CN115488839B - Centering device and method - Google Patents
Centering device and method Download PDFInfo
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- CN115488839B CN115488839B CN202211119145.4A CN202211119145A CN115488839B CN 115488839 B CN115488839 B CN 115488839B CN 202211119145 A CN202211119145 A CN 202211119145A CN 115488839 B CN115488839 B CN 115488839B
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- centering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
- B25H1/16—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in height
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Abstract
The invention provides a centering device and a centering method, wherein the centering device comprises a lifting mechanism, a bearing adjusting mechanism, an image acquisition mechanism and a control unit; the lifting mechanism comprises a lifting platform capable of moving vertically; the bearing adjusting mechanism is arranged on the lifting platform and used for bearing and adsorbing the centering component, and can horizontally move on the lifting platform and adjust the plane position of the centering component; the image acquisition mechanism is used for acquiring the current position information of the centering component; the control unit can be configured to: acquiring a lifting signal of the centering component; controlling the lifting platform to lift the centering component in response to the lift signal; acquiring current azimuth information and target azimuth information of the centering component; and controlling the lifting mechanism and/or the bearing adjusting mechanism to adjust the azimuth of the centering component according to the current azimuth information and the target azimuth information. The centering device can realize automatic centering of the centering component, avoid collision caused by manual centering adjustment, and improve production efficiency.
Description
Technical Field
The invention belongs to the technical field of frame assembly lines, and particularly relates to a centering device and method.
Background
The frame of a large-sized workpiece such as an excavator is large in size and heavy in weight, and accurate positioning of the large-sized workpiece is difficult. In addition, the existing positioning modes in the assembly process of the excavator are mostly manually positioned or are positioned by mechanical limiting modes such as pushing, clamping and the like of the air cylinder, so that the problems of low positioning precision and the like are caused, and the positioning precision requirement of automatic assembly cannot be met. Along with the large trend of transformation and upgrading of intelligent manufacturing, an automatic and intelligent production mode is a trend, and the existing low-precision centering mode of the excavator frame can not meet the requirement of intelligent manufacturing.
Disclosure of Invention
Aiming at the defects or shortcomings of the prior art, the invention provides a centering device and a centering method, which are used for solving the technical problem that the precision of manually centering a large workpiece is low in the prior art.
In order to achieve the above object, the present invention provides a centering device including:
the lifting mechanism comprises a lifting platform capable of moving vertically;
The bearing adjusting mechanism is arranged on the lifting platform and used for bearing and adsorbing the centering component, and can horizontally move on the lifting platform and adjust the plane position of the centering component;
The image acquisition mechanism is used for acquiring the current position information of the centering component; and
The control unit is communicated with the lifting mechanism, the bearing adjusting mechanism and the image acquisition mechanism and is configured to:
Acquiring a lifting signal of the centering component;
Controlling the lifting platform to lift the centering component in response to the lift signal;
Acquiring current azimuth information and target azimuth information of the centering component;
And controlling the lifting mechanism and/or the bearing adjusting mechanism to adjust the azimuth of the centering component according to the current azimuth information and the target azimuth information.
In an embodiment of the present invention, the number of the load bearing adjustment mechanisms is plural, and each load bearing adjustment mechanism includes:
the bottom moving platform is arranged on the lifting platform in a sliding manner along the first direction; and
The top moving platform is arranged on the bottom moving platform in a sliding manner along the second direction, wherein an included angle between the first direction and the second direction is larger than 0.
In an embodiment of the invention, the load-bearing adjustment mechanism further comprises an electromagnetic absorbing member provided on the top moving platform for absorbing or releasing the centering member.
In the embodiment of the invention, a lower sliding rail assembly is fixedly arranged on the lifting platform, the bottom moving platform is connected to the lower sliding rail assembly in a sliding manner, an upper sliding rail assembly is fixedly arranged on the bottom moving platform, the top moving platform is connected to the upper sliding rail assembly in a sliding manner, the lower sliding rail assembly is perpendicular to the upper sliding rail assembly and comprises sliding rails and a linear driving mechanism, and the linear driving mechanism is used for driving the bottom moving platform or the top moving platform to linearly move on the corresponding sliding rails.
