CN210997015U - Automobile body projection welding workstation based on 2D vision guide - Google Patents
Automobile body projection welding workstation based on 2D vision guide Download PDFInfo
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- CN210997015U CN210997015U CN201921632110.4U CN201921632110U CN210997015U CN 210997015 U CN210997015 U CN 210997015U CN 201921632110 U CN201921632110 U CN 201921632110U CN 210997015 U CN210997015 U CN 210997015U
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Abstract
The utility model relates to an automobile body projection welding workstation based on 2D vision guide, this workstation include projection welding machine, nut conveyer, material loading platform and robot, projection welding machine and robot set up relatively, nut conveyer set up in projection welding machine one side, the material loading platform set up in the robot side, the robot on be equipped with the tongs that is used for snatching the material loading bench automobile body part and be used for guiding the tongs and snatch the first 2D vision director of automobile body part, robot one side be equipped with and be used for guiding the second 2D vision director that the tongs sent automobile body part to projection welding machine, tongs, first 2D vision director and second 2D vision director all be connected to automatic control. Compared with the prior art, the utility model discloses weldment work station flexibility is good, be suitable for various types of automobile body parts, intelligent degree is high.
Description
Technical Field
The utility model relates to an automobile body projection welding workstation especially relates to an automobile body projection welding workstation based on 2D vision guide.
Background
Projection welding is an important car body connection process as a common resistance welding, and the existing projection welding is manually welded, so that the automation degree is low, the welding spot efficiency is poor, and in addition, the welding quality of projection welding is manually monitored, so that the projection welding cost is overlarge.
A few automatic projection welding cases depend on mechanical positioning, the flexibility of an automatic station is poor, the model changing is complex, and too many model changing tools occupy a large field and can lead to the cost rise of a workstation simultaneously when switching over multiple products. In addition, the 3D vision system is relatively too high in cost, and popularization is influenced by factors such as cost and failure rate.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an automobile body projection welding workstation based on 2D vision guide in order to overcome the defect that above-mentioned prior art exists.
The purpose of the utility model can be realized through the following technical scheme:
the utility model provides an automobile body projection welding workstation based on 2D vision guide, this workstation includes projection welding machine, nut conveyer, material loading platform and robot, projection welding machine and robot set up relatively, the nut conveyer set up in projection welding machine one side, the material loading platform set up in the robot side, the robot on be equipped with the tongs that is used for snatching the automobile body part on the material loading platform and be used for guiding the tongs to snatch the first 2D vision director of automobile body part, robot one side be equipped with and be used for guiding the second 2D vision director that the tongs sent the automobile body part to projection welding machine, tongs, first 2D vision director and second 2D vision director all be connected to automatic control.
The two feeding tables are symmetrically distributed on two sides of the robot.
The feeding table comprises a support, a table top used for placing vehicle body parts and a sliding assembly used for the table top to move horizontally, and the table top is fixed on the support through the sliding assembly.
The sliding assembly comprises sliding rails, the sliding rails are fixed on two sides of the support, the side face of the table top is arranged in the sliding rails in a sliding mode through pulleys, and the table top is further connected with a pushing cylinder.
The gripper and the first 2D vision guider are fixedly connected to the robot moving shaft through the mounting plate, and when the vehicle body parts are grabbed, the gripper and the first 2D vision guider are located right above the feeding table.
The first 2D visual guide includes a first camera lens.
The second 2D visual director includes a second camera lens.
The automatic controller comprises a P L C controller.
Compared with the prior art, the utility model has the advantages of as follows:
firstly, the flexibility is better: the utility model discloses projection welding workstation material loading bench does not have location frock, snatchs the part through the robot and accomplishes the material loading, and the robot can snatch the part of all similar characteristics in certain size range, and follow-up new product that increases need not extra input, only needs to increase new procedure.
Secondly, the model change is convenient: when the product is remodeled, only the product program is switched, the tool does not need to be replaced, the tool clamp does not need to be stored in a redundant field on site, and the remodelling time is shorter.
Thirdly, the intellectualization is higher: adopt 2D vision director guide material loading, intelligent degree is higher, not only can discern whether the part is correct, also can realize relevant data statistics, production data record etc..
Drawings
FIG. 1 is a top view of a projection welding workstation for a vehicle body based on 2D vision guidance;
fig. 2 is a schematic view of the installation structure of the gripper and the first 2D vision guide of the present invention.
In the figure, 1 is a projection welding machine, 2 is a nut conveyor, 3 is a feeding table, 4 is a robot, 5 is a first 2D vision guider, 6 is a second 2D vision guider, 7 is a gripper, 8 is a P L C controller, 9 is a mounting plate, 10 is a connecting flange, and 11 is an electromagnetic valve.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Note that the following description of the embodiments is merely an example of the nature, and the present invention is not intended to limit the application or the use thereof, and the present invention is not limited to the following embodiments.
Examples
As shown in fig. 1, an automobile body projection welding workstation based on 2D vision guidance comprises a projection welding machine 1, a nut conveyor 2, a feeding table 3 and a robot 4, wherein the projection welding machine 1 and the robot 4 are oppositely arranged, the nut conveyor 2 is arranged on one side of the projection welding machine 1, the feeding table 3 is arranged on the side surface of the robot 4, a gripper 7 for gripping a body part on the feeding table 3 and a first 2D vision guider 5 for guiding the gripper 7 to grip the body part are arranged on the robot 4, a second 2D vision guider 6 for guiding the gripper 7 to send the body part to the projection welding machine 1 is arranged on one side of the robot 4, the gripper 7, the first 2D vision guider 5 and the second 2D vision guider 6 are all connected to an automatic controller, the first 2D vision guider 5 comprises a first camera lens, the second 2D vision guider 6 comprises a second camera lens, and the automatic controller comprises a P L C controller 8.
As shown in fig. 2, the gripper 7 and the first 2D vision guide 5 are fixedly connected to a moving shaft of the robot 4 through a mounting plate 9, the mounting plate 9 is fixedly connected to the moving shaft of the robot 4 through a connecting flange 10, when a vehicle body part is gripped, the gripper 7 and the first 2D vision guide 5 are located right above the loading table 3, the gripper 7 is connected to an electromagnetic valve 11, and the clamping and the opening of the gripper 7 are controlled through the electromagnetic valve 11.
Two feeding tables 3 are arranged and symmetrically distributed on two sides of the robot 4. The feeding table 3 comprises a support, a table top used for placing vehicle body parts and a sliding assembly used for horizontally moving the table top, and the table top is fixed on the support through the sliding assembly. The sliding assembly comprises sliding rails which are fixed on two sides of the support, the side face of the table top is arranged in the sliding rails in a sliding mode through pulleys, and the table top is further connected with a pushing cylinder.
The utility model discloses automobile body projection welding workstation's theory of operation based on 2D vision guide:
first step, the material loading of automobile body part on the material loading platform 3: during the material loading, promote the cylinder withdrawal, the mesa withdrawal is located the material loading level, arranges the automobile body part in on the mesa, then promotes the cylinder and stretches out, drives the mesa slip extension and is located the position of grabbing.
Step two, the robot 4 feeds to the projection welding machine 1: the robot 4 moves the shaft to move, the gripper 7 and the first camera lens are driven to move right above the table board of the feeding table 3, the first camera lens recognizes the automobile body part and obtains the coordinate position of the automobile body part through photographing, the position is transmitted to the robot 4, the robot 4 grasps the automobile body part according to the real-time position, considering that small displacement may exist when the automobile body part is grasped, the robot 4 moves to the position above the second camera lens to photograph again, the deviation of the welding hole position is obtained, after the deviation is calculated, the robot 4 moves to the position of the projection welding machine 1, the deviation is added to the path, and the automobile body part is placed in place.
And thirdly, the nut conveyor 2 conveys the nuts to the projection welding machine 1.
And fourthly, welding by the projection welding machine 1, and taking down the part by the robot 4 and putting the part into an assembly material box after the welding is finished.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (8)
1. A vehicle body projection welding workstation based on 2D vision guidance is characterized by comprising a projection welding machine (1), a nut conveyor (2), a feeding table (3) and a robot (4), the projection welding machine (1) and the robot (4) are arranged oppositely, the nut conveyor (2) is arranged at one side of the projection welding machine (1), the feeding table (3) is arranged on the side surface of the robot (4), the robot (4) is provided with a gripper (7) for gripping the car body parts on the feeding table (3) and a first 2D visual guide (5) for guiding the gripper (7) to grip the car body parts, one side of the robot (4) is provided with a second 2D visual guider (6) used for guiding the gripper (7) to send the vehicle body parts to the projection welding machine (1), the gripper (7), the first 2D visual guide (5) and the second 2D visual guide (6) are all connected to the automatic controller.
2. The vehicle body projection welding workstation based on 2D vision guidance is characterized in that the two feeding tables (3) are arranged and symmetrically distributed on two sides of the robot (4).
3. The vehicle body projection welding workstation based on 2D vision guidance is characterized in that the feeding table (3) comprises a support, a table top for placing vehicle body parts and a sliding assembly for horizontally moving the table top, and the table top is fixed on the support through the sliding assembly.
4. The automobile body projection welding workstation based on 2D vision guidance of claim 3, characterized in that the sliding assembly comprises sliding rails fixed on two sides of the support, the side surfaces of the table top are slidably arranged in the sliding rails through pulleys, and the table top is further connected with a pushing cylinder.
5. The automobile body projection welding workstation based on 2D vision guidance is characterized in that the hand grip (7) and the first 2D vision guide (5) are fixedly connected to a moving shaft of the robot (4) through a mounting plate (9), and when a body part is grabbed, the hand grip (7) and the first 2D vision guide (5) are located right above the feeding table (3).
6. The vehicle body projection welding workstation based on 2D vision guidance according to claim 1, characterized in that the first 2D vision guide (5) comprises a first camera lens.
7. The vehicle body projection welding workstation based on 2D vision guidance according to claim 1, characterized in that the second 2D vision guide (6) comprises a second camera lens.
8. The vehicle body projection welding workstation based on 2D vision guidance as claimed in claim 1, characterized in that the automatic controller comprises a P L C controller (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921632110.4U CN210997015U (en) | 2019-09-28 | 2019-09-28 | Automobile body projection welding workstation based on 2D vision guide |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921632110.4U CN210997015U (en) | 2019-09-28 | 2019-09-28 | Automobile body projection welding workstation based on 2D vision guide |
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| CN210997015U true CN210997015U (en) | 2020-07-14 |
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| CN201921632110.4U Active CN210997015U (en) | 2019-09-28 | 2019-09-28 | Automobile body projection welding workstation based on 2D vision guide |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112570871A (en) * | 2019-09-28 | 2021-03-30 | 上海安莱德汽车零部件有限公司 | Automobile body projection welding workstation based on 2D vision guide |
| CN112620908A (en) * | 2020-12-28 | 2021-04-09 | 武汉智艾德科技有限公司 | Automatic projection welding system and method based on robot and vision matching |
| CN112894105A (en) * | 2021-01-27 | 2021-06-04 | 一汽解放汽车有限公司 | Vehicle crossbeam projection welding system |
-
2019
- 2019-09-28 CN CN201921632110.4U patent/CN210997015U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112570871A (en) * | 2019-09-28 | 2021-03-30 | 上海安莱德汽车零部件有限公司 | Automobile body projection welding workstation based on 2D vision guide |
| CN112620908A (en) * | 2020-12-28 | 2021-04-09 | 武汉智艾德科技有限公司 | Automatic projection welding system and method based on robot and vision matching |
| CN112894105A (en) * | 2021-01-27 | 2021-06-04 | 一汽解放汽车有限公司 | Vehicle crossbeam projection welding system |
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