CN210480137U

CN210480137U - Automobile plug grabbing system

Info

Publication number: CN210480137U
Application number: CN201920738451.3U
Authority: CN
Inventors: 李�瑞
Original assignee: Jinan Hirun Automation Tech Co ltd
Current assignee: Jinan Hirun Automation Tech Co ltd
Priority date: 2019-05-21
Filing date: 2019-05-21
Publication date: 2020-05-08
Anticipated expiration: 2029-05-21

Abstract

The utility model discloses a stifled piece grasping system for car belongs to stifled piece and snatchs the field, and its structure includes robot, automobile body positioner, stifled piece tongs, robot guide rail, stifled piece recovery unit and ultrasonic cleaner, the robot link to each other with the stifled piece tongs, the robot setting on the robot guide rail, stifled piece recovery unit set up the one side at the robot guide rail, ultrasonic cleaner set up the end at the robot guide rail, automobile body positioner set up on four angles in the robot guide rail outside, robot and stifled piece tongs respectively with robot control cabinet electric connection. The utility model discloses a stifled piece grasping system for car has and has adopted the robot to realize automatic picking, has increased the stability of picking the stifled piece, has avoided manual operation, has reduced the cost of labor, has increased characteristics such as life.

Description

Automobile plug grabbing system

Technical Field

The utility model belongs to the technical field of a stifled piece snatchs and specifically relates to a stifled piece grasping system for car after the rubber coating of car bottom plate.

Background

The plug is a plastic article which shields the assembly hole and prevents glue mist from splashing in the gluing application of the automobile bottom plate, and at present, the mainstream automobile manufacturers in China manually pick the plug after glue spraying. The manual holding of sharp-nosed pliers is carried out the closure and is taken, needs more manpower and the rubber room environment belongs to the polluted environment, and long-term work makes the operative employee suffer occupational disease risk easily. And the stability of manually picking the plugging piece is poor, the labor cost is high, the service life of the sharp nose pliers is short, and the cost is increased.

SUMMERY OF THE UTILITY MODEL

The technical task of the utility model is not enough to provide a stifled piece grasping system for car among the above-mentioned prior art, this stifled piece grasping system for car has and has adopted the robot to realize automatic picking, has increased the stability of picking stifled piece, has avoided manual operation, has reduced the cost of labor, has increased life's characteristics.

The utility model provides a technical scheme that its technical problem adopted is: stifled piece grasping system for car, including robot, automobile body positioner, stifled piece tongs, robot guide rail, stifled piece recovery unit and ultrasonic cleaner, the robot link to each other with stifled piece tongs, the robot setting on the robot guide rail, remove along the robot guide rail, stifled piece recovery unit set up the one side at the robot guide rail, ultrasonic cleaner set up the end at the robot guide rail, automobile body positioner set up on four angles in the robot guide rail outside, robot and stifled piece tongs respectively with the robot control cabinet electric connection.

Automobile body positioner include 3D vision camera and camera switch board, 3D vision camera include four, set up respectively on four angles in the robot guide rail outside, and four 3D vision cameras respectively with camera switch board electric connection.

The blockage recovery device comprises a blockage fixing recovery barrel and a blockage following recovery barrel, wherein the blockage following recovery barrel is arranged on the upper part of the blockage fixing recovery barrel and is connected with the robot.

The plug tongs include cylinder clamping jaw, cylinder clamping jaw connecting piece, connecting cylinder, lower casing, go up casing, robot flange dish and fixed bolster, the robot flange dish set up on the upper portion of last casing, the robot flange dish links to each other with the robot, the casing sets up the lower part at last casing down, the side of lower casing be provided with the fixed bolster, the one end of fixed bolster links to each other with lower casing, the other end links to each other with the robot, the middle part of lower casing be the cavity, the middle part cavity of casing is passed down on connecting cylinder upper portion, fixed mutually with last casing, the bottom and the cylinder clamping jaw connecting piece of connecting cylinder are fixed mutually, cylinder clamping jaw connecting piece on be provided with the cylinder clamping jaw.

The clamping jaw of the air cylinder comprises two clamping jaw bodies, a cylinder seat, a piston cavity and a piston rod, wherein the two clamping jaw bodies are symmetrically arranged, the middle of each clamping jaw body is hinged to the front end of the cylinder seat, the tail end of each clamping jaw body is connected with the piston rod, the piston rod is located in the piston cavity at the rear end of the cylinder seat, and the piston cavity is connected with the air path conveying device.

The lower part of cylinder clamping jaw connecting piece be provided with the vision camera, the outside of vision camera is provided with annular light source and some light sources, vision camera and robot control cabinet electric connection.

