CN212352025U - End effector recognition system and automobile production line - Google Patents
End effector recognition system and automobile production line Download PDFInfo
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- CN212352025U CN212352025U CN202020357139.2U CN202020357139U CN212352025U CN 212352025 U CN212352025 U CN 212352025U CN 202020357139 U CN202020357139 U CN 202020357139U CN 212352025 U CN212352025 U CN 212352025U
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Abstract
The utility model provides an end effector recognition system and an automobile production line, wherein the recognition system comprises two groups of identification codes, a reader, a controller and an alarm, and one group of identification codes are respectively arranged on an end effector supporting rod and store first data; the other group of identification codes are respectively arranged on the pickup main rod/the socket on the main disc and store second data; the corresponding first data and the second data are also matched one by one; the reader is used for reading the identification code and transmitting the read data to the controller, the controller is configured to compare the data in the identification code of each socket and the corresponding support rod, and if the data do not correspond to the data in the identification code of the corresponding support rod, a signal is sent to the alarm. The utility model discloses whether can accurate discernment end effector changes the mistake because of the artificial reason.
Description
Technical Field
The utility model belongs to the technical field of the car is automatic, concretely relates to end effector identification system and car production line.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The robot/manipulator replaces manpower to be widely applied, so that the production efficiency is greatly improved, and the labor cost is reduced. Therefore, the robot/manipulator has wide application in the technical fields of intelligent control, automatic assembly and the like.
In the assembly of automobiles, the pick-up for the next batch production of the robot/manipulator is generally replaced on the main rod/main disc of the pick-up to be replaced by an operator, and after the production of the current batch is completed, the robot/manipulator automatically exchanges the pick-up of the current batch and the pick-up of the next batch. However, in the process, an operator participates in the process of replacing the end effector, and the fault/danger in the subsequent production process caused by the fact that the inserting rod of the end effector is replaced by mistake due to human errors is inevitable.
To the inventors' knowledge, the current solutions include two types:
the first method is to arrange the checking personnel for checking, but in this way, for the automobile punching line, a plurality of positions need to replace the end pick-up, and if each replacing position is provided with one checking personnel, more manpower investment is needed; meanwhile, the time for replacing the end pick-up is limited, and the operator inevitably makes mistakes, so that statistics shows that about 3% of error rate exists in newly checked personnel and about 1% of error rate exists in skilled personnel, and the problems of missed detection, wrong detection and the like are still caused.
Another way is to use different colors to distinguish between different end-effector stems/discs and end-effector struts, but this also presents certain problems: a vehicle model is not produced by an automobile stamping line, each end effector needs to be compared with the vehicle model and also needs to show information such as machine parts, installation positions and the like, so that a plurality of colors need to be sprayed on a supporting rod of the end effector for representation, but the surface area of the supporting rod is very limited, the colors cannot be sprayed generally, even if the colors are sprayed, the occupied area of each color is very limited, and the colors are difficult to observe and distinguish, so that the condition of human errors still exists.
Disclosure of Invention
The utility model discloses a solve above-mentioned problem, provided an end effector identification system and automobile production line, the utility model discloses can discern whether the end effector is artificial to be changed the mistake.
According to some embodiments, the utility model adopts the following technical scheme:
an end effector identification system comprising an identification code, a reader, a controller, and an alarm, wherein:
the identification codes comprise two groups, one group of identification codes is respectively arranged on the end effector supporting rod and stores first data;
the other group of identification codes are respectively arranged on the pickup main rod/the socket on the main disc and store second data;
the corresponding first data and the second data are also matched one by one;
the reader is used for reading the identification code and transmitting the read data to the controller, the controller is configured to compare the data in the identification code of each socket and the corresponding support rod, and if the data do not correspond to the data in the identification code of the corresponding support rod, a signal is sent to the alarm.
As an alternative embodiment, the first data comprises a corresponding production part number and a corresponding socket number.
As an alternative embodiment, the second data is the current outlet number.
Of course, in other embodiments, the first data or/and the second data may be other types of data.
As an alternative embodiment, the controller is a logic controller.
As an alternative embodiment, the identification code is an RFID tag.
The reader is an RFID reader-writer.
As an alternative embodiment, the identification code is a two-dimensional code.
The reader is a two-dimensional code scanner.
As an alternative embodiment, the identification code is a bar code.
The reader is a bar code scanner.
Of course, in other embodiments, other types of identification codes may be used, so long as data can be stored and represented.
There may be a plurality of identification codes per group.
Alternatively, the reader may be hand-held or stationary, but the stationary position is required to ensure that the identification code on each end-effector bar/disk or mast is within the reading range. Alternatively, the distance between the identification code on the main bar/disk or the branch bar of each end effector and the reader may be within a readable range.
In an alternative embodiment, the alarm is one of a multichannel recordable alarm, a human-machine interaction module HMI, a light alarm, an audible alarm and an audible and visual alarm.
