CN210524349U

CN210524349U - Truss robot positioning and assembling system

Info

Publication number: CN210524349U
Application number: CN201920907420.6U
Authority: CN
Inventors: 赵锷
Original assignee: Tianjin Xinxiyuan Technology Co ltd
Current assignee: Tianjin Xinxiyuan Technology Co ltd
Priority date: 2019-06-17
Filing date: 2019-06-17
Publication date: 2020-05-15
Anticipated expiration: 2029-06-17

Abstract

The utility model provides a truss robot positioning and assembling system, including vertical beam subassembly and the horizontal test truss of arranging, vertical beam subassembly includes truss arm, mounting panel, assembly manipulator and visual positioning subassembly, the mounting panel link up and has seted up first square hole, visual positioning subassembly is fixed mounting on the mounting panel through first square hole, vertical beam subassembly longitudinal sliding is provided with moving mechanism, moving mechanism lateral sliding is provided with the crossbeam subassembly, the bottom fixedly connected with support frame of crossbeam subassembly, the top fixedly connected with vertical axis motor of vertical beam subassembly, the side fixedly connected with cross axle motor of crossbeam subassembly; still include the switch board, switch board and vertical axis motor and cross axle motor are electric connection. The utility model discloses a set up the visual positioning subassembly and can make assembly manipulator carry the work piece of treating the assembly and put in place the assembly, replaced the production assembly mode that traditional people's eye helped the work piece.

Description

Truss robot positioning and assembling system

Technical Field

The utility model relates to a truss robot technical field, concretely relates to truss robot positioning assembly system.

Background

Due to the advantages of high precision, deep penetration, high energy density, strong adaptability and the like, the truss robot technology has wider and wider application field and is highly valued by aerospace and mechanical electricians, especially the automobile manufacturing industry.

Most truss robots in the market can only realize simple fixed-point application, the visual positioning assembly is easy to shake during working, positioning accuracy is low, and development needs to be increased in investment, so that more technical schemes are provided for the visual positioning of the truss robots in the future.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims to solve the problem of providing truss robot positioning assembly system.

In order to solve the technical problem, the utility model discloses a technical scheme is: truss robot positioning assembly system, including perpendicular roof beam subassembly and the horizontal test truss who arranges, perpendicular roof beam subassembly set up in directly over the test truss, perpendicular roof beam subassembly includes truss arm, mounting panel, assembly manipulator and vision locating component, mounting panel fixed mounting is in the bottom of truss arm, assembly manipulator fixed mounting is in the bottom of mounting panel, the mounting panel link up and has seted up first square hole, the vision locating component passes through first square hole fixed mounting is on the mounting panel, perpendicular roof beam subassembly longitudinal sliding is provided with moving mechanism, moving mechanism lateral sliding is provided with the crossbeam subassembly, the bottom fixedly connected with support frame of crossbeam subassembly, the top fixedly connected with of perpendicular roof beam subassembly erects the roof beam connecting piece, perpendicular roof beam connecting piece fixed mounting has vertical axis motor, a cross shaft motor is fixedly connected to the side surface of the cross beam assembly; the control cabinet is electrically connected with the vertical shaft motor and the horizontal shaft motor, and the control cabinet adopts a PLC (programmable logic controller) to realize system control.

The utility model discloses in, preferably, the visual positioning subassembly includes camera, light source and light source controller, the light source link up and has seted up the second quad slit, the camera runs through in proper order first quad slit with the second quad slit extends to the outside of light source, camera fixed mounting be in on the mounting panel, light source controller with light source electric connection.

In the utility model, preferably, the light source controller is electrically connected with the control cabinet, the light source controller comprises a camera trigger module, a central processing module, a storage module, a light source control module, a trigger signal detection module and a power supply module, the camera trigger module, the storage module, the light source control module, the trigger signal detection module, the power supply module and the central processing module are all electrically connected, the camera trigger module is electrically connected with the camera and is used for controlling the camera to execute a photographing action, the central processing module is used for receiving and processing the signal from the trigger signal detection module, the storage module is used for storing signals, the light source control module is used for controlling the light source to be turned on or turned off, and the power supply module is used for providing electric energy for the whole circuit.

The utility model discloses in, preferably, a plurality of truss slotted holes have been seted up to the test truss, every the equal fixed mounting in inside of truss slotted hole has the locating piece, locating piece fixedly connected with locating pin.