The robot control cabinet is characterized in that a wiring terminal is arranged in the upper shell, an upper electric slip ring and a lower electric slip ring are arranged between the upper shell and the lower shell, the upper electric slip ring is fixed to the bottom of the upper shell, the lower electric slip ring is fixed to the top of the lower shell, a proximity switch cable is connected to the proximity switch, a laser detection switch cable is connected to the laser detection switch, the proximity switch cable and the laser detection switch cable upwards extend into the upper shell along a connecting cylinder and are connected with the wiring terminal, the wiring terminal is electrically connected with the upper electric slip ring, and a leading-out cable connected with the lower electric slip ring is discharged along a leading-out cable outlet on the lower shell and a bent pipe communicated with the leading-out cable outlet and is electrically connected with the robot control cabinet.

Ultrasonic cleaner include frame, ultrasonic cleaning device, washing liquid recycling bin, sweep device, air pressure regulator and sweep the solenoid valve, sweep device and ultrasonic cleaning device set up respectively at the both ends of frame, sweep and link to each other through the cab apron between device and the ultrasonic cleaning device, the lower part that sweeps device and ultrasonic cleaning device is provided with a washing liquid recycling bin respectively, sweep the device pass through the pipeline and sweep solenoid valve and air pressure regulator and link to each other, sweep solenoid valve, air pressure regulator and ultrasonic cleaning device respectively with ultrasonic cleaning control box electric connection, ultrasonic cleaning control box set up in the frame.

The ultrasonic cleaning device comprises a cleaning device shell, a cleaning device shield, a vibrator, a cleaning liquid outlet pipe valve, a heater, a temperature sensor, an upper liquid level sensor and a lower liquid level sensor, the cleaning device protective cover is arranged at the lower part of the cleaning device shell, four corners in the cleaning device protective cover at the lower part of the cleaning device shell are respectively provided with a vibrator, the lower part of the shell of the cleaning device is provided with a cleaning fluid outlet pipe communicated with the inner cavity of the shell, a cleaning fluid outlet pipe valve is arranged on the cleaning fluid outlet pipe, the shell of the cleaning device is also provided with a heater, a temperature sensor, an upper liquid level sensor and a lower liquid level sensor, the upper liquid level sensor is arranged on the upper portion of the lower liquid level sensor, and the heater, the temperature sensor, the upper liquid level sensor and the lower liquid level sensor are respectively and electrically connected with the ultrasonic cleaning control box.

The blowing device comprises a blowing shell, a blowing upper cover, air nozzles, an extension pipe, a blowing air inlet connector and a connecting seat, wherein the blowing upper cover is arranged on the upper portion of the blowing shell, three air nozzles are uniformly arranged on the circumferential direction of the blowing shell, each air nozzle is connected with the extension pipe, the end portion of each extension pipe is provided with one blowing air inlet connector, the extension pipes are fixed on the rack through the connecting seat, the front ends of the air nozzles are flat ports, and the air nozzles are arranged in a downward inclined mode.

The utility model discloses a stifled piece grasping system for car compares with prior art, has following outstanding beneficial effect: the robot is adopted to realize automatic picking of the plugging piece, and the result guide control of picking of the plugging piece is realized by matching automatic picking with visual detection, so that the stability of picking the plugging piece is improved, the grabbing work of manual sharp-nose pliers is replaced, the labor cost is reduced, and the service life is prolonged;

the air passage provided for the cylinder clamping jaw passes through the middle channel, so that the pipeline torsion loss caused by using a pipeline is avoided;

the upper electric slip ring and the lower electric slip ring are adopted to realize 360-degree rotation of a circuit signal, so that the distortion of a cable is avoided, and the service life of the cable is greatly prolonged;

through the washing of the air-blowing cooperation ultrasonic cleaning liquid among the ultrasonic cleaner, can effectively realize the clearance of solidification cull, the mode that can only manual cleaning cull has been avoided, the cooperation heater heats the washing liquid, improve clean efficiency greatly, realize the automation of equipment, not only realize the secondary clearance to the cull through sweeping the device, but also will need the cleaning member to weather, when avoiding needing the cleaning member to take out from the ultrasonic cleaning device, the washing liquid drop is outside, the polluted environment.