An automobile production line comprises the end effector identification system.
Other devices, such as a punching robot, may also be provided in the automobile production line, which is not limited herein.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a data phase-match of configuration end effector branch and the identification code that corresponds the socket can read out corresponding identification code internal data through reading the ware, and whether the controller matches/the one-to-one according to two data, just can accurately discern whether the end effector changes the mistake because of the human reason, has prevented to change the end effector inserted bar mistake and lead to breaking down/danger in the follow-up production process because of the human error.
Drawings
The accompanying drawings, which form a part of the specification, 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 without unduly limiting the scope of the invention.
FIG. 1 is a schematic structural diagram of the first embodiment;
fig. 2 is a diagram of a process of using the first embodiment.
Wherein: 1. an end effector stem/master; 2. an end effector support bar; 3. an RFID electronic tag at the end effector main rod/main disc socket; 4. an RFID electronic tag on the end effector support bar; 5. an RFID reader; 6. a logic controller; 7. an RFID reader communication line; 8. an alarm prompter; 9. and an alarm communication line.
The specific implementation mode is as follows:
the present invention will be further explained with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, the terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, and are only the terms determined for convenience of describing the structural relationship of each component or element of the present invention, and are not specific to any component or element of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be fixedly connected, or may be integrally connected or detachably connected; may be directly connected or indirectly connected through an intermediate. The meaning of the above terms in the present invention can be determined according to specific situations by persons skilled in the art, and should not be construed as limiting the present invention.
The first embodiment is as follows:
end effector identification system specifically includes:
an RFID tag at each socket on the end effector stem/master;
an RFID electronic tag on the end effector support bar;
an RFID reader;
a logic controller;
an alarm prompter.
An RFID tag is added to the end effector bar where the edit or store can be the corresponding production part number and the corresponding socket number.
Adding a corresponding RFID tag at each socket on the end-effector stem/master, the editing or storing content in each RFID tag may be: the current outlet number.
And firstly reading the RFID electronic tags of the socket on the main rod/main disc of the end effector by using an RFID reader-writer, and then reading the RFID electronic tags on the supporting rods of the end effector on the socket by using the RFID reader-writer.
Of course, the RFID reader may be used to read the RFID tag on a certain pickup arm of the socket, and then read the RFID tag of the corresponding pickup main rod/main disc socket.
And the information data read by the RFID reader-writer is transmitted to a logic controller (PLC), and the logic controller (PLC) compares whether the current socket number of the RFID electronic tag data of the socket on the main rod/main disc of the end effector corresponds to the socket number corresponding to the data of the RFID electronic tag on the supporting rod of the end effector. If not, sending a signal to an alarm prompter to alarm.
Meanwhile, the alarm prompter can also display information or make a sound to prompt an operator and give a prompt indicating which pickup supporting rod with the error should be inserted into which socket of the main rod/main disc of which pickup. Providing error correction functionality.
If not, the inserted link error exists, the operator can verify, process and replace after verification, and detect again until the inserted link error exists.
If the inserted link is not in error, the logic controller (PLC) sends a change complete signal to the robot to prepare for the next assembly.
Of course, as shown in fig. 2, in the present embodiment, a handheld RFID reader is used, and a computer is used as a relay device between the RFID reader and the logic controller. In other embodiments, other readers may be used, other types of controllers may be used, and accordingly, any relay device may not be used.
Example two:
different from the first embodiment, the RFID electronic tag is replaced by a bar code. The bar code at each socket on the pick-up boom/main disc is mounted near each socket on the pick-up boom/main disc, and the bar code records the number of the current socket. For example, the bar code content of a certain socket is RB1-A1 (robot 1-A face-1 socket).
The bar code on the end effector supporting rod is arranged on each end effector supporting rod, and the bar code records the content such as the production part number corresponding to the current end effector supporting rod, the corresponding socket number and the like. For example, the bar code content on a certain support is 100-RB1-A1 (part number 100-robot 1-A face-1 socket).
The bar code scanner is connected with the logic controller (PLC) and used for reading the data content of the bar code and sending the read data content to the logic controller (PLC).
The bar code scanner can read the data of the bar code of a certain socket firstly and then read the data of the bar code on the supporting rod arranged on the socket.
Of course, the data of the bar code on one of the end effector support bars may be read first, and then the data of the bar code corresponding to the socket mounted on the end effector support bar may be read.
And the logic controller (PLC) is connected with the bar code scanner and is used for judging whether the data information sent by the bar code scanner twice is consistent or not and giving a result. If the bar code data RB1-A1 of the main rod/main disk socket of the end pick-up is consistent with the bar code data RB1-A1 in the bar code data 100-RB1-A1 on the supporting rod, the judgment is normal, and if the bar code data RB1-A1 is inconsistent with the bar code data RB1-A1, an alarm prompt is given.
