CN210233040U - Reconfigurable fixture system of automobile body repairing and remanufacturing robot - Google Patents
Reconfigurable fixture system of automobile body repairing and remanufacturing robot Download PDFInfo
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- CN210233040U CN210233040U CN201822198738.XU CN201822198738U CN210233040U CN 210233040 U CN210233040 U CN 210233040U CN 201822198738 U CN201822198738 U CN 201822198738U CN 210233040 U CN210233040 U CN 210233040U
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Abstract
The utility model relates to a car body spare includes door, cover, fender restoration field, especially relates to a car body restores refabrication robot restructurable anchor clamps system, including the drive arrangement of restoration robot, industrial computer, photographic light source, power control cabinet, restructurable anchor clamps and restructurable anchor clamps, wherein restructurable anchor clamps include robot carriage release lever locating component, carriage release lever and carriage release lever pole head sucking disc; the surface of the positioning component of the robot moving rod is provided with a plurality of small holes matched with the moving rod in size, the moving rod can pass through the small holes to move up and down and is used for realizing the support and the stretching repair action of the rod head, and the clamp driving device is used for providing stretching driving force for the reconfigurable clamp; in addition, the reconfigurable fixture of the robot judges the repair state of the workpiece through a repair algorithm and a position sensor and feeds the repair state back to the fixture system of the robot in time, so that the repair efficiency is improved.
Description
Technical Field
The utility model relates to a car body spare specifically is a car body restores refabrication robot reconfigurable anchor clamps system including door, cover, fender restoration field.
Background
The sheet metal repair of the automobile body faces two problems of repair efficiency and repair precision. Currently, most repair jigs are dedicated only to a certain type of specific workpiece repair, limiting the flexibility of repair. In order to improve the flexibility of the clamp system, two flexible systems are proposed in industrial production: modular fixtures and reconfigurable fixtures. Compared with a reconfigurable clamp, the combined clamp has the advantages of large mass, long assembling and disassembling time and serious influence on the working efficiency. The reconfigurable fixture robot is a fixture robot with high degree of freedom facing the automobile industry, and the automation, high precision and flexibility of the reconfigurable fixture of the robot are combined to realize the automatic and rapid construction and positioning adjustment of the fixture, so that the reconfigurable fixture robot becomes the development direction of flexible fixtures.
The design of the reconfigurable fixture robot main body and the tail end assembly is the basis for determining the pose of the whole reconfigurable fixture robot tail end executor, and the flexibility of the reconfigurable fixture robot determines the quality and the working efficiency of the reconfigurable fixture robot. For the reconfigurable fixture of the automobile body repairing robot, the accurate positioning and repairing precision of the fixture system are also ensured.
This patent will utilize reconfigurable anchor clamps robot system to realize the restoration to car automobile body sunken, improves the repair efficiency, alleviates workman's intensity of labour.
SUMMERY OF THE UTILITY MODEL
For realizing above-mentioned purpose, in order to solve current technical problem, the utility model aims to overcome the not enough of prior art, provide a car body repairs refabrication robot reconfigurable anchor clamps system, closely combine through reconfigurable anchor clamps and restoration car surface, then according to the impaired condition on surface, the controllable drawing of level by level realizes the perfect restoration on impaired surface, improves repair efficiency and has alleviateed workman's intensity of labour.
The utility model provides a following technical scheme: a reconfigurable clamp system of an automobile body repairing and remanufacturing robot comprises a repairing robot, an industrial personal computer for detection and control, a photographic light source, a power control cabinet for providing electric support for the whole system, a reconfigurable clamp and a driving device of the reconfigurable clamp, wherein the reconfigurable clamp comprises a robot moving rod positioning assembly, a moving rod and a moving rod head sucker;
the surface of the robot moving rod positioning component is provided with a plurality of small holes matched with the moving rod in size, and the moving rod can penetrate through the small holes to move up and down and is used for realizing the support and stretching repair actions of the rod head;
the sucker of the movable rod head is connected with the repair surface;
the reconfigurable clamp driving device is used for providing a stretching driving force for the reconfigurable clamp;
the moving rod positioning assembly comprises a position sensing input control system for controlling the repair precision, and further comprises a position sensor, a spring type electromagnet and a driving device of the spring type electromagnet.