Drawings

Fig. 1 is a perspective view of a closure grasping system for an automobile;

fig. 2 is a perspective view of the automotive closure grasping system in an operating state;

fig. 3 is a perspective view of the automotive closure grasping system of fig. 1 with the guard rail removed;

FIG. 4 is a first perspective view of the closure grip;

FIG. 5 is a second perspective view of the picking member gripper;

FIG. 6 is a front view of the picking and plugging member grip;

FIG. 7 is a sectional view A-A shown in FIG. 6;

FIG. 8 is a perspective view of the plug removing gripper after a flange of the robot is removed;

FIG. 9 is a perspective view I of a cylinder clamp jaw;

FIG. 10 is a second perspective view of the cylinder jaws;

FIG. 11 is a front cross-sectional view of a cylinder clamp jaw;

FIG. 12 is a perspective view of the lower housing;

FIG. 13 is a perspective view of the annular sleeve;

FIG. 14 is a perspective view of the connector barrel;

FIG. 15 is a front elevational view of the connector barrel;

FIG. 16 is a sectional view B-B shown in FIG. 15;

FIG. 17 is a top plan view of the connector barrel;

FIG. 18 is a cross-sectional view C-C shown in FIG. 17;

FIG. 19 is a perspective view of the upper housing;

FIG. 20 is a front view of the upper housing;

FIG. 21 is a bottom view of the upper housing;

FIG. 22 is a top view of the upper housing;

FIG. 23 is a D-D cross-sectional view shown in FIG. 20;

FIG. 24 is a cross-sectional view E-E shown in FIG. 22;

FIG. 25 is a perspective view I of the solenoid valve;

FIG. 26 is a second perspective view of the solenoid valve;

figure 27 is a perspective view of an adapter;

figure 28 is a front view of the adapter;

FIG. 29 is a sectional view F-F shown in FIG. 28;

FIG. 30 is a perspective view of a cylinder jaw attachment;

FIG. 31 is a front view of a cylinder jaw attachment;

FIG. 32 is a sectional view taken along line H-H of FIG. 31;

FIG. 33 is a sectional view taken along line G-G of FIG. 31;

FIG. 34 is a first perspective view of the web;

FIG. 35 is a second perspective view of the web;

FIG. 36 is a front view of the connecting plate;

FIG. 37 is a cross-sectional view taken along line I-I of FIG. 36;

FIG. 38 is a bottom view of the connecting plate;

FIG. 39 is a perspective view of the ultrasonic cleaner;

FIG. 40 is a perspective view of the ultrasonic cleaning device shown in FIG. 39;

FIG. 41 is a schematic view of the structure of the cover and vibrator of the cleaning device of FIG. 40;

description of reference numerals:

1 robot,

2 vehicle body positioning device, 213D visual camera, 22 camera control cabinet,

3 blocking piece gripper, 31 cylinder clamping jaw, 3101 clamping jaw body, 3102 cylinder seat, 31021 cylinder seat air inlet channel, 31022, cylinder seat air return channel, 3103 piston cavity, 3104 piston rod, 32 cylinder clamping jaw connector, 3201 cylinder clamping jaw connector air inlet channel, 3202 cylinder clamping jaw connector air return channel, 33 connecting cylinder, 3301 connecting cylinder first air inlet channel, 3302 connecting cylinder second air inlet channel, 3303 connecting cylinder air return channel, 34 lower shell, 3401 lower shell air inlet channel, 3402 leading-out cable outlet, 35 upper shell, 3501 upper shell air inlet channel, 36 robot flange, 37 fixing bracket, 38 connecting plate, 3801 connecting plate air inlet channel, 3802 connecting plate air return channel, 39 air channel conveying device, 3901, 39011 air inlet, 39012 air outlet, 39013 air return port, 3902 adapter, 39021 adapter air inlet channel, 39022 adapter air return channel, 3903 air inlet adapter, 3904 annular sleeve, 39041 annular sleeve air inlet channel, 310 proximity switch, 3100 proximity switch cable, 311 laser detection switch, 3111 laser detection switch cable, 312 vision camera, 313 ring light source, 314 point light source, 315 wiring terminal, 316 power-on slip ring, 317 power-off slip ring, 318 elbow,

4 robot guide rail,

5 a plug recovery device, a 51 plug fixed recovery barrel, a 52 plug following recovery barrel,

61 a frame,

62 ultrasonic cleaning device, 621 cleaning device shell, 622 cleaning device shield, 623 vibrator, 624 cleaning solution outlet pipe, 6241 cleaning solution outlet pipe valve, 625 cleaning solution outlet pipe valve, 626 heater, 627 temperature sensor, 628 upper liquid level sensor, 629 lower liquid level sensor,

63 a cleaning solution recovery barrel,

64 purging devices, 6401 purging shells, 6402 purging upper covers, 6403 air nozzles, 6404 extension pipes, 6405 purging air inlet connectors and 6406 connecting seats,

65 air pressure regulator, 66 purge solenoid valve, 67 control box, 68 hasp, 69 transition plate,

7 robot control cabinet, 8 total control cabinet, 9 plug picking state display screen, 10 visual operation table and 11 guardrail.