In the embodiment of the invention, the number of the bearing adjusting mechanisms is two and the bearing adjusting mechanisms are symmetrically arranged at the longitudinal end of the lifting platform.
In an embodiment of the present invention, an image capturing mechanism includes:
Truss;
The mechanical arm is arranged on the truss; and
And the 3D camera is arranged on the mechanical arm and is used for shooting the centering component to acquire the current position information of the centering component.
In an embodiment of the invention, the number of lifting mechanisms is plural, and each lifting mechanism comprises a lifting cylinder for vertically lifting the lifting platform.
In an embodiment of the present invention, a centering method is also provided, where the centering method is applied to the above centering device, and the centering method includes:
step S1: acquiring a lifting signal of the centering component;
step S2: controlling the lifting platform to lift the centering component in response to the lift signal;
step S3: acquiring current azimuth information and target azimuth information of the centering component;
step S4: and controlling the lifting mechanism and/or the bearing adjusting mechanism to adjust the azimuth of the centering component according to the current azimuth information and the target azimuth information.
In an embodiment of the present invention, step S3 further includes:
Under the condition that the centering component is lifted to reach the target height, acquiring current three-dimensional coordinate information and target three-dimensional coordinate information of the centering component; wherein the current azimuth information comprises the current three-dimensional coordinate information, and the target azimuth information comprises the target three-dimensional coordinate information.
The step S4 includes:
Calculating the three-dimensional coordinate offset displacement of the centering component according to the current three-dimensional coordinate information and the target three-dimensional coordinate information;
And controlling the lifting mechanism and/or the bearing adjusting mechanism to adjust the azimuth of the centering component according to the three-dimensional coordinate offset displacement.
In an embodiment of the present invention, the step of controlling the lifting mechanism and/or the load-bearing adjustment mechanism to adjust the orientation of the centering member according to the three-dimensional coordinate offset displacement includes:
Acquiring a target center position coordinate of the electromagnetic absorption member;
Calculating the current central position coordinate of the electromagnetic absorption part according to the three-dimensional coordinate offset displacement of the centering part and the target central position coordinate of the electromagnetic absorption part;
acquiring the center offset displacement of the electromagnetic absorption member according to the current center position coordinate of the electromagnetic absorption member and the target center position coordinate information;
Calculating the displacement amount required to move by the bottom moving platform and the top moving platform according to the center offset displacement of the electromagnetic absorption part;
The orientation of the centering component is adjusted by the moving engagement of the bottom moving platform and the top moving platform.
In an embodiment of the present invention, the step of obtaining the target center position coordinate of the electromagnetic adsorption device includes:
acquiring initial three-dimensional coordinate information and target three-dimensional coordinate information of a centering component;
Calibrating initial center position coordinate information of the electromagnetic absorption part;
Forming a coupling relation between the initial center position coordinate information of the electromagnetic absorption part and the initial three-dimensional coordinate information of the centering part;
And calculating the target center position coordinate of the electromagnetic absorption part by using the coupling relation and the target three-dimensional coordinate information of the centering component.
Through the technical scheme, the centering device provided by the embodiment of the invention has the following beneficial effects:
Under the condition that the centering component is positioned above the bearing adjusting mechanism, the control unit can control the lifting platform to ascend according to the acquired lifting signal of the centering component so as to drive the top moving platform to contact and adsorb the centering component, and can control the lifting mechanism and/or the bearing adjusting mechanism to adjust the position of the centering component according to the acquired current position information and target position information of the centering component so as to adjust the plane position of the centering component, so that the centering component is moved to the centering position. The centering device can realize automatic centering of centering components such as an upper frame, a lower frame and the like, avoid collision caused by manual centering adjustment, and improve production efficiency. In addition, compared with a mechanical limiting, clamping and centering mechanism, the lifting mechanism can be used for adjusting the height of the centering component in stages of lifting and the like, and can be matched with a bearing adjusting mechanism to adjust the deflection angle of the centering component, so that the effect of dual purposes of the lifting mechanism is achieved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide an understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
FIG. 1 is a schematic view of a centering device according to an embodiment of the present invention;
FIG. 2 is a schematic view of a centering device according to an embodiment of the present invention from another perspective;
FIG. 3 is a schematic front view of a centering device according to an embodiment of the invention;
Fig. 4 is a control schematic of a centering device according to an embodiment of the present invention.
Description of the reference numerals
1. Lifting mechanism 3D camera
11. Control unit of lifting platform 100
12. Jacking cylinder 4 truss
2. Mechanical arm for bearing and adjusting mechanism 41
21. The top mobile platform 6 carries the vehicle
22. Bottom mobile platform 7 frame
23. Electromagnetic absorbing part of slide rail 8
24. Linear driving mechanism
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present invention.
In large workpiece assembly lines, it is necessary to position the workpiece, such as an excavator frame, in order to mount other parts on the workpiece.
In view of this, and referring to fig. 1 and 2, in an embodiment of the present invention, there is provided a centering device including:
The lifting mechanism 1 comprises a lifting platform 11 capable of moving vertically;
The bearing adjusting mechanism 2 is arranged on the lifting platform 11 and is used for bearing and adsorbing the centering component, and the bearing adjusting mechanism 2 can horizontally move on the lifting platform 11 and adjust the plane position of the centering component;
The image acquisition mechanism is used for acquiring the current position information of the centering component; and
A control unit 100, in communication with the lifting mechanism 1, the load-bearing adjustment mechanism 2, and the image acquisition mechanism, and configured to:
Acquiring a lifting signal of the centering component;
in response to the lift signal, controlling the lift platform 11 to lift the centering member;
Acquiring current azimuth information and target azimuth information of the centering component;
And controlling the lifting mechanism 1 and/or the bearing adjusting mechanism 2 to adjust the position of the centering component according to the current position information and the target position information.
The number of the control units 100 may be one or more, and the arrangement positions may be set according to needs, for example, in the case that there are a plurality of control units 100, the control units may be located on the centering device, and may communicate in a wired or wireless manner, so as to achieve cooperation between the respective components.
In the embodiment of the invention, under the condition that the centering component is moved to the upper part of the top moving platform 21, the control unit 100 acquires a lifting signal of the centering component, controls the lifting platform 11 to lift according to the lifting signal so as to drive the top moving platform 21 to contact and adsorb the centering component, and the control unit 100 can control the lifting mechanism 1 and/or the bearing adjusting mechanism 2 according to the acquired current azimuth information and target azimuth information of the centering component so as to realize the azimuth adjustment of the centering component, thereby realizing the adjustment of the plane position of the centering component and moving the centering component to the centering position;
it should be noted that, when the orientation of the centering component is adjusted, the following three adjustment modes may be adopted:
First: the centering component is driven to lift independently through the lifting mechanism 1 so as to realize the adjustment of the height position of the centering component, so that the height position error can be eliminated;
second,: the adjustment of the plane position of the centering component is realized by the bearing adjusting mechanism 2 alone, so that the bearing adjusting mechanism 2 can eliminate the plane position error;
Third,: the lifting mechanism 1 is matched with the bearing adjusting mechanism 2 to realize the plane and height position adjustment of the centering component, so that deflection angle errors and height errors can be eliminated.
Through the description of the adjusting mode, the lifting mechanism 1 can adjust the height of the centering component in the lifting stage and the like, and can also be matched with the bearing adjusting mechanism 2 to adjust the deflection angle of the centering component, so that the dual-purpose effect of the lifting mechanism 1 is realized.
The centering device can realize automatic centering of the centering component, avoid collision caused by manual centering adjustment, and improve production efficiency. In addition, compared with a mechanical limiting, clamping and centering mechanism, the paint surface damage caused by the clamping device in the pushing process is avoided by adopting a centering mode of the top moving platform 21 in the bearing and adjusting mechanism 2.
In the embodiment of the present invention, the number of the load bearing adjustment mechanisms 2 is plural, and each load bearing adjustment mechanism 2 includes:
a bottom moving platform 22 slidably disposed on the lifting platform 11 along a first direction; and
The top moving platform 21 is slidably disposed on the bottom moving platform 22 along a second direction, wherein an included angle between the first direction and the second direction is greater than 0.
In one embodiment, one of the first direction and the second direction is a lateral direction of a horizontal plane in which the lifting platform 11 is located, the other is a longitudinal direction, and the lateral direction refers to a left-right direction in fig. 1, and the longitudinal direction refers to a front-rear direction.
In other possible embodiments, the first direction and the second direction may also be disposed at an included angle greater than 0, such as 60 °, 75 °, and the like, and may be set according to actual needs.
In the embodiment of the present invention, as shown in fig. 3, the load-bearing adjustment mechanism 2 further includes an electromagnetic adsorption member 8, where the electromagnetic adsorption member 8 is disposed on the top moving platform 21 and is used for adsorbing or releasing the centering component, and the electromagnetic adsorption member 8 is preferably an electromagnetic chuck, and the electromagnetic chuck controls the adsorption and release of the vehicle frame 77 through on/off. The electromagnetic chucks are arranged at four supporting points of the top moving platform 21, so that the frame 7 can be adsorbed or loosened, the frame 7 is prevented from moving, and the damage to the paint on the frame 7 can be reduced in a mode that the electromagnetic chucks adsorb the frame 7.
In the embodiment of the present invention, a lower sliding rail assembly is fixedly installed on the lifting platform 11, the bottom moving platform 22 is slidably connected to the lower sliding rail assembly, an upper sliding rail assembly is fixedly installed on the bottom moving platform 22, the top moving platform 21 is slidably connected to the upper sliding rail assembly, the lower sliding rail assembly is perpendicular to the upper sliding rail assembly and comprises sliding rails 23 and linear driving mechanisms 24, and the linear driving mechanisms 24 are used for driving the bottom moving platform 22 or the top moving platform 21 to linearly move on the corresponding sliding rails 23.
The upper sliding rail assembly comprises two sliding rails 23 and a linear driving mechanism 24, wherein the two sliding rails 23 are distributed at intervals along the longitudinal end, the linear driving mechanism 24 in the upper sliding rail assembly can drive the top moving platform 21 to longitudinally move on the sliding rails 23, and therefore the longitudinal position of the centering component on the lifting platform 11 can be adjusted; the lower slide rail assembly comprises two slide rails 23 and a linear driving mechanism 24, wherein the two slide rails 23 are arranged at intervals along the transverse ends, the linear driving mechanism 24 extends along the transverse direction, the linear driving mechanism 24 in the lower slide rail assembly can drive the bottom moving platform 22 to move along the transverse direction on the slide rails 23, so that the transverse position of the centering component on the lifting platform 11 can be adjusted, and the purpose of adjusting the plane position of the centering component is realized by bearing the adjusting mechanism 22. In other embodiments, the linear driving mechanism 24 may be a matching structure of a servo motor and a rotary screw rod to achieve linear driving, or may be replaced by a servo motor cylinder to achieve linear driving, where the driving manner is a conventional linear driving manner in the prior art, so as to drive the top moving platform 21 or the bottom moving platform 22 to move linearly, which is not described herein in detail.
In the embodiment of the invention, the lifting platform 11 is of a rectangular frame structure, and the two bearing adjusting mechanisms 2 are symmetrically arranged at the longitudinal ends of the lifting platform 11, so that when in centering adjustment, the two bearing adjusting mechanisms 2 can simultaneously adjust the plane positions of the centering components from the front side and the rear side of the lifting platform 11, and the efficiency and the accuracy of position adjustment are improved.
In an embodiment of the present invention, an image capturing mechanism includes:
the truss 4, the lifting platform 11 is positioned below the truss 4;
a robot arm 41 slidably disposed on the truss 4;
The 3D camera 3 is arranged on the mechanical arm 41, and the mechanical arm 41 can move on the truss 4 with the 3D camera 3, so that the purposes that the 3D camera 3 shoots the centering component and acquires the current position information of the centering component are achieved. During centering operation, the centering component is placed on the lifting platform 11 below the truss 4 to prepare for centering operation, wherein the 3D camera 3 can be a binocular camera, a TOF camera or a structured light camera, and the like, can process a shot image to obtain three-dimensional coordinates, and provides accurate three-dimensional coordinate information of the centering component through shooting by the 3D camera 3, so that the requirement of automatic assembly positioning is met.
In the embodiment of the present invention, the number of the lifting mechanisms 1 is plural and four corners are respectively located below the lifting platform 11, and each lifting mechanism 1 includes a lifting cylinder 12 for vertically lifting the lifting platform 11.
In some possible embodiments, the lift cylinder 12 may be replaced with a linear motor or other mechanism that outputs linear displacement.
In an embodiment of the present invention, a centering method is also provided, where the centering method is applied to the above centering device, and the centering method includes:
step S1: acquiring a lifting signal of the centering component;
step S2: in response to the lift signal, controlling the lift platform 11 to lift the centering member;
step S3: acquiring current azimuth information and target azimuth information of the centering component;
Step S4: and controlling the lifting mechanism 1 and/or the bearing adjusting mechanism 2 to adjust the position of the centering component according to the current position information and the target position information.
In the embodiment, the current azimuth information and the target azimuth information of the centering component are compared, and the lifting mechanism 1 or the bearing adjusting mechanism 2 or the matching of the lifting mechanism 1 and the bearing adjusting mechanism 2 is adopted to adjust the centering component to the target azimuth, so that the automatic centering process does not need to be manually participated, and the collision caused by manual adjustment and positioning is avoided.
Further, step S3 further includes:
under the condition that the centering component is lifted to reach the target height, acquiring current three-dimensional coordinate information and target three-dimensional coordinate information of the centering component; the current azimuth information comprises current three-dimensional coordinate information, and the target azimuth information comprises target three-dimensional coordinate information.
In order to facilitate the acquisition of the three-dimensional coordinate information of the centering component, firstly, a mark point is preset on the centering component, the three-dimensional coordinate information of the mark point is acquired through the 3D camera 3, and the three-dimensional coordinate offset displacement required when the whole centering component moves to the target position is calculated by comparing the offset between the target three-dimensional coordinate of the mark point on the centering component and the current three-dimensional coordinate.
The step S4 includes:
calculating three-dimensional coordinate offset displacement of the centering component according to the current three-dimensional coordinate information and the target three-dimensional coordinate information;
the lifting mechanism 1 and/or the bearing adjusting mechanism 2 are/is controlled to adjust the orientation of the centering component according to the three-dimensional coordinate offset displacement.
Wherein, the step of controlling the lifting mechanism 1 and/or the bearing adjusting mechanism 2 to adjust the direction of the centering component according to the three-dimensional coordinate offset displacement comprises the following steps:
Acquiring a target center position coordinate of the electromagnetic absorption member 8;
Calculating the current center position coordinate of the electromagnetic absorption part 8 according to the three-dimensional coordinate offset displacement of the centering part and the target center position coordinate of the electromagnetic absorption part 8;
acquiring the center offset displacement of the electromagnetic absorption member 8 according to the current center position coordinate of the electromagnetic absorption member 8 and the target center position coordinate information;
calculating the displacement amount of the bottom moving platform 22 and the top moving platform 21 required to move according to the center offset displacement of the electromagnetic absorption part 8;
the orientation of the centering components is adjusted by the moving engagement of the bottom moving platform 22 and the top moving platform 21.
In an embodiment of the present invention, the step of acquiring the coordinates of the target center position of the electromagnetic adsorption member 8 includes:
acquiring initial three-dimensional coordinate information and target three-dimensional coordinate information of a centering component;
Calibrating initial center position coordinate information of the electromagnetic absorption member 8;
forming a coupling relation between the initial center position coordinate information of the electromagnetic absorption member 8 and the initial three-dimensional coordinate information of the centering member;
and calculating the target center position coordinates of the electromagnetic absorption member 8 by using the coupling relation and the target three-dimensional coordinate information of the centering member.
Since the electromagnetic absorbing member 8 is fixedly arranged on the top moving platform 21 during the movement of the frame 7, the displacement of the frame 7 required to be moved can be determined by the position coupling between the electromagnetic absorbing member 8 and the frame 7 when the centering position of the frame 7 is adjusted. Specifically, before centering starts, after the carriage 7 is placed on the lifting platform 11, the initial center position coordinates of the electromagnetic absorption member 8 are firstly calibrated and recorded, and the initial three-dimensional coordinates at the calibration points of the carriage 7 at the moment are recorded; according to the model information of the frame 7, the target three-dimensional coordinate to be finally reached by the frame 7 which is set by people can be obtained, and then the target center position coordinate of the center of the electromagnetic absorption part 8 after the frame 7 reaches the target position can be calculated by utilizing the position coupling relation between the electromagnetic absorption part 8 and the frame 7 and utilizing the initial three-dimensional coordinate of the marked point of the frame 7, the initial center position coordinate of the electromagnetic absorption part 8 and the target three-dimensional coordinate of the frame 7.
In the application, because the 3D camera 3 is positioned above the carriage 7, the carriage completely shields the 3D camera 3, so that the 3D camera 3 cannot shoot the image of the electromagnetic absorption part 8, based on the problem, the current position image information of the carriage 7 can only be acquired through the 3D camera 3, and then the displacement required to move the carriage is calculated according to the comparison between the target position and the current position of the carriage 7; the frame 7 is driven to move, and the electromagnetic absorption part 8 is arranged below the moving platform, so that the displacement required by the electromagnetic absorption part 8 to move can be calculated, and the position of the frame 7 is adjusted. That is, the application calculates the three-dimensional coordinate displacement of the frame 7 to be moved through the coupling relation between the electromagnetic absorption member 8 and the frame 7, and in this way, the centering accuracy of the frame 7 can be improved, and the requirement of accurate positioning of automatic assembly is realized.
For a further understanding of the centering method of the invention, the entire centering process will be described below taking the frame 7 as a centering element, in which the number of centering devices is two and spaced apart and the middle forms a centering channel for the shuttle of the carrier vehicle 6:
1. After receiving the production instruction, the left and right lifting platforms 11 of the centering device are at the lowest position, the four bottom moving platforms 22 and the four top moving platforms 21 are at the initial positions, and the coordinate information of the initial central positions of the four electromagnetic chucks is calibrated at the moment respectively (X1 0,Y1 0,Z1 0)、(X2 0,Y2 0,Z2 0)、(X3 0,Y3 0,Z3 0)、(X4 0,Y4 0,Z4 0);
2. The carrier vehicle 6 moves along the centring channel between the two sets of centring devices and transports the carriage 7 above the lifting platform 11;
3. The jacking cylinder 12 is lifted to the middle position, the left lifting platform 11 and the right lifting platform 11 are driven to be lifted to be contacted with the frame 7 and continuously lifted until the frame 7 is separated from the bearing vehicle 6, and the electromagnetic chuck is electrified to adsorb the lower frame 7;
4. The control unit 100 calls a target height Z' corresponding to the model 7 of the frame, and the lifting platforms 11 on the left side and the right side are lifted to the target height by the lifting cylinder 12;
5. After the frame 7 is lifted to the target height, the 3D camera 3 scans the current three-dimensional coordinate information of the frame 7 at the moment to obtain the current actual three-dimensional coordinate information (X1 1,Y1 1,Z1 1)、(X2 1,Y2 1,Z2 1)、(X3 1,Y3 1,Z3 1)、(X4 1,Y4 1,Z4 1), of the frame 7, and the control unit 100 calculates the center offset displacement (△X1,△Y1,△Z1)、(△X2,△Y2,△Z2)、(△X3,△Y3,△Z3)、(△X4,△Y4,△Z4), of the four electromagnetic chucks required by the four electromagnetic chucks when the frame 7 is adjusted to the target state according to the target three-dimensional coordinate (X1',Y1',Z1')、(X2',Y2',Z2')、(X3',Y3',Z3')、(X4',Y4',Z4'), of the corresponding vehicle model, and the center offset displacement of the four electromagnetic chucks is respectively the same as the four-point coordinate offset displacement calibrated around the surface of the frame 7, so that the position of the frame 7 can be correspondingly adjusted according to the center offset displacement of the electromagnetic chucks; wherein, three coordinate values of the three-dimensional coordinate represent the distances required to be adjusted in the X direction, the Y direction and the Z direction respectively;
6. The four X-direction servo electric cylinders, the four Y-direction servo electric cylinders and the four jacking cylinders 12 respectively drive the four bottom moving platforms 22 and the four top moving platforms 21 to move and the lifting platforms 11 on the left side and the right side according to the calculation results, and the frame 7 is adjusted to a target centering position state; in the process, through the linkage of the four bottom moving platforms 22, the four top moving platforms 21 and the 2 lifting platforms 11, which are 10 motion axes in total, the movement of the frame 7 in the six directions of up, down, front, back, left and right can be realized;
7. the 3D camera 3 scans the current three-dimensional coordinate of the frame 7 again, transmits data to the control unit 100 for rechecking, and repeats the 5 th step for fine adjustment if the current three-dimensional coordinate of the frame 7 and the target three-dimensional coordinate have deviation at the moment;
8. After the assembly operation is completed, the jacking cylinder 12 is contracted, the lifting platforms 11 on the left side and the right side are lowered to the middle position, the frame 7 falls onto the bearing vehicle 6, the electromagnetic chuck on the top moving platform 21 is powered off, and the adsorption of the frame 7 is released;
9. The jacking cylinder 12 continues to shrink, the jacking cylinder 12 drives the corresponding lifting platforms 11 on the left side and the right side to be lowered to the lowest position, the top moving platform 21 is separated from the frame 7, the four bottom moving platforms 22 and the four top moving platforms 21 are reset, the frame 7 after the carrying vehicle 6 is transported and assembled enters the next working procedure, and the centering device waits for the working cycle of the next frame 7.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. A centering device, characterized in that it comprises:
the lifting mechanism (1) comprises a lifting platform (11) capable of moving vertically;
A bearing adjusting mechanism (2) which is arranged on the lifting platform (11) and is used for bearing and adsorbing a centering component, wherein the bearing adjusting mechanism (2) can horizontally move on the lifting platform (11) and adjust the plane position of the centering component, and the bearing adjusting mechanism (2) also comprises an electromagnetic adsorption piece (8), wherein the electromagnetic adsorption piece (8) is used for adsorbing or releasing the centering component;
The image acquisition mechanism is used for acquiring the current position information of the centering component; and
A control unit (100) in communication with the lifting mechanism (1), the load-bearing adjustment mechanism (2), and the image acquisition mechanism and configured to:
acquiring a lifting signal of the centering component;
controlling the lifting platform (11) to lift the centering component in response to the lifting signal;
Acquiring current azimuth information and target azimuth information of the centering component;
and controlling the lifting mechanism (1) and/or the bearing adjusting mechanism (2) to adjust the azimuth of the centering component according to the current azimuth information and the target azimuth information.
2. Centring device according to claim 1, wherein the number of load-bearing adjustment mechanisms (2) is a plurality, each load-bearing adjustment mechanism (2) comprising:
a bottom moving platform (22) slidably arranged on the lifting platform (11) along a first direction; and
The top moving platform (21) is arranged on the bottom moving platform (22) in a sliding manner along a second direction, wherein an included angle between the first direction and the second direction is larger than 0;
the electromagnetic absorption part (8) is arranged on the top moving platform (21) and is used for absorbing or releasing the centering component.
3. Centring device according to claim 2, characterized in that the lifting platform (11) is fixedly provided with a lower slide rail assembly, the bottom moving platform (22) is slidably connected to the lower slide rail assembly, the bottom moving platform (22) is fixedly provided with an upper slide rail assembly, the top moving platform (21) is slidably connected to the upper slide rail assembly, the lower slide rail assemblies are perpendicular to the upper slide rail assembly and each comprise a slide rail (23) and a linear driving mechanism (24), and the linear driving mechanism (24) is used for driving the bottom moving platform (22) or the top moving platform (21) to linearly move on the corresponding slide rail (23).
4. A centring device according to any of claims 1 to 3, wherein the number of load-bearing adjustment mechanisms (2) is two and symmetrically arranged at the longitudinal end of the lifting platform (11).
5. A centering device as claimed in any one of claims 1 to 3, wherein the image acquisition means comprises:
A truss (4);
a mechanical arm (41) arranged on the truss (4); and
And a 3D camera (3) mounted on the mechanical arm (41), wherein the 3D camera (3) is used for shooting the centering component so as to acquire the current position information of the centering component.
6. A centring device according to any of claims 1 to 3, wherein the number of lifting mechanisms (1) is plural, each lifting mechanism (1) comprising a lifting cylinder (12) for vertically lifting the lifting platform (11).
7. A centering method, characterized in that it is applied to a centering device as claimed in any one of claims 1 to 6, comprising:
step S1: acquiring a lifting signal of the centering component;
Step S2: controlling the lifting platform (11) to lift the centering component in response to the lifting signal;
Step S3: acquiring current azimuth information and target azimuth information of the centering component;
Step S4: and controlling the lifting mechanism (1) and/or the bearing adjusting mechanism (2) to adjust the azimuth of the centering component according to the current azimuth information and the target azimuth information.
8. The centering method as claimed in claim 7, wherein said step S3 further comprises:
Under the condition that the centering component is lifted to reach the target height, acquiring current three-dimensional coordinate information and target three-dimensional coordinate information of the centering component; wherein the current azimuth information comprises the current three-dimensional coordinate information, and the target azimuth information comprises the target three-dimensional coordinate information;
The step S4 includes:
Calculating the three-dimensional coordinate offset displacement of the centering component according to the current three-dimensional coordinate information and the target three-dimensional coordinate information;
and controlling the lifting mechanism (1) and/or the bearing adjusting mechanism (2) to adjust the azimuth of the centering component according to the three-dimensional coordinate offset displacement.
9. The centering method as claimed in claim 8, characterized in that said step of controlling the lifting mechanism (1) and/or the load-bearing adjustment mechanism (2) to adjust the orientation of the centering component according to the three-dimensional coordinate offset displacement comprises:
acquiring a target center position coordinate of the electromagnetic absorption part (8);
Calculating the current center position coordinate of the electromagnetic absorption part (8) according to the three-dimensional coordinate offset displacement of the centering part and the target center position coordinate of the electromagnetic absorption part (8);
acquiring the center offset displacement of the electromagnetic absorption part (8) according to the current center position coordinate of the electromagnetic absorption part (8) and the target center position coordinate information;
Calculating the displacement amount of the bottom moving platform (22) and the top moving platform (21) required to move according to the center offset displacement of the electromagnetic absorption part (8);
the orientation of the centering component is adjusted by the moving cooperation of the bottom moving platform (22) and the top moving platform (21).
10. The centering method according to claim 9, characterized in that said step of obtaining the coordinates of the target central position of the electromagnetic absorbing member (8) comprises:
Acquiring initial three-dimensional coordinate information and target three-dimensional coordinate information of the centering component;
calibrating initial center position coordinate information of the electromagnetic adsorption piece (8);
Forming a coupling relationship between initial center position coordinate information of the electromagnetic adsorption piece (8) and initial three-dimensional coordinate information of the centering component;
And calculating the target center position coordinates of the electromagnetic absorption part (8) by using the coupling relation and the target three-dimensional coordinate information of the centering component.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211119145.4A CN115488839B (en) | 2022-09-13 | 2022-09-13 | Centering device and method |
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| CN202211119145.4A CN115488839B (en) | 2022-09-13 | 2022-09-13 | Centering device and method |
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| CN115488839A CN115488839A (en) | 2022-12-20 |
| CN115488839B true CN115488839B (en) | 2024-07-26 |
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| CN219193341U (en) * | 2022-09-13 | 2023-06-16 | 中联重科股份有限公司 | Frame storage line |
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| CN104551467A (en) * | 2015-01-13 | 2015-04-29 | 苏州大学 | Flexible welding servo positioning device for body-in-white |
| CN110174776A (en) * | 2019-06-21 | 2019-08-27 | 感测(无锡)智能装备有限公司 | A kind of more manual centralising devices of lens module high-precision optical of flexibility |
| CN211386623U (en) * | 2020-01-03 | 2020-09-01 | 济南二机床集团有限公司 | Plate centering device for stamping production line |
| CN112461124B (en) * | 2020-10-26 | 2021-11-30 | 东风汽车集团有限公司 | Positioning system and method for vehicle body floor detection support |
| CN113649966B (en) * | 2021-08-16 | 2023-02-03 | 博众精工科技股份有限公司 | Product positioning device |
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| CN219193341U (en) * | 2022-09-13 | 2023-06-16 | 中联重科股份有限公司 | Frame storage line |
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