As an improvement, the spring type electromagnet is arranged on one side of the moving rod, is connected with the output end of a control system of the repairing robot and is used for combining the moving rod with the repairing surface.
Preferably, the position sensor is in electrical signal connection with the industrial personal computer through interfaces such as a USB and the like, and is used for measuring the moving distance of the reconfigurable clamp in real time.
Preferably, the spring type electromagnet is a direct current spring type electromagnet.
Preferably, the movable rods are arranged in a square matrix.
Preferably, the main body structure of the repairing robot is articulated.
Specifically, the connection of the moving club head suction cup to the repair surface may be by welding, hot melt adhesive, electromagnetic suction cup, or vacuum suction cup.
The utility model has the advantages that: in the aspect of positioning accuracy, the motion accuracy of the robot is directly used as the adjustment accuracy of the reconfigurable clamp, and the positioning accuracy is ensured; in the aspect of repair efficiency, the reconfigurable fixture of the robot judges the repair state of the workpiece through a repair algorithm and a position sensor and feeds the repair state back to the fixture system of the robot in time, so that the repair efficiency is improved.
Drawings
Fig. 1 is a schematic view of a reconfigurable fixture robot system according to an embodiment of the present invention;
fig. 2 is a schematic forward view of a positioning assembly according to an embodiment of the present invention;
fig. 3 is a schematic view of a projection direction of the positioning assembly according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a reconfigurable fixture in an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1-3, a car body repairs refabrication robot restructurable anchor clamps system, including repair robot 2, the industrial computer 1 that is used for detection and control, photographic light source (not shown), the power control cabinet (not shown) that provides electric power support for entire system, restructurable anchor clamps and restructurable anchor clamps's drive arrangement 3, wherein restructurable anchor clamps include robot carriage release lever locating component 4, carriage release lever 6 and carriage release lever pole head sucking disc (not shown). Wherein, the connection mode between industrial computer 1 and the repair robot 2 is for the electricity to be connected, also can be through signal remote connection, industrial computer 1 passes through repair robot 2 control the drive arrangement action of reconsitution anchor clamps makes reconsitution anchor clamps realize the operation. For example, the moving rod 6 may be a dot matrix moving rod, so that the industrial personal computer 1 controls the recess repairing action of the dot matrix moving rod through the repairing robot 2; a plurality of small holes 5 matched with the moving rod 6 in size are formed in the surface of the robot moving rod positioning component 4 (wherein the hole center line of the small hole is shown in figure 2); the movable rod 6 can penetrate through the small hole 5 to move up and down and is used for realizing the support and the stretching repair action of the rod head, and the sucker of the movable rod head is connected with the repair surface.
Specifically, the connection of the moving club head suction cup to the repair surface may be by welding, hot melt adhesive, electromagnetic suction cup, or vacuum suction cup.
As the preferred embodiment of the present invention, the sucker of the movable rod head is connected with the repairing surface through a vacuum sucker.
The clamp driving device is used for providing a stretching driving force for the reconfigurable clamp. The jig driving device may be an electric driving device or a pneumatic driving device, and the jig driving device may be an electric driving device, for example.
The moving rod positioning assembly comprises a position sensing input control system for controlling the repair precision, and further comprises a position sensor, a spring type electromagnet and a driving device of the spring type electromagnet.
More specifically, the spring-type electromagnet is installed on one side of the moving rod and is connected with the output end of the repair robot control system, and the workpiece is supported and combined by the moving rod under the driving of the spring-type electromagnet.
Preferably, the position sensor is electrically connected with the industrial personal computer through interfaces such as a USB and the like, and is used for measuring the moving distance of the clamp in real time and transmitting the position information to the industrial personal computer through interfaces such as the USB and the like.
Preferably, the spring type electromagnet is a direct current spring type electromagnet.
Preferably, the movable rods are arranged in a square matrix.
Preferably, the main body structure of the repairing robot is articulated.
To sum up, the utility model discloses well automobile body restores refabrication robot restructural anchor clamps and automobile body sunken position after closely combining, send signal to the industrial computer, after the industrial computer received the signal, with the drive arrangement action of the restructural anchor clamps of initial command to realize that the dot matrix carriage release lever level stretches and supports sunken. The position sensor measures the moving distance of the reconfigurable clamp in real time, position information is transmitted to the industrial personal computer through interfaces such as a USB (universal serial bus) and the like, and a main program in the industrial personal computer judges the repair state of the workpiece through a repair algorithm so as to identify whether to continue repairing. Finally, the industrial personal computer feeds the repaired surface of the automobile body back to the repairing robot system, and controls the driving device of the reconfigurable fixture and the spring type electromagnet, so that correct and error-free loosening operation of the reconfigurable fixture is realized. If the combination of the system and the vehicle body is not loosened, the system can report errors, and the industrial personal computer informs the control panel to give an alarm through the serial port, stops the current work and informs an operator to process.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a car body restores refabrication robot reconfigurable fixture system which characterized in that: the reconfigurable fixture comprises a repairing robot, an industrial personal computer for detection and control, a photographic light source, a power supply control cabinet for providing electric power support for the whole system, a reconfigurable fixture and a driving device of the reconfigurable fixture, wherein the reconfigurable fixture comprises a robot moving rod positioning component, a moving rod and a moving rod head sucker;
the surface of the robot moving rod positioning component is provided with a plurality of small holes matched with the moving rod in size, and the moving rod can penetrate through the small holes to move up and down and is used for realizing the support and stretching repair actions of the rod head;
the sucker of the movable rod head is connected with the repair surface;
the reconfigurable clamp driving device is used for providing a stretching driving force for the reconfigurable clamp;
the moving rod positioning assembly comprises a position sensing input control system for controlling the repair precision, and further comprises a position sensor, a spring type electromagnet and a driving device of the spring type electromagnet.
2. The automotive body repair and remanufacture robot reconfigurable fixture system of claim 1, wherein: the spring type electromagnet is arranged on one side of the moving rod, is connected with the output end of the repair robot control system and is used for combining the moving rod with the repair surface.
3. The automotive body repair and remanufacture robot reconfigurable fixture system of claim 1, wherein: and the position sensor is in electric signal connection with the industrial personal computer through a USB interface and is used for measuring the moving distance of the reconfigurable clamp in real time.
4. The automotive body repair and remanufacture robot reconfigurable fixture system of claim 1, wherein: the spring type electromagnet is a direct current spring type electromagnet.
5. The automotive body repair and remanufacture robot reconfigurable fixture system of claim 1, wherein: the movable rods are arranged in a square matrix mode.
6. The automotive body repair and remanufacture robot reconfigurable fixture system of claim 1, wherein: the main body structure of the repairing robot is articulated.
7. The automotive body repair and remanufacture robot reconfigurable fixture system of claim 1, wherein: the connection mode of the movable rod head sucker and the repair surface comprises welding, hot melt adhesive, an electromagnetic sucker or a vacuum sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822198738.XU CN210233040U (en) | 2018-12-26 | 2018-12-26 | Reconfigurable fixture system of automobile body repairing and remanufacturing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822198738.XU CN210233040U (en) | 2018-12-26 | 2018-12-26 | Reconfigurable fixture system of automobile body repairing and remanufacturing robot |
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| Publication Number | Publication Date |
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| CN210233040U true CN210233040U (en) | 2020-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822198738.XU Active CN210233040U (en) | 2018-12-26 | 2018-12-26 | Reconfigurable fixture system of automobile body repairing and remanufacturing robot |
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| CN (1) | CN210233040U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365569A (en) * | 2018-12-26 | 2019-02-22 | 上海车功坊智能科技股份有限公司 | A kind of restructural plates of automobile reparation fixture |
| CN109500831A (en) * | 2018-12-26 | 2019-03-22 | 上海车功坊智能科技股份有限公司 | A kind of body of a motor car reparation remanufactures the restructural chucking appliance system of robot |
-
2018
- 2018-12-26 CN CN201822198738.XU patent/CN210233040U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365569A (en) * | 2018-12-26 | 2019-02-22 | 上海车功坊智能科技股份有限公司 | A kind of restructural plates of automobile reparation fixture |
| CN109500831A (en) * | 2018-12-26 | 2019-03-22 | 上海车功坊智能科技股份有限公司 | A kind of body of a motor car reparation remanufactures the restructural chucking appliance system of robot |
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