CN215141628U - 3D vision automobile punching part rubber coating system of robot - Google Patents
3D vision automobile punching part rubber coating system of robot Download PDFInfo
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- CN215141628U CN215141628U CN202121612271.4U CN202121612271U CN215141628U CN 215141628 U CN215141628 U CN 215141628U CN 202121612271 U CN202121612271 U CN 202121612271U CN 215141628 U CN215141628 U CN 215141628U
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Abstract
The utility model discloses a 3D vision automobile punching part rubber coating system of robot, include the base and be used for placing automobile punching part's rack, install the rubber coating robot on the base, the end of rubber coating robot is equipped with glues the rifle and is used for treating the three-dimensional sensor that rubber coated automobile punching part carried out the scanning, and the rubber coating robot is controlled by the robot control cabinet, three-dimensional sensor and robot control cabinet all are connected with industrial computer control, the industrial computer basis three-dimensional sensor's scanning information control rubber coating robot carries out the rubber coating to automobile punching part. The utility model discloses a 3D vision automobile punching part rubber coating system of robot passes through three-dimensional sensor and shoots automobile punching part's two dimension and three-dimensional data to combine the automatic rubber coating orbit generation algorithm of industrial computer, can realize quick, accurate guide rubber coating robot and accomplish automobile punching part rubber coating, finally reach the purpose that improves production efficiency and practice thrift the human cost.
Description
Technical Field
The utility model relates to an auto-parts makes and the rubber coating field, concretely relates to 3D vision automobile punching part rubber coating system of robot.
Background
In the automobile assembly manufacturing industry, stamping parts such as automobile doors, engine covers, trunk lids and the like of automobiles are originally connected by spot welding after the inner cover plate and the outer cover plate are folded, but the process adds a plurality of pits caused by welding on the surface of an automobile body, and the appearance quality of the automobile body is seriously influenced. In order to solve the problem, the method of bonding instead of spot welding is generally adopted to produce the folded edge structures of the automobile door, the engine hood and the trunk, and the folded edges of the automobile stamping parts need to be glued in the production process. The gluing process of the conventional automobile stamping part is mostly finished manually, so that time and labor are wasted, and the quality is uneven.
Chinese patent application No. 2011205717.5 discloses an automobile punching press assembly rubber coating system, including rubber coating rifle and the workstation that is used for bearing automobile punching press assembly, the workstation includes the lower carriage and is used for supporting the upper bracket of door, the upper bracket rotates with the lower carriage to be connected, place automobile punching part on the workstation earlier, rubber coated operating personnel, the rifle head cover that has different width limit for width clamping pieces is selected to the width of rubber coating as required, the cover carries out the rubber coating to the door on the rubber coating rifle, rubber coated operating personnel need not to move at the rubber coating in-process, only need rotate the upper bracket and adjust the position of automobile punching press assembly. Although this gluing system designs a rotatable and movable worktable, the gluing process is still performed manually, and the work efficiency is still relatively low.
With the increasing demands for environmental protection and improvement of working environment for workers, automobile assembly manufacturers are encouraged to try and use new technologies. Therefore, the robot gluing technology for carrying the three-dimensional vision sensor is absolutely necessary, and the research and development of the automobile gluing system have great economic value and social benefit for the automobile assembly industry in China. Gluing robots have been used in production in the automotive assembly industry, and therefore it is a challenging problem to develop a robot-based automatic gluing system.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the not enough of above-mentioned prior art, and provide a 3D vision automobile punching part rubber coating system of robot, utilize the automatic rubber coating of vision guide robot, can make automobile punching part put at will also can realize the scanning rubber coating, improve work efficiency.
In order to solve the technical problem, the utility model discloses a technical scheme be: the utility model provides a 3D vision automobile punching part rubber coating system of robot, includes base and the rack that is used for placing automobile punching part, install the rubber coating robot on the base, the end of rubber coating robot is equipped with glues the rifle and is used for treating the three-dimensional sensor that the rubber coated automobile punching part scanned, and the rubber coating robot is controlled by the robot control cabinet, three-dimensional sensor and robot control cabinet all are connected with industrial computer control, the industrial computer basis three-dimensional sensor's scanning information control rubber coating robot carries out the rubber coating to automobile punching part.
In another embodiment of the present invention, one side of the rack is provided with a clamping device for fixedly clamping the automobile punching part.