Detailed Description

The following detailed description of the plug grasping system for an automobile according to the present invention will be made with reference to the accompanying drawings 1 to 41.

The utility model discloses a stifled piece grasping system for car, its structure includes robot 1, automobile body positioner 2, stifled piece tongs 3, robot guide rail 4, stifled piece recovery unit 5 and ultrasonic cleaner 6, robot 1 link to each other with stifled piece tongs 3, robot 1 set up on robot guide rail 4, remove along robot guide rail 4, stifled piece recovery unit 5 set up the one side at robot guide rail 4, ultrasonic cleaner 6 set up the end at robot guide rail 4, automobile body positioner 2 set up on four angles in the robot guide rail 4 outside, robot 1 and stifled piece tongs 3 respectively with 7 electric connections of robot control cabinet.

Automobile body positioner 2 include 3D vision camera 21 and camera switch board 22, 3D vision camera 21 include four, set up respectively on four angles in the 4 outsides of robot guide rail, and four 3D vision cameras 21 respectively with camera switch board 22 electric connection. The four 3D vision cameras 21 are provided with guard rails 11 at their peripheries.

The blockage recovery device 5 comprises a blockage fixing recovery barrel 51 and a blockage following recovery barrel 52, wherein the blockage following recovery barrel 52 is arranged on the upper part of the blockage fixing recovery barrel 51 and is connected with the robot 1.

The plug tongs 3 include cylinder clamping jaw 31, cylinder clamping jaw connecting piece 32, connecting cylinder 33, lower casing 34, go up casing 35, robot flange 36 and fixed bolster 37, robot flange 36 set up the upper portion at last casing 35, robot flange 36 links to each other with the robot, lower casing 34 sets up the lower part at last casing 35, the side of lower casing 34 be provided with fixed bolster 37, fixed bolster 37 one end links to each other with lower casing 34, the other end links to each other with the robot, lower casing 34's middle part be the cavity, connecting cylinder 33 upper portion passes the middle part cavity of lower casing 34, fixes mutually with last casing 35, the bottom and the cylinder clamping jaw connecting piece 32 of connecting cylinder 33 are fixed mutually, cylinder clamping jaw connecting piece 32 on be provided with cylinder clamping jaw 31.

The cylinder clamping jaw 31 comprises two clamping jaw bodies 3101, a cylinder base 3102, a piston cavity 3103 and a piston rod 3104, wherein the clamping jaw bodies 3101 are symmetrically arranged, the clamping jaw bodies 3101 are made of alloy steel, the service life is greatly prolonged, the middle part of the clamping jaw body 3101 is hinged with the front end of the cylinder base 3102, the tail end of the clamping jaw body 3101 is connected with the piston rod 3104, the piston rod 3104 is positioned in the piston cavity 3103 at the rear end of the cylinder base 3102, and the piston cavity 3103 is connected with the gas circuit conveying device 39.

The cylinder base 3102 is connected with the cylinder clamping jaw connecting piece 32 through a connecting plate 38.