The utility model discloses in, preferably, the camera includes shell body, apron and optical device, the one end demountable installation of apron is in on the shell body, the round hole has been seted up at the middle part of apron, optical device passes through the round hole holding is in on the apron.

The utility model discloses in, preferably, the apron with the upper surface of mounting panel offsets, the apron size is greater than the size in first square hole.

The utility model discloses in, preferably, the four corners of apron all seted up threaded hole, through the screw hole makes the apron with shell body screw thread installation is in the same place.

In the present invention, preferably, the light source and the camera are coaxially arranged.

The utility model discloses in, preferably, the size of second quad slit with the size in first square hole is equal, just the size of second quad slit with the size in first square hole all is greater than optical device's external diameter.

The utility model discloses in, preferably, the fixed cover of optical device is equipped with the protection casing.

The utility model has the advantages and positive effects that:

(1) the first square hole and the second square hole are arranged to extend to the outside of the light source, so that the camera is convenient to mount, and the light source is also favorable for providing a stable light source for the optical device; in addition, through the upper surface with apron and mounting panel offset, the apron size is greater than the size in first square hole, makes the camera fix on the mounting panel more steadily through this kind of setting, has avoided rocking that optical positioning assembly probably takes place in the removal process.

(2) Through with visual positioning subassembly through first quad slit fixed mounting on the mounting panel, mutual cooperation between truss arm, mounting panel, assembly manipulator and the visual positioning subassembly for the camera is shot the location to the locating pin, sends positional information to the assembly manipulator through the switch board, and the assembly manipulator carries the work piece that waits to assemble and puts in place the assembly, can replace traditional people's eye to assist the production assembly of work piece.

(3) The central processing module controls the camera to execute the photographing instruction through the camera trigger module, the camera photographs to obtain the position information of the positioning pin, the position information is fed back to the central processing module and stored through the storage module, the trigger signal detection module judges how the workpiece moves according to the position information of the positioning pin and feeds the position information back to the central processing module, automation is achieved by carrying out visual positioning on the workpiece, an operator is not required to carry out naked eye positioning, and the working efficiency is greatly improved.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is an overall structure diagram of the truss robot positioning and assembling system of the present invention;

fig. 2 is an exploded view of the vertical beam assembly structure of the truss robot positioning and assembling system of the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 1;

fig. 4 is a structural diagram of a camera of the truss robot positioning and assembling system of the present invention;

fig. 5 is a block diagram of a camera of the truss robot positioning and assembling system of the present invention with the protective cover removed;

fig. 6 is a structural diagram of a vertical beam assembly and a horizontal beam assembly of the truss robot positioning and assembling system of the present invention;

fig. 7 is a schematic block diagram of a control cabinet of the truss robot positioning and assembling system of the present invention;

fig. 8 is a schematic block diagram of a light source controller of the truss robot positioning and assembling system of the present invention;

in the figure: 1-vertical beam assembly; 2-testing the truss; 3-truss mechanical arm; 4-mounting a plate; 5, assembling a mechanical arm; 6-a visual positioning component; 7-first square hole; 8-a control cabinet; 9-a camera; 10-a light source; 11-a light source controller; 12-a second square hole; 13-a camera trigger module; 14-a central processing module; 15-a storage module; 16-a light source control module; 17-a trigger signal detection module; 18-a power supply module; 19-truss slot holes; 20-positioning blocks; 21-a positioning pin; 22-an outer shell; 23-a cover plate; 24-an optical device; 25-round hole; 26-a threaded hole; 27-a protective cover; 28-a moving mechanism; 29-a beam assembly; 30-a support frame; 31-a vertical axis motor; 32-horizontal axis motor; 33-vertical beam connection.