In another embodiment of the present invention, the clamping device includes a clamping block and a driving mechanism for driving the clamping block to move, and the driving mechanism is an electric cylinder or an air cylinder.
The utility model discloses in another embodiment, actuating mechanism is the cylinder, the cylinder is connected with its gas accuse valve that opens and shuts of a control, the gas accuse valve passes through robot control cabinet and industrial computer control connection.
In another embodiment of the present invention, a sliding groove is disposed at a side of the rack, and the clamping device is disposed in the sliding groove.
In another embodiment of the present invention, the three-dimensional sensor includes a camera and a linear laser emitter for providing a light source when the camera shoots, and the camera and the linear laser emitter are both connected to the industrial personal computer in communication.
The utility model has the advantages that: the utility model discloses a 3D vision automobile punching part rubber coating system of robot passes through three-dimensional sensor and shoots automobile punching part's two dimension and three-dimensional data to combine the automatic rubber coating orbit generation algorithm of industrial computer, can realize quick, accurate guide rubber coating robot and accomplish automobile punching part rubber coating, finally reach the purpose that improves production efficiency and practice thrift the human cost.
Drawings
FIG. 1 is a schematic diagram of a robotic 3D vision automobile stamping part gluing system according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of an embodiment of a gantry;
FIG. 3 is a connection diagram of a three-dimensional sensor, a glue gun and a glue storage device;
fig. 4 is an enlarged view of the three-dimensional sensor and glue gun.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It is to be noted that, 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. The terms "center," "bottom," "top," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience of description and simplicity of description, and do not indicate or imply that the components so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered as limiting the scope of the invention.
As shown in fig. 1-4, the present invention is a schematic structural diagram of a robot 3D vision automobile stamping part gluing system, and as can be seen from the figure, the system includes a rack 1 and a base 2, the rack 1 can be used for stably fixing a plurality of automobile stamping parts 6 of specific models, a gluing robot 5 is installed on the base 2, and the gluing robot is a six-degree-of-freedom industrial robot; the tail end of a gluing robot 5 is connected with a glue gun 11 and a three-dimensional sensor 10 used for scanning information of automobile stamping parts to be glued through a connecting piece 12, the gluing robot 5 is controlled by a robot control cabinet (not shown in the figure), the three-dimensional sensor 10 and the robot control cabinet are both in control connection with an industrial personal computer, the glue gun 11 is connected with a glue storage device 4 through a glue pipe 13, and the industrial personal computer controls the gluing robot to glue the automobile stamping parts 6 according to the scanning information of the three-dimensional sensor 10.
Preferably, as shown in fig. 1-2, the platform 1 of the present embodiment is a bar-shaped workbench, both sides of which have an upward-turned platform edge, and the middle of the platform edge at the side opposite to the base 2 is provided with a sliding groove 8, in which the clamping device 3 is arranged.
Further, as shown in fig. 2, the clamping device 3 of the present embodiment includes a clamping block 7 and a driving mechanism for driving the clamping block to move along the width direction of the rack, so as to clamp or release the automobile stamping 6.
Preferably, the driving mechanism is an electric cylinder or an air cylinder, although other types of driving mechanisms may be adopted, which are not described in detail herein.
Preferably, the actuating mechanism of this embodiment chooses for use cylinder 9, and this cylinder is connected with its gas accuse valve that opens and shuts of a control, and this gas accuse valve passes through robot control cabinet and industrial computer control connection. The cylinder of this embodiment is fixed in the fixed position of spout, according to actual conditions, combines automobile punching part's size and width, if there is needs, can set up corresponding automatic drive device in the spout bottom for drive actuating cylinder and drive and add compact piece 7 and can follow rack length extending direction and remove about, with the interval between the two sets of clamping device of regulation.
Preferably, as shown in fig. 3, the three-dimensional sensor 10 of the present embodiment includes a camera and a linear laser emitter for providing a light source when the camera shoots, and both the camera and the linear laser emitter are in communication connection with an industrial personal computer.
Be equipped with robot rubber coating route planning module in the industrial computer of the 3D vision automobile punching part rubber coating system of robot of this embodiment, this module includes: the data acquisition unit is used for acquiring three-dimensional data point clouds of the automobile stamping parts; the characteristic matching unit is used for matching and identifying the model and the pose characteristics of the automobile stamping part; the path planning unit is used for generating a gluing track of the robot; and the information interaction unit is used for sending the calculated data to the gluing robot so as to enable the gluing robot to finish executing corresponding gluing actions.