The gas path conveying device 39 comprises an electromagnetic valve 3901, an adapter 3902 and a gas inlet joint 3903, a lower shell gas inlet channel 3401 communicated with a cavity in the middle of the lower shell 34 is arranged on the side wall of the lower part of the lower shell, the gas inlet joint 3903 is connected with the lower shell gas inlet channel 3401, an annular sleeve 3904 is arranged between the lower shell 34 and the connecting cylinder 33, a plurality of sealing rings are arranged on the periphery of the connecting cylinder 33 on the upper part and the lower part of the annular sleeve 3904, the middle parts of the outer side wall and the inner side wall of the annular sleeve 3904 are respectively sunken inwards, a plurality of annular sleeve gas inlet channels 39041 are arranged in the circumferential direction of the sunken part, the connecting cylinder 33 is provided with a first gas inlet channel 3301 of the connecting cylinder communicated with the annular sleeve gas inlet channel 39041, the outlet end of the first gas inlet channel 3301 of the connecting cylinder is communicated with the gas inlet channel 3501 of the upper shell, the gas inlet channel 3501 is arranged, an outlet end of an upper shell air inlet channel 3501 is communicated with an air inlet 39011 at the lower end of the electromagnetic valve 3901, an air outlet 39012 at the upper end of the electromagnetic valve 3901 is communicated with an adapter air inlet channel 39021 on the adapter 3902, an air return port 39013 is communicated with an adapter air return channel 39022, the adapter air inlet channel 39021 and the adapter air return channel 39022 are respectively arranged in the adapter 3902, the adapter air inlet channel 39021 is communicated with a connecting cylinder second air inlet channel 3302 in the connecting cylinder 33, the adapter air return channel 39022 is communicated with a connecting cylinder air return channel 3303 in the connecting cylinder 33, the connecting cylinder second air inlet channel 3302 is communicated with a cylinder clamping jaw connecting piece air inlet channel 3201 in the cylinder clamping jaw connecting piece 32, the connecting cylinder clamping jaw piece air inlet channel 3201 is communicated with a connecting plate air inlet channel 3801 on the connecting plate 38, the air return channel 3202 of the cylinder clamping jaw connecting piece is communicated with a connecting plate air return channel 3802 on a connecting plate, the connecting plate air inlet channel 3801 is communicated with a cylinder seat air inlet channel 31021 on a cylinder seat 3102, the connecting plate air return channel 3802 is communicated with a cylinder seat air return channel 31022 on the cylinder seat, the cylinder seat air inlet channel 31021 and the cylinder seat air return channel 31022 are respectively communicated with a piston cavity 3103, and the electromagnetic valve 3901 is electrically connected with a robot control cabinet.

Gas enters a lower shell gas inlet channel 3401 of a lower shell 34 along a gas inlet joint 3903, then sequentially enters an annular sleeve gas inlet channel 39041, a first connecting cylinder gas inlet channel 3301, an upper shell gas inlet channel 3501 and a gas inlet 39011 at the lower end of a solenoid valve 3901 along the lower shell gas inlet channel 3401, when the solenoid valve is powered off, the gas inlet 39011 is communicated with a gas outlet 39012 at the upper end of the solenoid valve, and the gas sequentially enters an adapter gas inlet channel 39021, a second connecting cylinder gas inlet channel 3302, a cylinder clamping jaw connecting piece gas inlet channel 3201, a connecting plate gas inlet channel 3801, a cylinder base gas inlet channel 31021 along a gas outlet 39012 at the upper end of the solenoid valve and finally enters a piston cavity 3103, at the moment, a piston rod 3104 in a cylinder clamping jaw 31 is in an extending state, and the piston rod 3104 drives; when the electromagnetic valve is powered on, the air outlet 39012 and the air return port 39013 at the upper end of the electromagnetic valve reversely act, the air return port 39013 is communicated with the air inlet 39011, at the moment, air entering the electromagnetic valve sequentially enters the adapter air return channel 39022, the connecting cylinder air return channel 3303, the cylinder clamping jaw connecting piece air return channel 3202, the connecting plate air return channel 3802 and the cylinder base air return channel 31022 along the air return port 39013 at the upper end of the electromagnetic valve and finally enters the piston cavity 3103, at the moment, the piston rod 3104 in the cylinder clamping jaw slowly retracts, and the piston rod 3104 drives the two clamping jaw bodies 3101 to fold.

The gas circuit passes through the middle channel, has avoided using the pipeline to cause the pipeline to turn round the damage.

The cylinder base 3102 is provided with a proximity switch 310, and the proximity switch 310 is electrically connected with the robot control cabinet. The proximity switch is used for detecting whether the two clamping jaw bodies are opened or not.

The cylinder clamping jaw 31 on be provided with laser detection switch 311, laser detection switch 311 and robot control cabinet electric connection. The laser detection switch is used for detecting whether the plug is grabbed or not.

The lower part of the cylinder clamping jaw connecting piece 32 is provided with a vision camera 312, the outer side of the vision camera 312 is provided with an annular light source 313 and a point light source 314, and the vision camera 312 is electrically connected with the robot control cabinet. Whether the blocking piece exists or not and secondary offset detection are achieved by adopting a Connaissance vision or ISRA 2D vision camera.

The robot control cabinet is characterized in that a wiring terminal 315 is arranged in the upper shell 35, an upper electric slip ring 316 and a lower electric slip ring 317 are arranged between the upper shell 35 and the lower shell 34, the upper electric slip ring 316 and the bottom of the upper shell 35 are fixed, the lower electric slip ring 317 and the top of the lower shell 34 are fixed, a proximity switch cable 3100 is connected to the proximity switch 310, a laser detection switch cable 3111 is connected to the laser detection switch 311, the proximity switch cable 3100 and the laser detection switch cable 3111 extend upwards into the upper shell 35 along the connecting cylinder 33 and are connected with the wiring terminal 315, the wiring terminal 315 is electrically connected with the upper electric slip ring 316, and a leading-out cable 317 connected with the lower electric slip ring is discharged along a leading-out cable outlet 3402 on the lower shell 34 and a bent pipe 318 communicated with the leading-out cable outlet and is electrically connected with the robot control cabinet.