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.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 to 8, the utility model provides a truss robot positioning and assembling system, which comprises a vertical beam component 1 and a horizontally arranged test truss 2, wherein the vertical beam component 1 is arranged right above the test truss 2, the vertical beam component 1 comprises a truss mechanical arm 3, a mounting plate 4, an assembling mechanical arm 5 and a visual positioning component 6, the mounting plate 4 is fixedly arranged at the bottom of the truss mechanical arm 3, the assembling mechanical arm 5 is fixedly arranged at the bottom of the mounting plate 4, the mounting plate 4 is provided with a first square hole 7 in a penetrating way, the visual positioning component 6 is fixedly arranged on the mounting plate 4 through the first square hole 7, the vertical beam component 1 is longitudinally slidably provided with a moving mechanism 28, the moving mechanism 28 is transversely slidably provided with a beam component 29, the bottom of the beam component 29 is fixedly connected with a support frame 30, the top end of the vertical beam assembly 1 is fixedly connected with a vertical beam connecting piece 33, the vertical beam connecting piece 33 is fixedly provided with a vertical shaft motor 31, and the side surface of the cross beam assembly 1 is fixedly connected with a cross shaft motor 32; still include switch board 8, switch board 8 with vertical axis motor 31 and horizontal axis motor 32 are electric connection, switch board 8 adopts the PLC controller to realize system control. The supporting and stabilizing functions are achieved through the supporting frame 30 arranged at the bottom of the cross beam assembly 29, wherein the assembling manipulator 5 adopts a pneumatic clamping jaw, the model selection method is the prior art, the specific model selection needs to be determined according to the requirements of the used working environment, and the modes for clamping the workpiece are known technologies commonly used in the technical field and are not described in detail herein.

In this embodiment, further, the visual positioning assembly 6 includes a camera 9, a light source 10 and a light source controller 11, the light source 10 has a second square hole 12, the camera 9 sequentially passes through the first square hole 7 and the second square hole 12 and extends to the outside of the light source 10, the camera 9 is fixedly mounted on the mounting plate 4, and the light source controller 11 is electrically connected to the light source 10. By passing through the second square hole 12 formed in the middle of the light source 10, the first square hole 7 and the second square hole 12 extend to the outside of the light source 10, so that the camera 9 can be conveniently installed, and the light source 10 can be used for providing a stable light source for the optical device 24.

In this embodiment, further, the light source controller 11 is electrically connected to the control cabinet 8, the light source controller 11 includes a camera trigger module 13, a central processing module 14, a storage module 15, a light source control module 16, a trigger signal detection module 17, and a power supply module 18, the camera trigger module 13, the storage module 15, the light source control module 16, the trigger signal detection module 17, the power supply module 18, and the central processing module 14 are all electrically connected, the camera trigger module 13 is electrically connected to the camera 9, the camera trigger module 13 is configured to control the camera 9 to perform a photographing operation, the central processing module 14 is configured to receive and process a signal from the trigger signal detection module 13, the storage module 15 is configured to store a signal, the light source control module 16 is configured to control the light source 10 to be turned on or turned off, the power module 18 is used to provide power to the entire circuit. The central processing module 14 controls the camera 9 to execute the photographing instruction through the camera trigger module 13, the camera 9 photographs to obtain the position information of the positioning pin 21, the position information is fed back to the central processing module 14 to be stored through the storage module 15, the trigger signal detection module 17 judges how the workpiece moves according to the position information of the positioning pin 21 and feeds the workpiece back to the central processing module 14, the workpiece is visually positioned, automation is achieved, an operator does not need to perform naked eye positioning, and the working efficiency is greatly improved.

In this embodiment, further, the test truss 2 is provided with a plurality of truss slots 19, a positioning block 20 is fixedly mounted inside each truss slot 19, and the positioning block 20 is fixedly connected with a positioning pin 21. Through setting up locating pin 21, be convenient for camera 9 to shoot and obtain the specific positional information of locating pin 21, be convenient for next to fix a position the work piece, the quantity of locating pin 21 sets up to two, and locating pin 21 symmetrical arrangement is on locating piece 20, is favorable to central processing module 14 to control the position that trigger signal detection module 17 shot camera 9 to judge and detect.

In this embodiment, the camera 9 further includes an outer casing 22, a cover plate 23 and an optical device 24, one end of the cover plate 23 is detachably mounted on the outer casing 22, a circular hole 25 is formed in the middle of the cover plate 23, and the optical device 24 is accommodated on the cover plate 23 through the circular hole 25. Through the mutual cooperation between shell body 22, apron 23 and optical device 24 for camera 9's dismouting is more convenient, is favorable to operating personnel to carry out timely maintenance and cleanness to camera 9.

In this embodiment, further, the cover plate 23 abuts against the upper surface of the mounting plate 4, and the size of the cover plate 23 is larger than the size of the first square hole 7, so that the camera 9 is more stably fixed on the mounting plate 4 by the arrangement, thereby avoiding the shaking that may occur to the optical positioning assembly 6 during the moving process, and improving the working accuracy and reliability of the optical positioning assembly 6 in the visual positioning.

