention comprises five robots 1, and also comprises an end effector recognition device 2 corresponding to the robots 1, wherein the end effector recognition device 2 is connected with a controller 3, the controller 3 is also connected with a vehicle type input device 4, the controller 3 compares the end effector number acquired by the end effector recognition device 2 with the vehicle type number input by the vehicle type input device 4 in real time, and the robots 1 are controlled to replace the end effector according to the calculation result.
In addition, the controller 3 is connected with an alarm 5 and a display 6.
In this embodiment, the end-effector identification device 2 reads the two-dimensional code 7 on the end-effector by the code scanner to obtain the end-effector number, and in other embodiments, the bar code 8 or the code carrier on the end-effector may be read by the code reader to obtain the end-effector number.
In the present embodiment, the vehicle type input device 4 adopts a dial switch input, and in other embodiments, a touch screen input may be used.
In this embodiment, the end effector identification device 2 and the vehicle type input device 4 are connected to the controller 3 via ethernet, and in other embodiments, an optical fiber or serial communication may be used to connect to the controller 3.
The application method of the vehicle type switching error-proofing device based on the end effector recognition in the embodiment, as shown in fig. 3, comprises the following steps:
a) Starting vehicle type switching:
b) The operator inputs the vehicle model number through the vehicle model input device 4, and the end pick-up identification device 2 identifies the end pick-up number and inputs the vehicle model number into the controller 3;
C) The controller 3 compares the vehicle model number input in the step B) with the end pick-up number, judges whether the end pick-up number is matched with the vehicle model number through a given condition, if the condition is met, the robot 1 is controlled to start the automatic replacement flow of the end pick-up, meanwhile, the vehicle model is automatically switched and started, otherwise, the alarm 5 alarms, and the step A) is returned;
D) When the automatic replacement of the end effector is finished, automatically updating the memory of the current end effector of the corresponding manipulator 1 in the controller 3;
e) And C, the controller 3 matches the memory of the current end pick-up devices of all the robots 1 with the model numbers again, if the memory is consistent with the model numbers, the output signal starts the automatic production operation of the whole line, otherwise, the alarm 5 alarms, and the step A is returned.
The memory of the current end effector of the corresponding robot 1 in the controller 3 needs to be automatically updated by the system under the automatic replacement condition, and the memory of the current end effector of the corresponding robot 1 in the controller 3 cannot be changed by manually replacing the end effector.
The vehicle type switching error-proofing device based on the end effector identification and the application method thereof realize the automatic identification of the end effector, avoid human errors and eliminate the hidden trouble of equipment; the accuracy and the efficiency of vehicle type switching are guaranteed, and the running stability and the intelligent level of the whole production line are improved.
Claims (6)
1. The application method of the vehicle type switching error-proofing device based on the end effector recognition is characterized by comprising the following steps of: the vehicle type switching error proofing device comprises a plurality of manipulators (1), and further comprises an end effector identification device (2) corresponding to the manipulators (1), wherein the end effector identification device (2) is connected with a controller (3), the controller (3) is further connected with a vehicle type input device (4), the controller (3) compares the end effector number acquired by the end effector identification device (2) with the vehicle type number input by the vehicle type input device (4) in real time, and the use method comprises the following steps of:
a) Starting vehicle type switching:
B) The operator inputs the vehicle model number through the vehicle model input device (4), and the end effector identification device (2) identifies the end effector number and inputs the vehicle model number into the controller (3);
C) The controller (3) compares the vehicle model number input in the step B with the end pick-up number, judges whether the end pick-up number is matched with the vehicle model number or not through a given condition, if the condition is met, the robot (1) is controlled to start an automatic replacement process of the end pick-up, meanwhile, the vehicle model is automatically switched and started, and if the condition is not met, the step A) is returned to;
D) Automatically updating the current end effector memory of the corresponding manipulator (1) in the controller (3) when the end effector is automatically replaced;
e) The controller (3) matches the current end pick-up memories of all the robots (1) with the vehicle model numbers again, if the memories are consistent, an output signal starts the automatic production operation of the whole line, otherwise, the step A) is returned;
The memory of the current end effector corresponding to the robot arm (1) in the controller (3) is required to be automatically updated by the system under the automatic replacement condition, and the memory of the current end effector corresponding to the robot arm (1) in the controller (3) cannot be changed by manually replacing the end effector.
2. The method for using the vehicle type switching error-proofing device based on the end effector recognition according to claim 1, wherein the method comprises the following steps: the controller (3) is connected with an alarm (5), in the step C), if the conditions are not met, the alarm (5) alarms, and in the step E), if the conditions are not consistent, the alarm (5) alarms.