The utility model discloses robot 3D vision automobile punching part rubber coating system's theory of operation as follows: firstly, placing an automobile stamping part to be glued on a rack 1, and stably fixing the automobile stamping part on a gluing station through a clamping device 3; the industrial personal computer sends a signal to the pneumatic control valve through the robot control cabinet, the pneumatic control valve is opened, the driving cylinder 9 works, and the clamping device stably clamps the automobile stamping part 6 under the action of the cylinder.
Adjusting the shooting position of the three-dimensional sensor: after receiving the information of finishing clamping, the industrial personal computer firstly sends photographing information to the gluing robot 5, and the gluing robot moves to a position taught in advance; when the gluing robot reaches the photographing position, information allowing photographing is replied to the industrial personal computer, and then the industrial personal computer sends and triggers the three-dimensional sensor to start photographing.
Planning a gluing track: when an automobile stamping part gluing path planning module in an industrial personal computer receives photographing trigger, a data acquisition unit controls a three-dimensional sensor to photograph and calculate point cloud data, and denoising and downsampling calculation are started to remove data interfering with calculation; the feature matching unit performs target matching on pre-manufactured template point cloud and the instant acquisition point cloud, and identifies point location information needing gluing; the path planning unit generates a gluing track which can be executed by the gluing robot according to the gluing point location information identified by the feature matching unit; and finally, the information interaction unit sends the calculated data to the gluing robot, so that the gluing robot completes the corresponding gluing action.
Gluing by using a glue gun: and when the gluing robot moves to the planned gluing position, the glue gun starts to work to glue.
The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a 3D vision automobile punching part rubber coating system of robot, a serial communication port, include the base and be used for placing automobile punching part's rack, install the rubber coating robot on the base, the end of rubber coating robot is equipped with glues the rifle and is used for treating the three-dimensional sensor that the rubber coated automobile punching part scanned, and the rubber coating robot is controlled by the robot control cabinet, three-dimensional sensor and robot control cabinet all are connected with industrial computer control, the industrial computer basis three-dimensional sensor's scanning information control rubber coating robot carries out the rubber coating to automobile punching part.
2. The robotic 3D vision automobile stamping gluing system according to claim 1, wherein one side of the gantry is provided with a clamping device for fixedly clamping the automobile stamping.
3. The robotic 3D visual automobile punch gluing system of claim 2, wherein the clamping device comprises a clamping block and a driving mechanism for driving the clamping block to move, and the driving mechanism is an electric cylinder or an air cylinder.
4. The robot 3D vision automobile punching part gluing system according to claim 3, wherein the driving mechanism is an air cylinder, the air cylinder is connected with an air control valve for controlling the opening and closing of the air cylinder, and the air control valve is in control connection with an industrial personal computer through the robot control cabinet.
5. The robotic 3D vision automobile punch gluing system of claim 2, wherein a slide slot is provided at a side of the rack, the clamping device being provided in the slide slot.
6. The robot 3D vision automobile stamping part gluing system according to claim 5, wherein the three-dimensional sensor comprises a camera and a linear laser emitter for providing a light source when the camera shoots, and the camera and the linear laser emitter are both in communication connection with an industrial personal computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121612271.4U CN215141628U (en) | 2021-07-15 | 2021-07-15 | 3D vision automobile punching part rubber coating system of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121612271.4U CN215141628U (en) | 2021-07-15 | 2021-07-15 | 3D vision automobile punching part rubber coating system of robot |
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| CN215141628U true CN215141628U (en) | 2021-12-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114669446A (en) * | 2022-04-06 | 2022-06-28 | 宁波九纵智能科技有限公司 | Novel evaporator vision-guided gluing system |
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2021
- 2021-07-15 CN CN202121612271.4U patent/CN215141628U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114669446A (en) * | 2022-04-06 | 2022-06-28 | 宁波九纵智能科技有限公司 | Novel evaporator vision-guided gluing system |
| CN114669446B (en) * | 2022-04-06 | 2023-12-22 | 宁波九纵智能科技有限公司 | Novel vision guiding gluing system for evaporator |
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