In this embodiment, further, threaded holes 26 are formed in four corners of the cover plate 23, and the cover plate 23 and the outer shell 22 are screwed together through the threaded holes 26, so that the cover plate 23 and the outer shell 22 can be conveniently mounted.

In the present embodiment, further, the light source 10 and the camera 9 are coaxially disposed, and the light source provided by the light source 10 to the camera 9 is uniform by this arrangement.

In this embodiment, further, the size of the second square hole 12 is equal to the size of the first square hole 7, and the size of the second square hole 12 and the size of the first square hole 7 are both larger than the outer diameter of the optical device 24, so as to facilitate the installation of the camera 9.

In this embodiment, further, the fixed cover of optical device 24 is equipped with protection casing 27, can play the effect of a protection to camera 9 through setting up protection casing 27, has avoided pollution such as job site dust to the interference that optical device 24 caused, has prolonged optical device 24's life.

The utility model discloses a theory of operation and working process as follows: before use, an operator fixedly installs the vision positioning component 6 on the mounting plate 4 through the first square hole 7, wherein the vision positioning component 6 comprises a camera 9, a light source 10 and a light source controller 11, the light source 10 is provided with a second square hole 12, the camera 9 sequentially penetrates through the first square hole 7 and the second square hole 12 and extends to the outside of the light source 10, the camera 9 is fixedly installed on the mounting plate 4, thereby completing the installation of the vision positioning component 6, the light source controller 11 is electrically connected with the PLC, the camera 9 comprises an outer shell 22, a cover plate 23 and an optical device 24, one end of the cover plate 23 is detachably installed on the outer shell 22, the middle part of the cover plate 23 is provided with a round hole 25, the optical device 24 is accommodated on the cover plate 23 through the round hole 25, and the camera 9 is set to be of a structure comprising the outer shell 22, the cover plate 23 and the, the camera 9 is convenient for the operator to rapidly assemble and disassemble.

When the light source controller works, an operator firstly clamps a workpiece to be assembled firmly through the assembling manipulator 5, then the operator supplies power to the control cabinet 8 to enable the PLC controller to start working, the control cabinet 8 transmits signals to the light source controller 11 through the PLC controller, the light source controller comprises a machine trigger module 13, a central processing module 14, a storage module 15, a light source control module 16, a trigger signal detection module 17 and a power supply module 18, the camera trigger module 13, the storage module 15, the light source control module 16, the trigger signal detection module 17, the power supply module 18 and the central processing module 14 are electrically connected, the camera trigger module 13 is electrically connected with the camera 9, the power supply module 18 supplies power to the whole light source controller 11, the central processing module 14 controls the light source 10 to be lightened through the light source control module 16, and meanwhile, the central processing module 14 controls the camera 9 to execute a photographing instruction through the camera trigger module 13, the camera 9 takes a picture to obtain the position information of the positioning pin 21, the camera 9 can feed the position information back to the central processing module 14 through a TCP/IP (or RS232, Modbus and the like) communication protocol and store the position information through the storage module 15, the trigger signal detection module 17 judges how the workpiece moves according to the position information of the positioning pin 21 and feeds the position information back to the central processing module 14, the central processing module 14 enables the cross shaft motor 32 to rotate through the PLC controller, the cross shaft motor 32 drives the moving component 28 to move left and right along the cross beam component 29, the drag chain is adopted to realize transmission, the assembling manipulator 5 moves up and down and left and right along with the cross beam component, the assembling manipulator 5 completes driving through the air cylinder, the air cylinder is electrically connected with the PLC controller, the air cylinder is provided with a Hall sensor, and the Hall sensor is used for detecting the position relation, when a signal when the workpiece moves right above the positioning pin 21 is received, the positioning process of the workpiece is completed, then the hall sensor transmits a positioning completion signal to the control cabinet 8 through the PLC, the central processing module 14 stops working through the trigger signal detection module 17, the control cabinet 8 enables the vertical shaft motor 31 to start rotating through the PLC, and then the vertical shaft motor 31 drives the moving mechanism 28 to move downwards along the vertical beam assembly 1, so that the assembly of the assembly manipulator 5 to the workpiece is realized.

The utility model is characterized in that: through with vision positioning component 6 through first square hole 7 fixed mounting on mounting panel 4, truss arm 3, mounting panel 4, assembly manipulator 5 and the mutual cooperation between the vision positioning component 6 for the camera is shot the location to locating pin 21 and is shot the location, sends positional information to assembly manipulator 5 through switch board 8, and assembly manipulator 5 carries the work piece that waits to assemble and puts in place the assembly, can replace traditional people's eye to assist the production assembly of work piece.

