CN207255551U - A kind of white body preloaded system of view-based access control model bootstrap technique - Google Patents
A kind of white body preloaded system of view-based access control model bootstrap technique Download PDFInfo
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- CN207255551U CN207255551U CN201720333768.XU CN201720333768U CN207255551U CN 207255551 U CN207255551 U CN 207255551U CN 201720333768 U CN201720333768 U CN 201720333768U CN 207255551 U CN207255551 U CN 207255551U
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- white body
- handgrip
- workpiece
- access control
- white
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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
It the utility model is related to a kind of white body preloaded system of view-based access control model bootstrap technique, prepackage for white body gusset (3), including vision guide mechanism, six-joint robot (1), workpiece handgrip, automatic pre- buckle mechanism and EMS mechanism, vision guide mechanism is arranged on six-joint robot (1), including the visual reception mechanism and control processor for sensing the vehicle body characteristic point (34) being arranged on white body gusset (3), workpiece handgrip is detachably connected with six-joint robot (1), automatic pre- buckle mechanism is arranged on workpiece handgrip, EMS mechanisms treat crawl position for white body gusset (3) to be delivered to workpiece.Compared with prior art, the separate men from machines during the utility model the degree of automation height, achievable prepackage.
Description
Technical field
A kind of white body preloaded system is the utility model is related to, more particularly, to a kind of white car of view-based access control model bootstrap technique
Body preloaded system.
Background technology
With the fast development of domestic automobile industry, the update of vehicle accelerates, and major automaker is in order to contract
The construction cycle of short sawn timber, reduce development cost, widely used Flexible Production technology, to the automation during automobile production
Degree, required precision are also higher and higher.
The more piece uploading forms using artificial suspender of vehicle body prepackage in white body welding process at present, in place after struck by worker
Hasp is beaten, this prepackage form can not realize man-machine isolation, and the degree of automation is extremely low, buries many security risks.
The content of the invention
The purpose of this utility model is exactly to provide a kind of automation journey to overcome the problems of the above-mentioned prior art
Degree is high, the white body preloaded system of the view-based access control model bootstrap technique of separate men from machines can be achieved.
The purpose of this utility model can be achieved through the following technical solutions：
A kind of white body preloaded system of view-based access control model bootstrap technique, draws for the prepackage of white body gusset, including vision
Mechanism, six-joint robot, workpiece handgrip, automatic pre- buckle mechanism and automatic carriage overhead chain conveyer structure are led, the vision is drawn
Mechanism is led to be arranged on six-joint robot, including for sensing the visual reception for the vehicle body characteristic point being arranged on white body gusset
Mechanism and control processor, the workpiece handgrip are detachably connected with six-joint robot, and automatic pre- buckle mechanism is arranged on
On workpiece handgrip, automatic carriage overhead chain conveyer structure treats crawl position for white body gusset to be delivered to workpiece.
As preferable technical solution, the workpiece handgrip includes handgrip chassis body and is arranged on handgrip frame master
Adjutage and adapter flange on body, the adjutage are arranged on the one side of handgrip chassis body, and with handgrip chassis body
Vertically, white body side peripheral clamp is which is provided with, the automatic pre- buckle mechanism is arranged on adjutage, the adapter flange
It is arranged on another side opposite with adjutage in handgrip chassis body.
As preferable technical solution, the handgrip chassis body and adjutage are connected by eight-corner tube and formed.
As preferable technical solution, the visual reception mechanism includes camera, and the camera is fixed on six
The end of axis robot.
As preferable technical solution, the camera is binocular camera, two mirrors of the binocular camera
The angle of head is 10~20 °, and the visual angle of each camera lens is 84~114 °.
As preferable technical solution, the vehicle body characteristic point is located at A columns, B columns and the C columns of white body gusset respectively
On, B columns are equipped with least two vehicle body characteristic points, and at least one vehicle body characteristic point, any three cars are equipped with A columns and C columns
Body characteristic point is not point-blank.
As preferable technical solution, the automatic carriage overhead chain conveyer structure is by EMS trolleies and for placing white car
The workpiece of body gusset is placed storehouse and is formed.
The operation principle of this city utility model is：
On six-joint robot, white body gusset is placed in workpiece and places in storehouse for vision guide mechanism, and by EMS trolleies
Transport treats crawl position to workpiece, and six-joint robot grabbing workpiece handgrip is moved to workpiece and treats crawl position to realize that grip is drawn
Lead.White body gusset is placed into vehicle body correct position by six-joint robot, and automatic pre- buckle mechanism action, hasp completes overlap joint,
Realize white body gusset prepackage function.During white body gusset captures process and is placed on vehicle body, vision guide mechanism
The information arrived using visual reception authorities, with reference to the three-dimensional information of workpiece itself, realizes that part 6DOF is accurately positioned,
By vision guide, mechanism is accurately positioned.
Compared with prior art, the utility model has the advantages that：
(1) by vision guide system, automation and the accuracy of white body gusset prepackage process is realized, is realized
Human-machine operation separates, and ensure that the security of the process.
(2) it is well known that the visual angle of camera lens is bigger, image deformation is bigger, and edge is fuzzyyer, is unfavorable for vision guide process
Accuracy；The setting of the adjutage of the utility model, has widened vision guide mechanism and the distance of white body gusset, it is not necessary to
The all standing of vehicle body characteristic point can be realized using the camera lens at bigger visual angle, reduced distortion and edge blurry, improved
The accuracy of vision guide.
(3) workpiece handgrip is assembled by eight-corner tube, and light weight, precision are high, rotary inertia is small.
(4) the vision guide mechanism of the utility model uses binocular camera, realizes 3D positioning, realizes part 6 freely
Degree is accurately positioned, and by the way that the angle of two camera lenses is arranged to 10~20 °, and vehicle body characteristic point is distributed in A columns, B columns and C columns
On, while at least two characteristic points will be distributed on B columns, the central area of camera lens is utilized visual angle as far as possible against B columns region
The high-resolution of central area and small distortion improve positioning accuracy.
Brief description of the drawings
Fig. 1 is the schematic diagram of the utility model；
Fig. 2 is the schematic diagram of the white body gusset in embodiment 1；
Fig. 3 is position relationship schematic diagram of the binocular camera with white body gusset of this city utility model；
Fig. 4 is the schematic diagram of the utility model EMS trolleies；
Fig. 5 is the structure diagram of the automatic pre- buckle mechanism of the utility model；
In figure, 1 is six-joint robot, and 21 be handgrip chassis body, and 22 be adjutage, and 23 be adapter flange, and 3 be white car
Body gusset, 31 be A columns, and 32 be B columns, and 33 be C columns, and 34 be vehicle body characteristic point, and 4 be EMS trolleies, and 5 be camera.
Embodiment
The utility model is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of white body preloaded system of view-based access control model bootstrap technique, as shown in Fig. 1~5, for white body gusset 3
Prepackage, including vision guide mechanism, six-joint robot 1, workpiece handgrip, automatic pre- buckle mechanism and automatic carriage overhead chain conveyer
Structure, vision guide mechanism are arranged on six-joint robot 1, including for sensing the vehicle body feature being arranged on white body gusset 3
The visual reception mechanism and control processor, workpiece handgrip of point 34 are detachably connected with six-joint robot 1, automatic pre- hasp machine
Structure is arranged on workpiece handgrip, and automatic carriage overhead chain conveyer structure treats crawl position for white body gusset 3 to be delivered to workpiece.
Workpiece handgrip in the present embodiment is as shown in Figure 1, including handgrip chassis body 21 and be arranged on handgrip frame master
Adjutage 22 and adapter flange 23 on body 21, adjutage 22 are arranged on the one side of handgrip chassis body 21, and with handgrip frame
Main body 21 is vertical, which is provided with white body side peripheral clamp, and automatic pre- buckle mechanism is arranged on adjutage 22, and adapter flange 23 is set
Put opposite with adjutage 22 another side in handgrip chassis body 21.Handgrip chassis body 21 and adjutage 22 are by eight-corner tube
Connection composition.
Visual reception mechanism in the present embodiment includes camera 5, and camera 5 is fixed on the end 11 of six-joint robot.
Camera 5 is binocular camera, and the angle 51 of two camera lenses of binocular camera is 10~20 °, the visual angle of each camera lens for 84~
114 °, the visual field of each camera lens covers all vehicle body characteristic points 34, as shown in Figure 3.
Vehicle body characteristic point 34 in the present embodiment is located on the A columns 31, B columns 32 and C columns 33 of white body gusset respectively, such as
Shown in Fig. 2, under normal circumstances, B columns 32 are equipped with least two vehicle body characteristic points 34, and (the B columns of the present embodiment are equipped with two cars
Body characteristic point 34), at least one vehicle body characteristic point 34 is equipped with A columns 31 and C columns 33, and any three vehicle body characteristic points 34 do not exist
On straight line, the vehicle body characteristic point 34 on B columns 32 is located at the intermediate region in each camera lens visual field.
Automatic carriage overhead chain conveyer structure in the present embodiment is by EMS trolleies 4 and the work for placing white body gusset 3
Part is placed storehouse and is formed, and automatic carriage overhead chain conveyer structure can use general automatic carriage overhead chain conveyer structure, the present embodiment
In EMS trolleies 4 structure as shown in figure 4, being suspension type, the trolley slide for EMS trolleies 4 is not shown in the diagram, workpiece
It is also not shown in the diagram to place storehouse.
Automatic pre- buckle mechanism in the present embodiment is using general pre- buckle mechanism, such as CN104308012A
That disclosed, as shown in Figure 5.
By vision guide mechanism on six-joint robot 1, white body gusset 3 is placed in workpiece and places in storehouse for this implementation, and
Transported by EMS trolleies 4 to workpiece and treat crawl position, 1 grabbing workpiece handgrip of six-joint robot is moved to workpiece and treats crawl position, leads to
Cross vision guide mechanism and realize that grip guides.After grabbing workpiece, under the guiding of vision guide mechanism, white body gusset is by six axis
Robot is placed into vehicle body correct position, and automatic pre- buckle mechanism action, hasp completes overlap joint, realizes that white body gusset pre-installs work(
Energy.During white body gusset captures process and is placed on vehicle body, vision guide mechanism utilizes visual reception authorities
The information (vehicle body characteristic point 34) arrived, with reference to the three-dimensional information of workpiece itself, realizes that part 6DOF is accurately positioned, by regarding
Feel that guide mechanism is accurately positioned.
Claims (7)
1. a kind of white body preloaded system of view-based access control model bootstrap technique, for the prepackage of white body gusset (3), its feature exists
In, including vision guide mechanism, six-joint robot (1), workpiece handgrip, automatic pre- buckle mechanism and automatic carriage overhead chain conveyer
Structure, the vision guide mechanism are arranged on six-joint robot (1), including are arranged on white body gusset (3) for sensing
Vehicle body characteristic point (34) visual reception mechanism and control processor, the workpiece handgrip and six-joint robot (1) can
Dismantling connection, automatic pre- buckle mechanism are arranged on workpiece handgrip, and automatic carriage overhead chain conveyer structure is used for white body gusset
(3) it is delivered to workpiece and treats crawl position.
2. the white body preloaded system of a kind of view-based access control model bootstrap technique according to claim 1, it is characterised in that described
Workpiece handgrip include handgrip chassis body (21) and the adjutage (22) that is arranged in handgrip chassis body (21) and switching
Flange (23), the adjutage (22) is arranged on the one side of handgrip chassis body (21), and hangs down with handgrip chassis body (21)
Directly, white body side peripheral clamp is which is provided with, the automatic pre- buckle mechanism is arranged on adjutage (22), the switching method
Blue (23) are arranged on another side opposite with adjutage (22) in handgrip chassis body (21).
3. the white body preloaded system of a kind of view-based access control model bootstrap technique according to claim 2, it is characterised in that described
Handgrip chassis body (21) and adjutage (22) by eight-corner tube connect form.
4. the white body preloaded system of a kind of view-based access control model bootstrap technique according to claim 1, it is characterised in that described
Visual reception mechanism include camera (5), the camera (5) is fixed on the end (11) of six-joint robot.
5. the white body preloaded system of a kind of view-based access control model bootstrap technique according to claim 4, it is characterised in that described
Camera (5) be binocular camera, the angle (51) of two camera lenses of the binocular camera is 10~20 °, each camera lens
Visual angle be 84~114 °.
A kind of 6. white body preloaded system of view-based access control model bootstrap technique according to claim 1 or 5, it is characterised in that
The vehicle body characteristic point (34) is located on the A columns (31), B columns (32) and C columns (33) of white body gusset respectively, on B columns (32)
Equipped with least two vehicle body characteristic points (34), at least one vehicle body characteristic point (34) is equipped with A columns (31) and C columns (33), is appointed
Three vehicle body characteristic points (34) anticipate not point-blank.
7. the white body preloaded system of a kind of view-based access control model bootstrap technique according to claim 1, it is characterised in that described
Automatic carriage overhead chain conveyer structure by EMS trolleies (4) and for place white body gusset (3) workpiece place storehouse form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720333768.XU CN207255551U (en) | 2017-03-31 | 2017-03-31 | A kind of white body preloaded system of view-based access control model bootstrap technique |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720333768.XU CN207255551U (en) | 2017-03-31 | 2017-03-31 | A kind of white body preloaded system of view-based access control model bootstrap technique |
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| CN207255551U true CN207255551U (en) | 2018-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720333768.XU Expired - Fee Related CN207255551U (en) | 2017-03-31 | 2017-03-31 | A kind of white body preloaded system of view-based access control model bootstrap technique |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514557A (en) * | 2018-12-13 | 2019-03-26 | 北京炎凌嘉业机电设备有限公司 | A kind of 3D vision robot track correct system |
| CN109531599A (en) * | 2019-01-16 | 2019-03-29 | 江苏北人机器人系统股份有限公司 | A kind of battery case vision guide coating system |
| CN109530984A (en) * | 2018-11-19 | 2019-03-29 | 施努卡(苏州)智能装备有限公司 | Vision positioning welding and assembling method |
-
2017
- 2017-03-31 CN CN201720333768.XU patent/CN207255551U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109530984A (en) * | 2018-11-19 | 2019-03-29 | 施努卡(苏州)智能装备有限公司 | Vision positioning welding and assembling method |
| CN109514557A (en) * | 2018-12-13 | 2019-03-26 | 北京炎凌嘉业机电设备有限公司 | A kind of 3D vision robot track correct system |
| CN109531599A (en) * | 2019-01-16 | 2019-03-29 | 江苏北人机器人系统股份有限公司 | A kind of battery case vision guide coating system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180420 Termination date: 20200331 |