The upper electric slip ring and the lower electric slip ring are adopted, 360-degree rotation of circuit signals is achieved, and twisting of cables is avoided.

During the use, realize being connected with the robot through robot ring flange 36 with stifled piece tongs, six rotatory drive stifled piece tongs that drive through the robot realize the picking of stifled piece, detect through the vision camera that the stifled piece has or not, when detecting to have the stifled piece on the bottom plate of the car, the vision camera gives the robot control cabinet signal, and robot control cabinet control cylinder clamping jaw opens to make the cylinder clamping jaw realize the picking of stifled piece.

The ultrasonic cleaning machine 6 comprises a frame 61, an ultrasonic cleaning device 62, a cleaning liquid recovery barrel 63, a purging device 64, an air pressure regulator 65 and a purging electromagnetic valve 66, wherein the purging device 64 and the ultrasonic cleaning device 62 are respectively arranged at two ends of the frame 61, the purging device 64 and the ultrasonic cleaning device 62 are connected through a transition plate 69, and the transition plate 69 is arranged to prevent cleaning liquid drops on a plug gripper to be cleaned from being outside and polluting the environment when the plug gripper to be cleaned is taken out of the ultrasonic cleaning device and put into the purging device. The lower part of purging device 64 and ultrasonic cleaning device 62 is provided with a washing liquid recycling bin 63 respectively, purging device 64 link to each other with purging solenoid valve 66 and air pressure regulator 65 through the pipeline, purging solenoid valve 66, air pressure regulator 65 and ultrasonic cleaning device 62 respectively with ultrasonic cleaning control box 67 electric connection, ultrasonic cleaning control box 67 set up in frame 61.

The ultrasonic cleaning device 62 comprises a cleaning device shell 621, a cleaning device shield 622, a vibrator 623, a cleaning liquid outlet pipe 624, a cleaning liquid outlet valve 625, a heater 626, a temperature sensor 627, an upper liquid level sensor 628 and a lower liquid level sensor 629, wherein the cleaning device shield 622 is arranged at the lower part of the cleaning device shell 621, the vibrators 623 are respectively arranged at four corners in the cleaning device shield 622 at the lower part of the cleaning device shell 621, the cleaning liquid outlet pipe 624 communicated with the inner cavity of the cleaning device shell 621 is arranged at the lower part of the cleaning device shell 621, the cleaning liquid outlet pipe 624 is provided with the cleaning liquid outlet valve 625, the cleaning device shell 621 is further provided with the heater 626, the temperature sensor 627, the upper liquid level sensor 628 and the lower liquid level sensor 629, the upper liquid level sensor 628 is arranged at the upper part of the lower liquid level sensor 629, and the heater 626, the lower liquid level sensor, The temperature sensor 627, the upper liquid level sensor 628 and the lower liquid level sensor 629 are electrically connected to the ultrasonic cleaning control box 67, respectively.

When the liquid level is lower than the lower liquid level sensor 629, the lower liquid level sensor 629 gives a signal alarm to the ultrasonic cleaning control box 67 to remind the staff to add cleaning liquid. When the cleaning liquid in the cleaning device housing 621 needs to be replaced, the cleaning liquid outlet valve 625 on the cleaning liquid outlet pipe 624 is opened, so that the cleaning liquid flows into the cleaning liquid recovery barrel 63 at the lower part.

The blowing device 64 comprises a blowing shell 6401, a blowing upper cover 6402, air nozzles 6403, an extension pipe 6404, a blowing air inlet connector 6405 and a connecting seat 6406, the blowing upper cover 6402 is arranged at the upper part of the blowing shell 6401, three air nozzles 6403 are uniformly arranged on the blowing shell 6401 in the circumferential direction, each air nozzle 6403 is connected with the extension pipe 6404, one blowing air inlet connector 6405 is arranged at the end of each extension pipe 6404, the extension pipes 6404 are fixed on the frame 61 through the connecting seat 6406, the front ends of the air nozzles 6403 are flat, and the air nozzles are arranged in a downward inclined mode. The wind power is concentrated, the air nozzles are arranged in a downward inclined mode, cleaning liquid or residual glue on the plug gripper needing to be cleaned can flow downwards smoothly, and the situation that the cleaning liquid or the residual glue is sprayed out of the blowing shell is avoided.

Each tuyere 6403 forms an angle of 10-30 degrees with the horizontal plane.

When the purging device 64 works, air enters along the purging air inlet connector 6405 and is then discharged through the extension pipe 6404 and the air nozzle 6403, so that the cleaning plug gripper in the purging device 64 is purged, the opening and closing of the purging electromagnetic valve 66 are controlled through the ultrasonic cleaning control box 67, and the air pressure regulator 65 is controlled to regulate the pressure of the inlet air.

When cleaning the gripper of the plug to be cleaned, the cleaning liquid is added into the ultrasonic cleaning device 62, when the liquid level of the cleaning liquid reaches the upper liquid level sensor, the adding is stopped, the ultrasonic cleaning control box 67 controls the heater to heat the cleaning liquid, when the temperature reaches the set temperature, the temperature sensor gives a signal to the ultrasonic cleaning control box 67, the ultrasonic cleaning control box controls the heater to stop heating, then, the piece to be cleaned is placed in the ultrasonic cleaning device 62, at the moment, the vibrator of the ultrasonic cleaning device 62 is started through the ultrasonic cleaning control box, thereby carrying out ultrasonic cleaning on the plug gripper to be cleaned in the ultrasonic cleaning device, removing the residual glue on the plug gripper to be cleaned, and then taking out the plug gripper in the ultrasonic cleaning device, and cleaning and drying the plug gripper again through the air blown by the blowing device 64, thereby completely removing the residual glue on the plug gripper.

Robot control cabinet 7, camera switch board 22, ultrasonic cleaning control box 67 respectively with total control cabinet 8 electric connection, total control cabinet 8 still with jam pick-up state display screen 9 and visual operation panel 10 electric connection.

The method for grabbing the automobile plug comprises the following steps: after an automobile body needing to pick up a blockage is in place, a picture is taken through a 3D vision camera, then a camera control cabinet sends a deviation value to a master control cabinet, the master control cabinet sends the deviation value to a robot control cabinet, the robot control cabinet controls a robot and a blockage gripper to act, the blockage gripper grabs the blockage, after the blockage is grabbed, the position of the blockage on the automobile body is shot through the vision camera on the blockage gripper, whether the blockage exists on the position of the blockage is confirmed, whether the blockage is grabbed successfully or not is confirmed, if the blockage is grabbed unsuccessfully, the vision camera on the blockage gripper shoots and determines a compensation value to be sent to the robot control cabinet, the robot control cabinet controls the robot to carry out secondary grabbing, if the grabbing is not successful for 3 times, the robot control cabinet alarms and a blockage picking-up state display screen display, if the grabbing is successful, the robot drives the blockage gripper to place the blockage into a blockage follow-up recovery barrel, and (4) executing next grabbing operation until all grabbing operations are completed, displaying a blockage picking state on a display screen to display that all states of the blockage grabbing are grabbed by the vehicle, cleaning the blockage grabbing hand through an ultrasonic cleaning machine, returning the robot to an initial position after cleaning, waiting for the next vehicle, and alarming after the blockage is filled in a blockage accompanying recycling bin, wherein the robot runs to the rear side of a robot guide rail and automatically dumps the blockage into the blockage fixing recycling bin.

The above-mentioned embodiments are only for understanding the present invention, and are not intended to limit the technical solutions of the present invention, and those skilled in the relevant art can make various changes or modifications based on the technical solutions described in the claims, and all equivalent changes or modifications should be covered by the scope of the claims of the present invention. The parts of the present invention not described in detail are the known techniques of those skilled in the art.

Claims

1. Stifled piece grasping system for car, characterized by: including robot, automobile body positioner, stifled piece tongs, robot guide rail, stifled piece recovery unit and ultrasonic cleaner, the robot link to each other with stifled piece tongs, the robot setting on the robot guide rail, stifled piece recovery unit set up one side at the robot guide rail, ultrasonic cleaner set up the end at the robot guide rail, automobile body positioner set up on four angles in the robot guide rail outside, robot and stifled piece tongs respectively with robot control cabinet electric connection.

2. The system for capturing automotive closures of claim 1, wherein: automobile body positioner include 3D vision camera and camera switch board, 3D vision camera include four, set up respectively on four angles in the robot guide rail outside, and four 3D vision cameras respectively with camera switch board electric connection.

3. The system for capturing automotive closures of claim 1, wherein: the blockage recovery device comprises a blockage fixing recovery barrel and a blockage following recovery barrel, wherein the blockage following recovery barrel is arranged on the upper part of the blockage fixing recovery barrel and is connected with the robot.

4. The system for capturing automotive closures of claim 1, wherein: the plug tongs include cylinder clamping jaw, cylinder clamping jaw connecting piece, connecting cylinder, lower casing, go up casing, robot flange dish and fixed bolster, the robot flange dish set up on the upper portion of last casing, the robot flange dish links to each other with the robot, the casing sets up the lower part at last casing down, the side of lower casing be provided with the fixed bolster, the one end of fixed bolster links to each other with lower casing, the other end links to each other with the robot, the middle part of lower casing be the cavity, the middle part cavity of casing is passed down on connecting cylinder upper portion, fixed mutually with last casing, the bottom and the cylinder clamping jaw connecting piece of connecting cylinder are fixed mutually, cylinder clamping jaw connecting piece on be provided with the cylinder clamping jaw.

5. The system for capturing automotive closures of claim 4, wherein: the clamping jaw of the air cylinder comprises two clamping jaw bodies, a cylinder seat, a piston cavity and a piston rod, wherein the two clamping jaw bodies are symmetrically arranged, the middle part of each clamping jaw body is hinged with the front end of the cylinder seat, the tail end of each clamping jaw body is connected with the piston rod, the piston rod is positioned in the piston cavity at the rear end of the cylinder seat, and the piston cavity is connected with an air channel conveying device;

6. The system for capturing automotive closures of claim 5, wherein: the upper shell in be provided with binding post, upper shell and lower casing between be provided with last electrical slip ring and lower electrical slip ring, last electrical slip ring and upper shell bottom fixed mutually, lower electrical slip ring and lower casing top fixed mutually, be provided with proximity switch on the jar seat, proximity switch on be connected with proximity switch cable conductor, be provided with laser detection switch on the cylinder clamping jaw, laser detection switch on be connected with laser detection switch cable conductor, proximity switch cable conductor and laser detection switch cable conductor upwards stretch into to the upper shell along the connecting cylinder and be connected with binding post, binding post and last electrical slip ring electric connection, draw-out cable conductor that links to each other with lower electrical slip ring along draw-out cable conductor export and with draw-out the bent pipe electric connection of cable conductor export intercommunication on the lower casing to with robot control cabinet electric connection.

7. The system for capturing automotive closures of claim 1, wherein: ultrasonic cleaner include frame, ultrasonic cleaning device, washing liquid recycling bin, sweep device, air pressure regulator and sweep the solenoid valve, sweep device and ultrasonic cleaning device set up respectively at the both ends of frame, sweep and link to each other through the cab apron between device and the ultrasonic cleaning device, the lower part that sweeps device and ultrasonic cleaning device is provided with a washing liquid recycling bin respectively, sweep the device pass through the pipeline and sweep solenoid valve and air pressure regulator and link to each other, sweep solenoid valve, air pressure regulator and ultrasonic cleaning device respectively with ultrasonic cleaning control box electric connection, ultrasonic cleaning control box set up in the frame.

8. The system for capturing automotive closures of claim 7, wherein: the ultrasonic cleaning device comprises a cleaning device shell, a cleaning device shield, a vibrator, a cleaning liquid outlet pipe valve, a heater, a temperature sensor, an upper liquid level sensor and a lower liquid level sensor, the cleaning device protective cover is arranged at the lower part of the cleaning device shell, four corners in the cleaning device protective cover at the lower part of the cleaning device shell are respectively provided with a vibrator, the lower part of the shell of the cleaning device is provided with a cleaning fluid outlet pipe communicated with the inner cavity of the shell, a cleaning fluid outlet pipe valve is arranged on the cleaning fluid outlet pipe, the shell of the cleaning device is also provided with a heater, a temperature sensor, an upper liquid level sensor and a lower liquid level sensor, the upper liquid level sensor is arranged on the upper portion of the lower liquid level sensor, and the heater, the temperature sensor, the upper liquid level sensor and the lower liquid level sensor are respectively and electrically connected with the ultrasonic cleaning control box.

9. The system for capturing automotive closures of claim 7, wherein: the blowing device comprises a blowing shell, a blowing upper cover, air nozzles, an extension pipe, a blowing air inlet connector and a connecting seat, wherein the blowing upper cover is arranged on the upper portion of the blowing shell, three air nozzles are uniformly arranged on the circumferential direction of the blowing shell, each air nozzle is connected with the extension pipe, the end portion of each extension pipe is provided with one blowing air inlet connector, the extension pipes are fixed on the rack through the connecting seat, the front ends of the air nozzles are flat ports, and the air nozzles are arranged in a downward inclined mode.