The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should be covered by the present patent.

Claims

1. Truss robot positioning and assembling system, which is characterized by comprising a vertical beam component (1) and a horizontally arranged test truss (2), wherein the vertical beam component (1) is arranged right above the test truss (2), the vertical beam component (1) comprises a truss mechanical arm (3), a mounting plate (4), an assembling mechanical arm (5) and a visual positioning component (6), the mounting plate (4) is fixedly mounted at the bottom of the truss mechanical arm (3), the assembling mechanical arm (5) is fixedly mounted at the bottom of the mounting plate (4), a first square hole (7) is formed in the mounting plate (4) in a penetrating way, the visual positioning component (6) is fixedly mounted on the mounting plate (4) through the first square hole (7), a moving mechanism (28) is longitudinally arranged on the vertical beam component (1) in a sliding way, and a beam component (29) is transversely arranged on the moving mechanism (28) in a sliding way, the bottom of the cross beam assembly (29) is fixedly connected with a support frame (30), the top end of the vertical beam assembly (1) is fixedly connected with a vertical beam connecting piece (33), the vertical beam connecting piece (33) is fixedly provided with a vertical shaft motor (31), and the side surface of the cross beam assembly (29) is fixedly connected with a horizontal shaft motor (32); still include switch board (8), switch board (8) with vertical axis motor (31) and cross axle motor (32) are electric connection, switch board (8) adopt the PLC controller to realize system control.

2. The truss robot positioning and assembling system according to claim 1, wherein the visual positioning assembly (6) comprises a camera (9), a light source (10) and a light source controller (11), the light source (10) is provided with a second square hole (12) in a penetrating manner, the camera (9) sequentially penetrates through the first square hole (7) and the second square hole (12) and extends to the outside of the light source (10), the camera (9) is fixedly installed on the installation plate (4), and the light source controller (11) is electrically connected with the light source (10).

3. The truss robot positioning and assembling system according to claim 2, wherein the light source controller (11) is electrically connected with the control cabinet (8), the light source controller (11) comprises a camera trigger module (13), a central processing module (14), a storage module (15), a light source control module (16), a trigger signal detection module (17) and a power supply module (18), the camera trigger module (13), the storage module (15), the light source control module (16), the trigger signal detection module (17), the power supply module (18) and the central processing module (14) are all electrically connected, the camera trigger module (13) is electrically connected with the camera (9), the camera trigger module (13) is used for controlling the camera (9) to perform a photographing action, and the central processing module (14) is used for receiving and processing a signal from the trigger signal detection module (17) The storage module (15) is used for storing signals, the light source control module (16) is used for controlling the light source (10) to be turned on or off, and the power supply module (18) is used for supplying electric energy to the whole circuit.

4. The truss robot positioning and assembling system as claimed in claim 1, wherein the test truss (2) is provided with a plurality of truss slots (19), a positioning block (20) is fixedly mounted inside each truss slot (19), and the positioning block (20) is fixedly connected with a positioning pin (21).

5. The truss robot positioning and assembling system as recited in claim 2, wherein the camera (9) comprises an outer shell (22), a cover plate (23) and an optical device (24), one end of the cover plate (23) is detachably mounted on the outer shell (22), a circular hole (25) is formed in the middle of the cover plate (23), and the optical device (24) is accommodated on the cover plate (23) through the circular hole (25).

6. Truss robot positioning and assembling system according to claim 5, wherein the cover plate (23) abuts against the upper surface of the mounting plate (4), the cover plate (23) having a size larger than the first square hole (7).

7. The truss robot positioning and assembling system as recited in claim 5, wherein threaded holes (26) are opened at four corners of the cover plate (23), and the cover plate (23) and the outer shell (22) are screwed together through the threaded holes (26).

8. The truss robot positioning assembly system of claim 2, wherein the light source (10) and the camera (9) are coaxially arranged.

9. The truss robot positioning and assembling system as recited in claim 5, wherein the size of the second square hole (12) and the size of the first square hole (7) are equal, and the size of the second square hole (12) and the size of the first square hole (7) are both larger than the outer diameter of the optical device (24).

10. Truss robot positioning and assembling system according to claim 5, wherein the optical device (24) is sheathed with a protective cover (27).