The alarm prompter is connected with the logic controller and is used for prompting according to different signals sent by the logic controller, such as correct replacement, incorrect/wrong replacement of the end pick-up support rod to be inserted into which socket of the main rod/main disc of which end pick-up.
Of course, the above data are merely examples, and in other embodiments, the contents of the tag are not limited to 100-RB1-A1 and RB 1-A1.
The alarm prompter is not limited to a multi-channel recordable alarm and a human-computer interaction interface HMI, and covers all sound and visual equipment capable of prompting an operator.
Example three:
different from the first embodiment and the second embodiment, the identification code in the present embodiment is a two-dimensional code.
The reader can be a two-dimensional code scanning gun or an electronic device such as a smart phone.
The controller is an embedded microcontroller.
Example four:
unlike the above embodiments, the reader is fixed, and the distance between the fixed position of the reader and the identification code on the main bar/main disc or branch of each end-effector is less than the maximum readable distance of the reader.
Of course, in some embodiments, in order to ensure that the identification code is not easily damaged, a protective film may be disposed on the surface of the identification code, such as the RFID electronic tag, the barcode, and the like, as exemplified above. Of course, the protective film does not interfere with the normal use of the reader.
Meanwhile, fig. 1 and 2 are merely examples, and the picking up device according to the above embodiment covers all tools for grabbing a workpiece by a robot that manually connects a main bar with a main bar/main disc, and is not limited to the structure shown in fig. 1 and 2.
Example five:
an automotive production line comprising the end effector identification system of any one of embodiments one to four.
Of course, the application example of the end effector identification system is in the automobile production line, and the end effector identification system can also be applied to other technical fields, and the reason should belong to the utility model discloses a protection scope.
Meanwhile, the automobile production line also comprises the original necessary equipment of the production line, such as a transportation system, a framing system and the like, which are not described in detail herein. And the system can also comprise a plurality of robots, transport trolleys and the like, which are not described herein.
In the embodiment, the provided identification system can accurately identify whether the end effector is replaced wrongly due to human reasons, and prevents the occurrence of faults/dangers in the subsequent production process caused by the fact that the insertion rod of the end effector is replaced wrongly due to human errors.
Meanwhile, according to configuration, the system can give an accurate prompt when the replacement is wrong, and guide an operator to insert the end effector supporting rod at the position to realize error correction.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (10)
1. An end effector identification system characterized by: including identification code, reader, controller and alarm, wherein:
the identification codes comprise two groups, one group of identification codes is respectively arranged on the end effector supporting rod and stores first data;
the other group of identification codes are respectively arranged on the pickup main rod/the socket on the main disc and store second data;
the corresponding first data and the second data are also matched one by one;
the reader is used for reading the identification code and transmitting the read data to the controller, the controller is configured to compare the data in the identification code of each socket and the corresponding support rod, and if the data do not correspond to the data in the identification code of the corresponding support rod, a signal is sent to the alarm.
2. The end effector identification system of claim 1, wherein: the first data includes a corresponding production part number and a corresponding socket number.
3. The end effector identification system of claim 1, wherein: the second data is the current socket number.
4. The end effector identification system of claim 1, wherein: the controller is a logic controller.
5. The end effector identification system of claim 1, wherein: the identification code is an RFID electronic tag;
the reader is an RFID reader-writer.
6. The end effector identification system of claim 1, wherein: the identification code is a two-dimensional code;
the reader is a two-dimensional code scanner.
7. The end effector identification system of claim 1, wherein: the identification code is a bar code;
the reader is a bar code scanner.
8. The end effector identification system of claim 1, wherein: the reader is a handheld reader;
or, the reader is a fixed reader, and the fixed position is in the readable range of the identification code on the main rod/main disc or branch rod of each end effector.
9. The end effector identification system of claim 1, wherein: the alarm is one of a multi-channel recordable alarm, a man-machine interaction module, a light alarm, a sound alarm and an audible and visual alarm.
10. The utility model provides an automobile production line, characterized by: comprising the end effector identification system of any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020357139.2U CN212352025U (en) | 2020-03-19 | 2020-03-19 | End effector recognition system and automobile production line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020357139.2U CN212352025U (en) | 2020-03-19 | 2020-03-19 | End effector recognition system and automobile production line |
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| CN212352025U true CN212352025U (en) | 2021-01-15 |
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| CN202020357139.2U Active CN212352025U (en) | 2020-03-19 | 2020-03-19 | End effector recognition system and automobile production line |
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Effective date of registration: 20220420 Address after: 510000 room 3508-3510, No. 983, East Huangpu Avenue, Huangpu District, Guangzhou, Guangdong Province (office only) Patentee after: Guangzhou dabaowen Automobile Equipment Group Co.,Ltd. Address before: 510799 No.9, 49, courtyard 41, Lixiang Road, Huangpu District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU DABAOWEN ELECTROMECHANICAL EQUIPMENT Co.,Ltd. |