3. The method for using the vehicle type switching error-proofing device based on the end effector recognition according to claim 1, wherein the method comprises the following steps: the end effector identification device (2) reads a two-dimensional code (7), a bar code (8) or a code carrier on the end effector through a code scanning gun or a code reader to obtain an end effector number.
4. The method for using the vehicle type switching error-proofing device based on the end effector recognition according to claim 1, wherein the method comprises the following steps: the vehicle type input device (4) adopts a dial switch or a touch screen for input.
5. The method for using the vehicle type switching error-proofing device based on the end effector recognition according to claim 1, wherein the method comprises the following steps: the end effector identification device (2) and the vehicle type input device (4) are connected with the controller (3) through Ethernet, optical fiber or serial communication.
6. The method for using the vehicle type switching error-proofing device based on the end effector recognition according to claim 1, wherein the method comprises the following steps: the controller (3) is connected with a display (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011051066.5A CN112428261B (en) | 2020-09-29 | 2020-09-29 | Vehicle type switching error-proofing device based on end effector recognition and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011051066.5A CN112428261B (en) | 2020-09-29 | 2020-09-29 | Vehicle type switching error-proofing device based on end effector recognition and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112428261A CN112428261A (en) | 2021-03-02 |
| CN112428261B true CN112428261B (en) | 2024-04-19 |
Family
ID=74690405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011051066.5A Active CN112428261B (en) | 2020-09-29 | 2020-09-29 | Vehicle type switching error-proofing device based on end effector recognition and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112428261B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113222089A (en) * | 2021-03-31 | 2021-08-06 | 高解放 | Cross bar anti-collision detection system, method and terminal based on RFID technology |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272422A (en) * | 2016-08-31 | 2017-01-04 | 广州中设机器人智能装备股份有限公司 | A kind of robot tool intelligent switch method and handover control system |
| CN109676279A (en) * | 2019-02-02 | 2019-04-26 | 宁波吉利汽车研究开发有限公司 | A kind of multi-vehicle-type flexible manufacturing method and device |
| CN110695764A (en) * | 2019-11-21 | 2020-01-17 | 安徽华菱汽车有限公司 | Error-proofing method and error-proofing system for machining blank of flexible production line |
-
2020
- 2020-09-29 CN CN202011051066.5A patent/CN112428261B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272422A (en) * | 2016-08-31 | 2017-01-04 | 广州中设机器人智能装备股份有限公司 | A kind of robot tool intelligent switch method and handover control system |
| CN109676279A (en) * | 2019-02-02 | 2019-04-26 | 宁波吉利汽车研究开发有限公司 | A kind of multi-vehicle-type flexible manufacturing method and device |
| CN110695764A (en) * | 2019-11-21 | 2020-01-17 | 安徽华菱汽车有限公司 | Error-proofing method and error-proofing system for machining blank of flexible production line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112428261A (en) | 2021-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7650205B2 (en) | Process for controlling industrial robots, and related robots, systems and computer programs | |
| US7783387B2 (en) | Process for controlling industrial robots, and related robots, systems and computer programs | |
| CN112428261B (en) | Vehicle type switching error-proofing device based on end effector recognition and application method thereof | |
| CN109240252B (en) | Production line process control management method based on CAN communication | |
| CN104204542A (en) | Method for operating a vacuum gripping device, vacuum control device and manipulator | |
| CN102608465A (en) | Automatic testing system for feed terminals | |
| CN102658666B (en) | Multistation press, using method and die identification system | |
| CN108447806B (en) | Chip automatic production equipment, system and method thereof | |
| CN114281619A (en) | Automatic testing device and method for safety of server | |
| KR20040026642A (en) | System for the telemanagement of weaving looms in weaving premises and method of assistance thereof | |
| CN110609511A (en) | Full-automatic test system, method and storage medium for power automation device plug-in | |
| JP2002304201A (en) | Sensor processing unit, controller, sensor and sensor processing system | |
| CN210365813U (en) | Automatic production line for helium detection of oil tank | |
| CN116559629A (en) | Chip testing method, device, system and readable storage medium | |
| CN212352025U (en) | End effector recognition system and automobile production line | |
| CN110794798B (en) | Production data monitoring system and monitoring method applied to display panel | |
| CN1099094C (en) | Fire alarm system | |
| CN109298872B (en) | Display DDC full-automatic burning device and method thereof | |
| CN101625566B (en) | Keystroke automatic assembly control system, key assembling device and main control device | |
| CN212218479U (en) | Robot coordination control device | |
| CN215222235U (en) | Intelligent data acquisition unit and bag collector intelligence deashing system | |
| CN115933543A (en) | Remote control system of machining equipment | |
| CN101004686A (en) | Data processing apparatus and program data setting method thereof | |
| CN104267661B (en) | End-of-arm tooling vacuum chuck automatic selection device and control method thereof | |
| CN114821983B (en) | Automatic sticky Die processing device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |