CN212070974U - Automatic license plate installation equipment of robot - Google Patents
Automatic license plate installation equipment of robot Download PDFInfo
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- CN212070974U CN212070974U CN202020057452.4U CN202020057452U CN212070974U CN 212070974 U CN212070974 U CN 212070974U CN 202020057452 U CN202020057452 U CN 202020057452U CN 212070974 U CN212070974 U CN 212070974U
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- license plate
- plate installation
- backup pad
- automatic license
- manipulator
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Abstract
The utility model provides a robot automatic license plate installation device, which comprises a mechanical system and a visual system connected with the mechanical system; the vision system comprises an industrial personal computer, and a camera, a laser sensor and a distance sensor which are connected with the industrial personal computer; the mechanical system comprises a manipulator and a license plate mounting mechanism connected with the manipulator; the license plate installation mechanism comprises a flat plate, a connecting column fixedly connected with the flat plate, a supporting plate connected with the connecting column in a sliding mode, a first cylinder arranged between the flat plate and the supporting plate, and a width adjusting component arranged on the supporting plate and used for adjusting the distance between the electric screwdriver and the electric screwdriver. The utility model discloses a key technology's such as image acquisition, processing, location integration, simple structure, degree of automation are high, are applicable to the installation of various types license plate.
Description
Technical Field
The utility model relates to an intelligent robot field particularly, relates to an automatic installation license plate equipment of robot.
Background
At present, the installation of license plate is all accomplished through manual installation, and manual installation step is: and penetrating a screw into the fixing and sealing base, aligning the gasket with the mounting hole, penetrating the screw and the base through the license plate base mounting hole, and screwing the screw by using a screwdriver. This manual installation mode wastes time and energy, and the installation effectiveness is low, and intelligent degree is low, can not adapt to the demand of extensive license plate installation operation.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic installation license plate equipment of robot has solved among the prior art manual mounting means and has wasted time and energy, and the installation effectiveness is low, the problem that intelligent degree is low.
In order to solve the technical problem, specifically, the following steps are provided:
a robot automatic license plate installation device comprises a mechanical system and a vision system connected with the mechanical system;
the vision system comprises an industrial personal computer, and a camera, a laser sensor and a distance sensor which are connected with the industrial personal computer;
the mechanical system comprises a manipulator and a license plate mounting mechanism connected with the manipulator;
wherein, camera, laser sensor and distance sensor with the industrial computer is connected, the industrial computer with manipulator and license plate installation mechanism are connected, license plate installation mechanism include dull and stereotyped, with dull and stereotyped fixed connection's spliced pole, with spliced pole sliding connection's backup pad sets up dull and stereotyped with first cylinder between the backup pad, and set up and be in width adjustment subassembly in the backup pad is used for adjusting the distance between the electricity wholesale.
Optionally, according to the utility model discloses an embodiment, width adjusting part includes the second cylinder, is used for pressing from both sides the clamp splice and the bearing slide bar that the clamp screwdriver was criticized, second cylinder fixed connection be in the backup pad upper end, just second cylinder output is connected with the arc piece, clamp splice quantity is 2, and the symmetry sets up in the backup pad, two the clamp splice keep away from each other one side through sliding connection pole with backup pad sliding connection is close to one side each other and is connected with two bearing slide bars respectively, the arc piece is located directly over two bearing slide bars.
Optionally, according to the utility model discloses an embodiment is located be provided with the slide rail in the backup pad of bearing slide bar below, sliding connection has two sliders on the slide rail, two sliders pass through the connecting plate respectively with two the bearing slide bar is connected.
Optionally, according to the utility model discloses an embodiment, the backup pad bottom with be provided with the guide bar between the flat board, guide bar one end with backup pad sliding connection, other end fixed connection be in on the flat board.
Optionally, according to the utility model discloses an implementation mode, license plate installation mechanism still includes a plurality of sucking discs, a plurality of sucking discs set up on the flat board for absorb the license plate.
Optionally, according to the utility model discloses an embodiment, the sliding connection pole with all cup jointed the spring on the guide bar.
Optionally, according to the utility model discloses an embodiment, dull and stereotyped both ends are provided with the infrared light source board that is used for the light filling.
Compared with the prior art, the beneficial effects of the utility model include: the visual system is used for detecting, the license plate mounting mechanism can be automatically positioned and adjusted to be automatically parallel to a plane with a license plate seat of a vehicle, a camera is used for photographing images, the position deviation value is analyzed, the hole spacing and the space coordinate of the license plate seat are calculated, then the license plate is sucked, and the license plate is accurately mounted on the license plate seat, so that the intelligent degree is high. The utility model discloses a key technology's such as image acquisition, processing, location integration, simple structure, degree of automation are high, are applicable to the installation of various types license plate.
Drawings
The disclosure of the present invention is explained with reference to the drawings. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the invention. In the drawings, like reference numerals are used to refer to like parts. Wherein:
fig. 1 is a schematic view of an overall structure of a device for automatically installing a license plate by a robot according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of an apparatus for automatically installing a license plate by a robot according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a license plate mounting mechanism according to an embodiment of the present invention;
fig. 4 is a front view of a license plate mounting mechanism according to an embodiment of the present invention;
fig. 5 is a bottom view of a license plate mounting mechanism according to an embodiment of the present invention;
fig. 6 is a flowchart of a plane alignment procedure according to an embodiment of the present invention.
Detailed Description
It is easily understood that, according to the technical solution of the present invention, a plurality of alternative structural modes and implementation modes can be proposed by those skilled in the art without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical solutions of the present invention, and should not be considered as limiting or restricting the technical solutions of the present invention in their entirety or in any other way.
Referring to fig. 1, fig. 1 shows an overall structure of a device for automatically installing a license plate by a robot in this embodiment, which includes a car shed support 100, a robot 300 and a license plate installation mechanism 400, an arc-shaped rail 21 and a flat rail 22 are disposed on a base surface inside the car shed support 100, wheels on two sides of a vehicle 200 are respectively disposed on the arc-shaped rail 21 and the flat rail 22, and the arc-shaped rail 21 can prevent the vehicle 200 from being displaced.
In order to simultaneously mount the front and rear license plates of the vehicle 200 and improve the working efficiency, the front and rear ends of the carport support 100 are fixedly connected with the manipulators 300, and the tail ends of the manipulators 300 are connected with the license plate mounting mechanism 400.
In this embodiment, the robot 300 is a six-axis joint robot, the model of which may be kawasaki RS020N, and has 6 degrees of freedom, and can receive instructions and accurately position to a certain point on a three-dimensional space to perform operations.
Referring to fig. 2, the robot apparatus for automatically installing a license plate includes a mechanical system and a vision system connected to the mechanical system; the vision system includes the industrial computer and camera 15, laser sensor and the distance sensor 19 of being connected with the industrial computer, and mechanical system includes manipulator 300 and license plate installation mechanism 400 of being connected with manipulator 300, and camera, laser sensor and distance sensor 19 are connected with the industrial computer, the industrial computer with manipulator 300 and license plate installation mechanism 400 are connected. During operation, the camera 15, the laser sensor and the distance sensor 19 transmit detection signals to an industrial personal computer, and the industrial personal computer controls the actions of the manipulator 300 and the license plate mounting mechanism 400.
Referring to fig. 3 to 5, the license plate mounting mechanism 400 includes a flat plate 1, a connecting column 2 fixedly connected to the flat plate 1, a supporting plate 3 slidably connected to the connecting column 2, a first cylinder 8 disposed between the flat plate 1 and the supporting plate 3, and a width adjusting assembly disposed on the supporting plate 3 for adjusting a distance between the electric screwdriver 6.
The camera 15 model is XM-CAM-CIC-5000R, the matched lens is 23XM12FL5, the filter is M32.5, the laser sensor model is kirschner IL-105, and the distance sensor 19 model is kirschner DL-EN 1;
still be provided with a plurality of sucking discs 20 on the flat board 1, sucking disc 20 end-to-end connection has the vacuum tube, starts to open the vacuum valve, can be used for absorbing the license plate.
The width adjusting part includes second cylinder 12, a clamp splice 5 and bearing slide bar 7 for pressing from both sides tight electricity and criticize 6, 12 fixed connection of second cylinder are in 3 upper ends of backup pad, and the 12 output of second cylinder is connected with arc piece 11, 5 quantity of clamp splice is 2, the symmetry sets up in backup pad 3, two clamp splices 5 keep away from one side each other and pass through sliding connection pole 13 and 3 sliding connection of backup pad, it is connected with two bearing slide bars 7 respectively to be close to one side each other, arc piece 11 is located two bearing slide bars 7 directly over, be provided with slide rail 10 on the backup pad 3 that is located bearing slide bar 7 below, sliding connection has two sliders 9 on slide rail 10, two sliders 9 pass through the connecting plate and are connected with two bearing slide bars 7 respectively. The arc block 11 on the second cylinder 12 is pushed downwards and extends into the space between the two bearing sliding rods 7, the two bearing sliding rods 7 are separated and move left and right along the direction of the sliding rail 10, and then the distance between the two electric screwdriver 6 can be adjusted.
Be provided with guide bar 4 between 3 bottoms of backup pad and the flat board 1, 4 one ends of guide bar and 3 sliding connection of backup pad, other end fixed connection all cup jointed the spring on sliding connection pole 13 and the guide bar 4 on dull and stereotyped 1. Under the extension of the first air cylinder 8, the support plate 3 and the width adjusting assembly connected to the support plate 3 move downwards along the direction of the guide rod 4, the spring on the guide rod 4 is compressed, and the electric screwdriver 6 penetrates out of the oval hole 23.
In order to ensure the imaging effect of the camera 15, infrared light source plates 14 for light supplement are disposed at two ends of the flat plate 1.
The utility model also provides a robot automatic license plate installation method, this method includes following step:
step (1): setting an initial position, setting a vehicle coordinate, a license plate installation mechanism coordinate and a license plate coordinate in a space, and respectively moving the vehicle 200, the license plate installation mechanism 400 and the license plate to corresponding coordinate positions;
step (2): searching a license plate seat by using a camera 15, wherein the license plate seat is the position of the front end part and the rear end part of a vehicle 200 for installing a license plate, moving the license plate installation mechanism 400 to a preset photographing position, photographing by using the camera 15 to obtain image information, transmitting the image information to an industrial personal computer, carrying out data comparison on the image information and a built-in original image template by using the industrial personal computer, judging whether the license plate seat is in a field of view by identifying a bolt hole in the image information, if not, driving the license plate installation mechanism 400 to sequentially and vertically lift by 200MM by using a manipulator 300, and confirming again until the license plate seat enters the photographing field of view of the camera 15;
and (3): detecting the distance between the license plate installation mechanism 400 and the license plate seat by using a distance sensor 19, executing the step (4) when the license plate installation mechanism 400 reaches a certain distance near the license plate seat and the license plate seat enters the field of view of the camera 15, otherwise executing the step (2);
and (4): the planes are parallel, the distances between the license plate installation mechanism 400 and the license plate seat are respectively measured by using three laser sensors to obtain corresponding distances J1, J2 and J3, the distances are transmitted to an industrial personal computer and input into a plane aligning program, the license plate installation mechanism 400 is adjusted to be parallel to the license plate seat according to a three-point coplanarity principle, and the spatial attitude information of the license plate installation mechanism 400 at the moment is recorded;
referring to fig. 6, a flow chart of the planar program is shown, which mainly includes the following steps:
(1) measuring the distances between the license plate installation mechanism 400 and the license plate seat through three laser sensors to respectively obtain corresponding distances J1, J2 and J3;
(2) calculating differences J12 and J13, wherein J12 is J1-J3, and J13 is J1-J2;
(3) judging whether J12 and J13 satisfy-1 < J12 < 1 and-1 < J13 < 1, and when the J12 and the J13 satisfy the conditions, finishing the plane adjustment; when not satisfied, executing step (4);
(4) respectively judging whether J12 is more than or equal to 1, if so, executing the license plate installation mechanism to rotate about the horizontal direction by-0.1 degree, and if not, no action is carried out;
judging whether J12 is less than or equal to-1, if so, executing the license plate mounting mechanism to rotate 0.1 degrees around the horizontal direction, and if not, no action is taken;
judging whether J13 is more than or equal to 1, if so, executing the license plate installation mechanism to rotate around the vertical direction by-0.1 degree, and if not, no action is carried out;
judging whether J12 is less than or equal to-1, if so, executing the license plate mounting mechanism to rotate by 0.1 degrees around the vertical direction, and if not, no action is taken;
(5) and (4) returning to the step (1) and circulating until the parallel of the planes is completed.
And (5): driving the license plate mounting mechanism 400 to return to the preset photographing position in the step (2), photographing by using the camera 15 to obtain image information, transmitting the image information to an industrial personal computer, comparing the image information with a built-in original picture template, calculating a hole position deviation value of a license plate seat bolt hole and a license plate seat bolt hole on the original picture template, and a license plate seat position deviation value of the license plate seat and a license plate seat on the original picture template, controlling the second cylinder 12 by the industrial personal computer according to the hole position deviation value to correspondingly adjust the distance between the two electric batches 6, and calculating a license plate seat space coordinate by the industrial personal computer according to the position deviation value and the license plate seat space coordinate of the original picture template;
and (6): moving the license plate installation mechanism 400 to a license plate coordinate, opening a vacuum valve under the control of an industrial personal computer, sucking a license plate by a sucker 20, arranging a screw on the license plate in advance, adjusting the spatial attitude of the license plate installation mechanism 400 according to the spatial attitude information obtained in the step (4), and moving the license plate installation mechanism 400 to a corresponding position according to the license plate seat spatial coordinate obtained in the step (5);
and (7): the industrial control machine controls to start the first air cylinder 8 and the electric screwdriver 6, the first air cylinder 8 pulls the electric screwdriver 6 to penetrate out of the elliptical hole 23, the screw is screwed, and license plate installation is accurately completed.
To sum up, the beneficial effects of the utility model include: the visual system is used for detecting, the license plate mounting mechanism can be automatically positioned and adjusted to be automatically parallel to a plane with a license plate seat of a vehicle, a camera is used for photographing images, the position deviation value is analyzed, the hole spacing and the space coordinate of the license plate seat are calculated, then the license plate is sucked, and the license plate is accurately mounted on the license plate seat, so that the intelligent degree is high. The utility model discloses a key technology's such as image acquisition, processing, location integration, simple structure, degree of automation are high, are applicable to the installation of various types license plate.
The technical scope of the present invention is not limited to the content in the above description, and those skilled in the art can make various modifications and alterations to the above embodiments without departing from the technical spirit of the present invention, and these modifications and alterations should fall within the protection scope of the present invention.
Claims (8)
1. A robot automatic license plate installation device is characterized by comprising a mechanical system and a vision system connected with the mechanical system;
the vision system comprises an industrial personal computer, and a camera, a laser sensor and a distance sensor which are connected with the industrial personal computer;
the mechanical system comprises a manipulator and a license plate mounting mechanism connected with the manipulator;
wherein, camera, laser sensor and distance sensor with the industrial computer is connected, the industrial computer with manipulator and license plate installation mechanism are connected, license plate installation mechanism include dull and stereotyped, with dull and stereotyped fixed connection's spliced pole, with spliced pole sliding connection's backup pad sets up dull and stereotyped with first cylinder between the backup pad, and set up and be in width adjustment subassembly in the backup pad is used for adjusting the distance between the electricity wholesale.
2. The automatic license plate installation equipment of robot of claim 1, characterized in that, the width adjustment subassembly includes the second cylinder, is used for pressing from both sides tight clamp splice and the bearing slide bar of screwdriver, the second cylinder fixed connection is in the backup pad upper end, and the second cylinder output end is connected with the arc piece, the clamp splice quantity is 2, the symmetry sets up in the backup pad, two the clamp splice keep away from each other one side through sliding connection pole with the backup pad sliding connection, be close to each other one side and be connected with two bearing slide bars respectively, the arc piece is located two bearing slide bars directly over.
3. The robotic automatic license plate installation device of claim 2, wherein a slide rail is disposed on the support plate below the bearing slide rod, and two slide blocks are slidably connected to the slide rail and are respectively connected to the two bearing slide rods through a connecting plate.
4. The robotic automatic license plate installation device of claim 1, wherein a guide bar is disposed between the bottom of the support plate and the flat plate, one end of the guide bar is slidably connected to the support plate, and the other end of the guide bar is fixedly connected to the flat plate.
5. The robotic automatic license plate installation apparatus of claim 1, wherein the license plate installation mechanism further comprises a plurality of suction cups, the plurality of suction cups being disposed on the plate for sucking a license plate.
6. The robotic automatic license plate installation device of claim 2, wherein a spring is sleeved on the sliding connecting rod.
7. The robotic automatic license plate installation device of claim 4, wherein a spring is sleeved on the guide rod.
8. The robotic automatic license plate installation device of claim 1, wherein infrared light source plates for light supplement are provided at both ends of the flat plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020057452.4U CN212070974U (en) | 2020-01-13 | 2020-01-13 | Automatic license plate installation equipment of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020057452.4U CN212070974U (en) | 2020-01-13 | 2020-01-13 | Automatic license plate installation equipment of robot |
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| CN212070974U true CN212070974U (en) | 2020-12-04 |
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| CN202020057452.4U Active CN212070974U (en) | 2020-01-13 | 2020-01-13 | Automatic license plate installation equipment of robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743431A (en) * | 2020-12-25 | 2021-05-04 | 广州飞机维修工程有限公司 | Aircraft surface polishing robot device and polishing method |
| CN113119087A (en) * | 2021-03-29 | 2021-07-16 | 珠海格力智能装备有限公司 | Shell and tube expansion joint control method and system and storage medium |
-
2020
- 2020-01-13 CN CN202020057452.4U patent/CN212070974U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743431A (en) * | 2020-12-25 | 2021-05-04 | 广州飞机维修工程有限公司 | Aircraft surface polishing robot device and polishing method |
| CN113119087A (en) * | 2021-03-29 | 2021-07-16 | 珠海格力智能装备有限公司 | Shell and tube expansion joint control method and system and storage medium |
| CN113119087B (en) * | 2021-03-29 | 2022-05-17 | 珠海格力智能装备有限公司 | Shell and tube expansion joint control method and system and storage medium |
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